Control device and control method

Abstract

To provide a control device that can stop a vehicle safely without making a driver feel any troublesomeness when a failure occurs, and to provide a method of control.SOLUTION: A control device includes a controller. The controller is installed to an automatic driving vehicle, and when detecting any failure from the vehicle during automatic driving, controls the vehicle to perform evacuation travel, and when detecting switching to manual driving during evacuation travel, notifies a driver of the vehicle of information on travel possible distance on the basis of a charge state of power supply.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The disclosed embodiments relate to a control device and a control method. [Background technology]

[0002] There is a control device that is mounted on a vehicle and performs evacuation driving control when an abnormality occurs in the vehicle while it is traveling (see, for example, Patent Document 1). When transitioning to evacuation driving, the control device calculates the remaining driving distance based on the battery's SOC (State Of Charge) and notifies the driver of the vehicle. This allows the control device to safely stop the vehicle.

[0003] In addition, an autonomous vehicle is equipped with a main battery system and a backup battery system, and if a malfunction occurs in one of the battery systems during autonomous driving, evacuation driving control is performed using the other battery system, and the vehicle is brought to a stop. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-169099 Summary of the Invention [Problem to be solved by the invention]

[0005] However, when the above-mentioned control device is applied to an autonomous vehicle, when the evacuation driving control is performed autonomously, there is no point in notifying the driver of the remaining driving distance, and it is simply a nuisance for the driver.

[0006] One aspect of the embodiment has been made in consideration of the above, and aims to provide a control device and a control method that can safely stop a vehicle when an abnormality occurs without causing inconvenience to the driver. [Means for solving the problem]

[0007] According to one aspect of the embodiment, the control device includes a controller that is mounted on an autonomous vehicle and causes the vehicle to perform an evacuation drive when an abnormality in the vehicle is detected during autonomous driving, and when a switch to manual driving is detected during the evacuation drive, notifies the driver of the vehicle of a distance that can be traveled based on a state of charge of a power source. [Effects of the Invention]

[0008] The control device and the control method according to one aspect of the embodiment have an effect of being able to safely stop the vehicle when an abnormality occurs without causing the driver any inconvenience. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is an explanatory diagram showing an example of the configuration of a control system according to the first embodiment. [Figure 2] FIG. 2 is a flowchart showing an example of processing executed by the controller of the power supply control device according to the first embodiment. [Figure 3] FIG. 3 is a flowchart showing an example of processing executed by the controller of the automatic driving control device according to the first embodiment. [Figure 4] FIG. 4 is an explanatory diagram illustrating an example of the configuration of a control system according to the second embodiment. [Figure 5] FIG. 5 is a flowchart showing an example of processing executed by the controller of the power supply control device according to the second embodiment. [Figure 6] FIG. 6 is a flowchart showing an example of processing executed by the controller of the automatic driving control device according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment of a control device and a control method will be described in detail with reference to the accompanying drawings. The control device according to the embodiment is included in an automatic driving control device or a power supply control device mounted on a vehicle with an automatic driving function.

[0011] [1. First embodiment] The control device according to the first embodiment is included in the automatic driving control device. Here, a case where the automatic driving control device is the control device according to the first embodiment will be described.

[0012] [1-1. Configuration of the control system according to the first embodiment] 1 is an explanatory diagram showing an example of the configuration of a control system 100 according to the first embodiment. As shown in FIG. 1, the control system 100 includes a power supply control device 1 mounted on a vehicle, a main power supply 10, an automatic driving control device 6, and a notification device 7.

[0013] The power supply control device 1 is connected to a main power supply 10, a first load 101, a second load 102, an automatic driving control device 6, and a notification device 7. The power supply control device 1 includes a first system 110 that supplies power from the main power supply 10 to the first load 101, and a second system 120 that supplies power from a backup power supply 20 (described later) to the second load 102.

[0014] The first load 101 is a load for autonomous driving, and includes, for example, a steering motor, an electric brake device, various sensors, an on-board camera, etc. that operate during autonomous driving. The second load 102 includes, for example, a steering motor, an electric brake device, various sensors, a radar, an on-board camera, etc. that operate during autonomous driving.

[0015] The first system 110 and the second load 102 are also connected to general loads (not shown). The general loads include, for example, a display, an air conditioner, audio equipment, video equipment, and various lights. The first load 101, the second load 102, and the general loads operate using power supplied from the power supply control device 1.

[0016] The first load 101 and the second load 102 have equivalent functions, but may have partially different functions. For example, the first load 101 may be configured to have a sensor but not a radar, and the second load may be configured to have a radar but not a sensor.

[0017] The automatic driving control device 6 includes a controller 61 that controls the entire vehicle, and operates at least one of the first load and the second load 102 to cause the vehicle to travel by automatic driving.

[0018] The notification device 7 is a device that notifies the driver of the vehicle of various information, such as abnormalities in the vehicle. The notification device 7 includes a display device 71 and a speaker 72. The display device 71 notifies the driver of various information by means of images. The display device 71 may be a DIAG lamp that displays various information. The speaker 72 notifies the driver of various information by means of voice.

[0019] The main power supply 10 includes a lead battery (hereinafter referred to as "PbB11") and a generator 12. The battery of the main power supply 10 may be any secondary battery other than the PbB11.

[0020] The generator 12 is connected to a high-voltage battery having a voltage higher than that of the PbB 11, and includes a DC / DC converter that steps down the voltage of the high-voltage battery and outputs the voltage to the first system 110. The generator 12 also includes, for example, an alternator that converts the kinetic energy of a traveling vehicle into electricity to generate electricity.

[0021] The high-voltage battery is, for example, a battery for driving a vehicle mounted on an electric vehicle or a hybrid vehicle. The generator 12 charges the PbB 11, supplies power to the first load 101 and the second load 102, and charges the backup power supply 20, which will be described later.

[0022] The power supply control device 1 includes a backup power supply 20, a system-to-system connection unit 41, a battery switch 42, a controller 3, a first voltage sensor 51, and a second voltage sensor 52. Hereinafter, bringing the system-to-system connection unit 41 and the battery switch 42 into a conductive state may be referred to as being on, and bringing them into a cut-off state may be referred to as being off.

[0023] The backup power supply 20 is a backup power supply in the event that power supply from the main power supply 10 becomes impossible. The backup power supply 20 includes a lithium ion battery (hereinafter referred to as "LiB21").

[0024] The inter-system connection unit 41 is provided on the inter-system line 130 connecting the first system 110 and the second system 120, and is a switch that can connect and disconnect the first system 110 and the second system 120. The inter-system connection unit 41 may be a DC / DC converter that, when activated, establishes conduction between the first system 110 and the second system 120, and shuts off conduction between the first system 110 and the second system 120 by stopping its operation. The battery switch 42 is a switch that connects the backup power supply 20 to the second system 120.

[0025] The first voltage sensor 51 is provided in the first system 110, detects the voltage of the first system 110, and outputs the detection result to the controller 3. The second voltage sensor 52 is provided in the second system 120, detects the voltage of the second system 120, and outputs the detection result to the controller 3.

[0026] The controller 3 includes a microcomputer having a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), etc., and various other circuits. Note that some or all of the functions of the controller 3 may be configured with hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

[0027] The controller 3 controls the operation of the power supply control device 1 by having the CPU execute a program stored in the ROM using the RAM as a work area. When started up, the controller 3 turns on the inter-system connection unit 41, turns off the battery switch 42, and supplies power from the main power supply 10 to the first load 101 and the second load 102.

[0028] When the controller 3 detects a failure of one of the main power supply 10 and the backup power supply 20, it supplies power from the other power supply to the load of that system to perform evacuation running (hereinafter, may be referred to as FOP (fail operation) running). For example, the controller 3 detects a ground fault in the first system 110 or the second system 120 based on the detection results input from the first voltage sensor 51 and the second voltage sensor 52.

[0029] Specifically, in the power supply control device 1, when a ground fault occurs in the first system 110 or the second system 120, an overcurrent flows toward the ground fault point, causing the voltage detected by the first voltage sensor 51 and the second voltage sensor 52 to fall below the ground fault threshold.

[0030] Therefore, when the voltage detected by the first voltage sensor 51 or the second voltage sensor 52 becomes equal to or lower than the ground fault threshold, the controller 3 provisionally determines that a ground fault has occurred in the first system 110 or the second system 120.

[0031] Then, when the controller 3 provisionally determines that a ground fault has occurred, it turns off the inter-system connection unit 41 and turns on the battery switch 42. This disconnects the first system 110 from the second system 120, and power is supplied from the main power supply 10 to the first system 110, and power is supplied from the backup power supply 20 to the second system 120.

[0032] Thereafter, if the voltage detected by the first voltage sensor 51 remains below the ground fault threshold for at least a predetermined time and the voltage detected by the second voltage sensor 52 recovers to exceed the ground fault threshold within the predetermined time, the controller 3 determines that a ground fault has occurred in the first system 110. In this case, as shown in Fig. 1, the controller 3 keeps the system-to-system connection unit 41 off to cut off the first system 110, which is the abnormal system, and keeps the battery switch 42 on to supply power to the second load 102 from the backup power source 20, which is the normal power source, using the second system, which is the normal system.

[0033] Furthermore, after the controller 3 provisionally determines that a ground fault has occurred in the first system 110 or the second system 120, if the voltage detected by the second voltage sensor 52 remains below the ground fault threshold even after a predetermined time has elapsed and the voltage detected by the first voltage sensor 51 recovers to exceed the ground fault threshold within the predetermined time, the controller 3 finally determines that a ground fault has occurred in the second system 120.

[0034] In this case, when the controller 3 determines that there is a ground fault in the second system 120, it keeps the system-to-system connection unit 41 off to cut off the second system 120, which is the abnormal system, and turns off the battery switch 42 to supply power from the main power supply 10, which is the normal power source, using the first load 101, which is the normal system.

[0035] Furthermore, if the voltages detected by the first voltage sensor 51 and the second voltage sensor 52 both recover to exceed the ground fault threshold within a predetermined time after the controller 3 has provisionally determined that a ground fault has occurred in the first system 110 or the second system 120, the controller 3 determines that the voltage drop is a temporary drop due to an overload or the like, and officially determines that no ground fault has occurred. In this case, the controller 3 turns on the system-to-system connection unit 41 and turns off the battery switch 42, returning to the normal state before the provisional determination.

[0036] When the controller 3 determines that a ground fault has occurred in the first system 110 or the second system 120, it notifies the automatic driving control device 6 that a ground fault has occurred and provides information indicating the system that has the ground fault. Upon receiving the notification of the occurrence of a ground fault, the automatic driving control device 6 notifies the driver via the notification device 7 to switch to manual driving.

[0037] For example, the automatic driving control device 6 causes the notification device 7 to output a display and voice message saying, "There is a power supply abnormality, so please switch to manual driving and stop the vehicle in a safe place." If manual evacuation driving is not initiated within a predetermined time after the notification, the automatic driving control device 6 causes evacuation driving to be performed automatically.

[0038] Furthermore, when the controller 3 determines that a ground fault has occurred, it calculates the SOC of the power source connected to the normal system in which no ground fault has occurred. For example, when a ground fault occurs in the first system 110, the controller 3 acquires information indicating the state of the LiB 21 from the LiB 21 via the battery monitoring line 82, and calculates the SOC (State Of Charge) of the LiB 21 based on the acquired information.

[0039] Furthermore, for example, when a ground fault occurs in the second system 120, the controller 3 acquires information indicating the state of PbB11 from PbB11 via the battery monitoring line 81, and calculates the SOC of PbB11 based on the acquired information.

[0040] In addition, the controller 3 may periodically detect the SOC of LiB21 and the SOC of PbB11 at regular intervals, overwrite and store them, and when it actually determines that a ground fault has occurred, it may acquire the most recent stored SOC of the power supply in the normal system.

[0041] After making a final determination of a ground fault, the controller 3 periodically calculates the SOC of the power supply of the normal system. Each time the controller 3 calculates the SOC of the normal power supply, the controller 3 calculates the vehicle's remaining driving distance and remaining driving time based on the calculated SOC of the normal power supply, and transmits distance information including the SOC of the normal power supply, the vehicle's remaining driving distance, and remaining driving time to the automatic driving control device 6. When manual evacuation driving is initiated, the controller 61 of the automatic driving control device 6 outputs distance information including the latest SOC of the normal power supply, the vehicle's remaining driving distance, and remaining driving time to the notification device 7 to notify the driver. The controller 3 may transmit the SOC of the normal power supply to the controller 61 of the automatic driving control device 6, and the controller 61 may calculate distance information including the vehicle's remaining driving distance and remaining driving time. The controller 3 may also transmit the remaining driving distance and remaining driving time based on the SOC of the normal power supply to the controller 61.

[0042] In this way, the controller 61 of the automatic driving control device 6 performs evacuation driving if it detects an abnormality in the vehicle during automatic driving, and when it detects that the vehicle has switched to manual driving during evacuation driving, it obtains the charging status of the normal power supply from the power supply control device 1 and notifies the driver of the vehicle of the distance that can be traveled.

[0043] As a result, the automatic driving control device 6 does not notify the driver of distance information that is meaningless to the driver during automatic driving to avoid an accident, but can notify the driver of distance information that is useful to the driver only during manual driving to avoid an accident. Therefore, the automatic driving control device 6 can safely stop the vehicle when an abnormality occurs without bothering the driver.

[0044] Furthermore, when the controller 61 of the automatic driving control device 6 detects that the vehicle has stopped due to evacuation running, it notifies the driver of the vehicle of information about the distance the vehicle can travel based on the charge state of the normal power source. As a result, if the vehicle is still in a state where it can be driven when it has stopped due to evacuation running, the driver can, for example, drive the vehicle to a dealer or repair shop and request repairs for the vehicle.

[0045] [1-2. Processing performed by the power supply control device and the automatic driving control device according to the first embodiment] Next, an example of processing executed by the controller 3 of the power supply control device 1 according to the first embodiment and an example of processing executed by the controller 61 of the automatic driving control device 6 will be described with reference to Figures 2 and 3. Figure 2 is a flowchart showing an example of processing executed by the controller 3 of the power supply control device 1 according to the first embodiment. Figure 3 is a flowchart showing an example of processing executed by the controller 61 of the automatic driving control device 6 according to the first embodiment.

[0046] When the automatic driving control device 6 notifies distance information, the controller 3 of the power supply control device 1 executes the process shown in Fig. 2 during automatic driving. Specifically, when automatic driving starts, the controller 3 first determines whether a power supply failure has occurred (step S101).

[0047] Then, the controller 3 determines whether or not a power failure has occurred (step S102). Note that the determination here refers to this determination. If the controller 3 determines that a power failure has not occurred (step S102, No), the process proceeds to step S101.

[0048] Furthermore, when the controller 3 determines that a power supply failure has occurred (step S102, Yes), it shuts off the abnormal system and supplies power to the load using the power supply of the normal system (step S103). Subsequently, the controller 3 transmits information indicating the occurrence of a ground fault and the ground-fault system to the automatic driving control device 6 (step S104).

[0049] Thereafter, the controller 3 calculates the SOC of the normal power supply (step S105), and calculates the remaining driving distance and remaining driving time based on the calculated SOC (step S106).Then, the controller 3 transmits the calculated SOC, remaining driving distance, and remaining driving time to the automatic driving control device 6 (step S107).

[0050] Thereafter, the controller 3 determines whether the vehicle has stopped, in other words, whether FOP traveling has been completed (step S108). If the controller 3 determines that the vehicle has not stopped, in other words, that FOP traveling has not been completed (step S108, No), the controller 3 proceeds to step S105.

[0051] As a result, the controller 3 transmits the latest calculated SOC, remaining driving distance, and remaining driving time to the automatic driving control device 6 until the vehicle stops, that is, until FOP is completed. This distance information is information about the distance that can be traveled until FOP is completed.

[0052] Furthermore, when the controller 3 determines that the vehicle has stopped, in other words, that FOP traveling has been completed (step S108, Yes), it calculates the SOC of the normal power supply (step S109) and calculates the remaining driving distance and remaining driving time based on the calculated SOC (step S110). The information calculated in steps S109 and S110 is information about the distance that can be traveled using the remaining power after the vehicle has stopped, i.e., after FOP has been completed. Then, the controller 3 transmits the calculated SOC, remaining driving distance, and remaining driving time to the automatic driving control device 6 (step S111), and ends the processing.

[0053] On the other hand, when the automatic driving control device 6 notifies distance information, the controller 61 of the automatic driving control device 6 executes the process shown in Fig. 3 during automatic driving. Specifically, when automatic driving is started by turning on an automatic driving switch (not shown), the controller 61 first determines whether a power supply failure has occurred (step S201). In step S104 shown in Fig. 2, the controller 61 determines whether a power supply failure has occurred based on the information transmitted from the power supply control device 1.

[0054] Then, the controller 61 determines whether or not a power failure has occurred (step S202). If the controller 61 determines that a power failure has not occurred (step S202, No), the controller 61 moves the process to step S201.

[0055] Furthermore, when the controller 61 determines that a power failure has occurred (step S202, Yes), it notifies the notification device 7 to switch to manual driving (step S203). After that, the controller 61 determines whether evacuation travel is being performed by manual driving (step S204).

[0056] The controller 61 can determine that evacuation driving is being performed by manual driving when the automatic driving actuators such as the steering and brakes move differently from the operation controlled by the controller 61. Furthermore, the controller 61 can determine that evacuation driving is being performed by manual driving when the driver turns off an automatic driving switch (not shown).

[0057] When the controller 61 determines that evacuation travel is being performed by manual driving (Yes in step S204), the controller 61 causes the notification device 7 to display the remaining travel distance and remaining travel time transmitted from the power supply control device 1 in step S107 shown in Fig. 2 (step S205). Then, the controller 61 moves the process to step S207.

[0058] Furthermore, when the controller 61 determines that manual driving to avoid the vehicle is not being performed (step S204, No), the controller 61 performs FOP driving to make the vehicle avoid the vehicle by automatic driving (step S206), and moves the process to step S207.

[0059] In step S207, the controller 61 determines whether the vehicle has stopped, in other words, whether FOP traveling has been completed. If the controller 61 determines that the vehicle has not stopped, in other words, that FOP traveling has not been completed (step S207, No), the controller 61 proceeds to step S204.

[0060] As a result, when FOP driving is performed manually, the latest remaining driving distance and time until FOP driving is completed is notified in step S205. The vehicle driver can determine how far they can drive based on this notification and can use it as a reference when deciding where to stop. On the other hand, when FOP driving is performed automatically, the processing of step S205 is skipped and distance information is not notified, so the vehicle driver does not feel bothered.

[0061] Furthermore, if the controller 61 determines that the vehicle has stopped, in other words, that FOP driving has been completed (step S207, Yes), in step S111 shown in FIG. 2, the controller 61 causes the notification device 7 to display the distance and time that can be driven using the remaining power after FOP completion, which are sent from the power supply control device 1 (step S208), and ends the processing.

[0062] The driver of the vehicle can know the distance information that can be traveled from the current location where the FOP travel has been completed by receiving the distance information in step S208. Therefore, the driver of the vehicle can determine whether it is possible to travel to a safer evacuation location or a repair shop, and can take more appropriate measures.

[0063] 2, the controller 3 transmits the calculated SOC, remaining driving distance, and remaining driving time to the automatic driving control device 6 only once after the vehicle stops (step S111). However, the processes of steps S109 to S111 may be repeated until the next vehicle stop or until the calculated SOC reaches a lower limit value (for example, 0), and the latest information may be periodically transmitted to the automatic driving control device 6. In that case, in FIG. 3, the controller 61 periodically repeats the process of step S208 even after the vehicle stops (step S207, Yes). That is, the controller 61 repeatedly displays the latest remaining driving distance and remaining driving time on the notification device 7 based on the information received from the controller 3.

[0064] [2. Second Embodiment] The control device according to the second embodiment is included in the power supply control device 1. Here, a case where the power supply control device 1 is the control device according to the second embodiment will be described.

[0065] [2-1. Configuration of the control system according to the second embodiment] 4 is an explanatory diagram showing an example of the configuration of a control system 100A according to the second embodiment. In the first embodiment, the automatic driving control device 6 notifies the driver of information about the distance that can be traveled, but in the second embodiment, the power supply control device 1 notifies the driver of information about the distance that can be traveled. Therefore, as shown in FIG. 4, in the control system 100A, the controller 3 of the power supply control device 1 and the notification device 7 are connected by a control signal line.

[0066] The controller 3 of the power supply control device 1 of the second embodiment receives from the automatic driving control device 6 information that the vehicle has switched to manual driving during evacuation driving, detects the charging state of the normal power source, and notifies the driver of the distance that can be traveled.

[0067] As a result, the power supply control device 1 does not notify the driver of distance information that is meaningless to the driver during automatic driving to avoid an accident, but can notify the driver of distance information that is useful to the driver only during manual driving to avoid an accident. Therefore, the power supply control device 1 can safely stop the vehicle when an abnormality occurs without bothering the driver.

[0068] Furthermore, the controller 3 of the power supply control device 1 receives information from the automatic driving control device 6 that the vehicle has stopped due to evacuation running, detects the charge state of the normal power source, and notifies the driver of the distance that can be traveled. As a result, if the vehicle is still drivable at the time of stopping due to evacuation running, the driver can, for example, drive the vehicle to a dealer or repair shop and request repairs. Note that the controller 3 may be configured to receive information that the vehicle has stopped from any in-vehicle device that can detect vehicle stoppage, in addition to the automatic driving control device.

[0069] [2-2. Processing performed by the power supply control device and the automatic driving control device according to the second embodiment] Next, an example of processing executed by the controller 3 of the power supply control device 1 according to the second embodiment and an example of processing executed by the controller 61 of the automatic driving control device 6 will be described with reference to Figures 5 and 6. Figure 5 is a flowchart showing an example of processing executed by the controller 3 of the power supply control device 1 according to the second embodiment. Figure 6 is a flowchart showing an example of processing executed by the controller 61 of the automatic driving control device 6 according to the second embodiment.

[0070] When the power supply control device 1 notifies distance information, the controller 3 of the power supply control device 1 executes the process shown in Fig. 5 during automatic driving. Specifically, when automatic driving starts, the controller 3 first determines the power supply failure situation (step S301).

[0071] Then, the controller 3 determines whether or not a power failure has occurred (step S302). If the controller 3 determines that a power failure has not occurred (step S302, No), the controller 3 moves the process to step S301.

[0072] Furthermore, when the controller 3 determines that a power supply failure has occurred (step S302, Yes), it shuts off the abnormal system and supplies power to the load using the power supply of the normal system (step S303). Subsequently, the controller 3 transmits information indicating the occurrence of a ground fault and the ground-fault system to the automatic driving control device 6 (step S304).

[0073] Thereafter, the controller 3 calculates the SOC of the normal power supply (step S305), and calculates the remaining driving distance and remaining driving time based on the calculated SOC (step S306). Next, the controller 3 checks the driving mode, which indicates whether the vehicle is being driven manually or automatically (step S307). In step S404 shown in FIG. 6, which will be described later, the controller 3 checks the driving mode based on the driving mode transmitted from the automatic driving control device 6.

[0074] Thereafter, the controller 3 determines whether or not manual evacuation traveling is being performed (step S308). If the controller 3 determines that manual evacuation traveling is not being performed (step S308, No), the controller 3 proceeds to step S310.

[0075] Furthermore, when it is determined that evacuation travel is being performed by manual driving (Yes in step S308), the controller 3 causes the notification device 7 to display the remaining travel distance and remaining travel time calculated in step S306 (step S309).

[0076] Next, the controller 3 determines whether the vehicle has stopped, in other words, whether FOP traveling has been completed (step S310). If the controller 3 determines that the vehicle has not stopped, in other words, that FOP traveling has not been completed (step S310, No), the controller 3 proceeds to step S305 and repeats the processes of steps S305 to S309 until the vehicle stops.

[0077] As a result, when FOP driving is performed manually, the latest remaining driving distance and time until FOP driving is completed is notified in step S309. The vehicle driver can determine how far they can drive based on this notification and can use it as a reference when deciding where to stop. On the other hand, when FOP driving is performed automatically, the processing of step S309 is skipped and distance information is not notified, so the vehicle driver does not feel bothered.

[0078] Furthermore, when the controller 3 determines that the vehicle has stopped, in other words, when it determines that FOP driving has been completed (step S310, Yes), it calculates the SOC of the normal power supply (step S311), and based on the calculated SOC, calculates the distance and time that can be driven using the remaining power after FOP is completed (step S312).

[0079] Then, the controller 3 causes the notification device 7 to display the calculated remaining driving distance and remaining driving time (step S313), and ends the process. Note that, similar to the first embodiment, the controller 3 may repeat the processes of steps S311 to S313 after the vehicle has stopped (step S310, Yes).

[0080] On the other hand, when the power supply control device 1 notifies distance information, the controller 61 of the automatic driving control device 6 executes the process shown in Fig. 6 during automatic driving. Specifically, when automatic driving starts, the controller 61 first determines the power supply failure state (step S401). In step S304 shown in Fig. 5, the controller 61 determines the power supply failure state based on the information transmitted from the power supply control device 1.

[0081] Then, the controller 61 determines whether or not a power failure has occurred (step S402). If the controller 61 determines that a power failure has not occurred (step S402, No), the controller 61 moves the process to step S401.

[0082] Furthermore, if the controller 61 determines that a power failure has occurred (step S402, Yes), it notifies the notification device 7 to switch to manual operation (step S403). After that, the controller 61 transmits the operation mode to the power supply control device 1 (step S404).

[0083] Then, the controller 61 determines whether or not evacuation traveling is being performed by manual driving (step S405). If the controller 61 determines that evacuation traveling is being performed by manual driving (step S405, Yes), the controller 61 proceeds to step S407.

[0084] Furthermore, when the controller 61 determines that manual driving to avoid the vehicle is not being performed (step S405, No), the controller 61 performs FOP driving to make the vehicle avoid the vehicle by automatic driving (step S406), and moves the process to step S407.

[0085] In step S407, the controller 61 determines whether the vehicle has stopped, in other words, whether FOP traveling has been completed. If the controller 61 determines that the vehicle has not stopped, in other words, that FOP traveling has not been completed (step S407, No), the controller 61 proceeds to step S404. If the controller 61 determines that the vehicle has stopped, in other words, that FOP traveling has been completed (step S407, Yes), the controller 61 ends the processing.

[0086] In the above-described embodiment, the controller 61 of the automatic driving control device 6 or the controller 3 of the power supply control device 1 notifies the driver of the distance that can be traveled during evacuation driving by manual driving and while the vehicle is stopped after evacuation driving by manual driving, but this is just one example.

[0087] The controller 61 of the automatic driving control device 6 or the controller 3 of the power supply control device 1 may be configured to notify the driver of information about the distance that can be traveled during an evacuation drive by automatic driving and while the vehicle is stopped after an evacuation drive by automatic driving.

[0088] In this case, when the evacuation driving is performed by automatic driving, the controller 3, 61 reduces the amount of information to be notified compared to when the evacuation driving is performed by manual driving. As a result, when the evacuation driving is performed by automatic driving, the controller 3, 61 can reduce the annoyance felt by the driver by reducing the amount of distance information to be provided to the driver.

[0089] In addition, the controller 3, 61 may be configured to notify the distance information by at least one of voice and display when the evacuation driving is performed manually, and not to notify the distance information when the evacuation driving is performed automatically.

[0090] As a result, the controller 3, 61 can reduce the amount of distance information to be notified when an evacuation run is performed by automatic driving, compared to when the distance information is notified by voice and display during evacuation run by manual driving and while the vehicle is stopped after evacuation run by manual driving. Therefore, the controller 3, 61 can further reduce the annoyance that the driver feels when notified of distance information.

[0091] In addition, the controller 3, 61 may be configured to notify the distance information by at least one of voice and display when the evacuation driving is performed manually, and to notify the distance information by display when the evacuation driving is performed automatically.

[0092] This allows the controller 3, 61 to recognize how far the vehicle can travel even during an evacuation run by automatic driving, which can reassure the driver during the evacuation run by automatic driving. Also, when an evacuation run is performed by automatic driving, the driver does not hear the distance information, which can eliminate the annoyance.

[0093] [3. Notes] As an appendix, the features of the present invention are as follows. (1) The controller is mounted on an autonomous vehicle and causes the vehicle to perform evacuation driving when an abnormality in the vehicle is detected during autonomous driving, and when it detects that the vehicle has switched to manual driving during the evacuation driving, it notifies the driver of the vehicle of information about the distance that can be traveled based on the charge state of the power source. Control device. (2) The controller Included in the automatic driving control device that controls automatic driving, When the abnormality is detected, the system requests a switch to manual driving or continues automatic driving to perform evacuation driving, When it is detected that the vehicle has been switched to manual driving during the evacuation driving, the driver is notified of the available driving distance information based on the charge state of the power source obtained from a power source control device that controls the power source. The control device described in (1) above. (3) The controller a power supply control device having a first system that supplies power from a main power supply to a first load for automatic operation and a second system that supplies power from a backup power supply to a second load for automatic operation, When a failure of one of the main power supply and the backup power supply is detected, power is supplied from the other power supply to the load of that system to perform the evacuation running; The automatic driving control device that performs automatic driving control receives information that the vehicle has switched to manual driving during the evacuation driving, and notifies the driver of the information on the distance that can be traveled based on the charge state of the other power source. The control device described in (1) above. (4) The controller is mounted on an autonomous vehicle, and when an abnormality in the vehicle is detected during autonomous driving, the controller causes the vehicle to perform evacuation driving, and when the controller detects that the vehicle has stopped due to the evacuation driving, the controller notifies the driver of the vehicle of information about the distance that can be traveled based on the charge state of the power source. Control device. (5) The controller The automatic driving control device is included in the automatic driving control device that performs automatic driving control, and when the abnormality is detected, the automatic driving control device requests switching to manual driving or causes the vehicle to perform evacuation driving by continuing automatic driving, and when it detects that the vehicle has stopped due to the evacuation driving, the automatic driving control device notifies the driver of the distance information based on the charge state of the power source obtained from the power source control device that controls the power source. The control device according to (4) above. (6) The controller a power supply control device having a first system that supplies power from a main power supply to a first load for automatic operation and a second system that supplies power from a backup power supply to a second load for automatic operation, When a failure of one of the main power supply and the backup power supply is detected, power is supplied from the other power supply to the load of that system to perform the evacuation running; When the vehicle stops due to the evacuation travel, the driver is notified of the remaining travel distance information based on the charge state of the other power source. The control device according to (4) above. (7) The controller When the evacuation driving is performed by automatic driving, the amount of information to be notified is reduced compared to when the evacuation driving is performed by manual driving. The control device according to any one of (1) to (6) above. (8) The controller When the evacuation driving is performed by manual driving, the distance information is notified by at least one of voice and display, and when the evacuation driving is performed by automatic driving, the distance information is not notified. The control device according to any one of (1) to (7). (9) The controller When the evacuation driving is performed by manual driving, the distance information is notified by at least one of voice and display, and when the evacuation driving is performed by automatic driving, the distance information is notified by display. The control device according to any one of (1) to (6) above. (10) A control method executed by a controller of a control device that is mounted on an autonomous driving vehicle and that causes the vehicle to perform evacuation driving when an abnormality is detected in the vehicle during autonomous driving, When it is detected that the vehicle has been switched to manual driving during the evacuation driving, the driver of the vehicle is notified of information about the distance that can be traveled based on the state of charge of the power source. Control method. (11) A control method executed by a controller of a control device that is mounted on an autonomous driving vehicle and that causes the vehicle to perform evacuation driving when an abnormality is detected in the vehicle during autonomous driving, comprising: When it is detected that the vehicle has stopped due to the evacuation travel, the driver of the vehicle is notified of information about the distance that can be traveled based on the charge state of the power source. Control method.

[0094] Further advantages and modifications will readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents. [Explanation of symbols]

[0095] 1 Power supply control device 10 Main power supply 11 PbB 12. Generator 20 Backup power supply 21 LiB 3,61 Controller 41 Inter-system connection 42 Battery switch 51 First voltage sensor 52 Second voltage sensor 6 Automatic driving control device 7 Notification device 71 Display device 72 Speaker 101 1st load 102 2nd load 110 1st system 120 2nd system 130 Intersystem Line

Claims

1. The controller is mounted on an autonomous vehicle and causes the vehicle to perform evacuation driving when an abnormality in the vehicle is detected during autonomous driving, and when it detects that the vehicle has switched to manual driving during the evacuation driving, it notifies the driver of the vehicle of information about the distance that can be traveled based on the charge state of the power source. Control device.

2. The controller Included in the automatic driving control device that controls automatic driving, When the abnormality is detected, the system requests a switch to manual driving or continues automatic driving to perform evacuation driving, When it is detected that the vehicle has been switched to manual driving during the evacuation driving, the driver is notified of the available driving distance information based on the charge state of the power source obtained from a power source control device that controls the power source. The control device according to claim 1 .

3. The controller a power supply control device having a first system that supplies power from a main power supply to a first load for automatic operation and a second system that supplies power from a backup power supply to a second load for automatic operation, When a failure of one of the main power supply and the backup power supply is detected, power is supplied from the other power supply to the load of that system to perform the evacuation running; The automatic driving control device that performs automatic driving control receives information that the vehicle has switched to manual driving during the evacuation driving, and notifies the driver of the information on the distance that can be traveled based on the charge state of the other power source. The control device according to claim 1 .

4. The controller is mounted on an autonomous vehicle, and when an abnormality in the vehicle is detected during autonomous driving, the controller causes the vehicle to perform evacuation driving, and when the controller detects that the vehicle has stopped due to the evacuation driving, the controller notifies the driver of the vehicle of information about the distance that can be traveled based on the charge state of the power source. Control device.

5. The controller The automatic driving control device is included in the automatic driving control device that performs automatic driving control, and when the abnormality is detected, the automatic driving control device requests switching to manual driving or causes the vehicle to perform evacuation driving by continuing automatic driving, and when it detects that the vehicle has stopped due to the evacuation driving, the automatic driving control device notifies the driver of the possible driving distance information based on the charge state of the power source obtained from the power source control device that controls the power source. The control device according to claim 4.

6. The controller a power supply control device having a first system that supplies power from a main power supply to a first load for automatic operation and a second system that supplies power from a backup power supply to a second load for automatic operation, When a failure of one of the main power supply and the backup power supply is detected, power is supplied from the other power supply to the load of that system to perform the evacuation running; When the vehicle stops due to the evacuation travel, the driver is notified of the remaining travel distance information based on the charge state of the other power source. The control device according to claim 4.

7. The controller When the evacuation driving is performed by automatic driving, the amount of information to be notified is reduced compared to when the evacuation driving is performed by manual driving. The control device according to claim 1 .

8. The controller When the evacuation driving is performed by manual driving, the distance information is notified by at least one of voice and display, and when the evacuation driving is performed by automatic driving, the distance information is not notified. The control device according to claim 1 .

9. The controller When the evacuation driving is performed by manual driving, the distance information is notified by at least one of voice and display, and when the evacuation driving is performed by automatic driving, the distance information is notified by display. The control device according to claim 1 .

10. A control method executed by a controller of a control device that is mounted on an autonomous driving vehicle and that causes the vehicle to perform evacuation driving when an abnormality is detected in the vehicle during autonomous driving, When it is detected that the vehicle has been switched to manual driving during the evacuation driving, the driver of the vehicle is notified of information about the distance that can be traveled based on the state of charge of the power source. Control method.

11. A control method executed by a controller of a control device that is mounted on an autonomous driving vehicle and that causes the vehicle to perform evacuation driving when an abnormality is detected in the vehicle during autonomous driving, comprising: When it is detected that the vehicle has stopped due to the evacuation travel, the driver of the vehicle is notified of information about the distance that can be traveled based on the charge state of the power source. Control method.

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