Vehicle control system

Abstract

To provide a vehicle control apparatus capable of controlling a control target so as to generate a sound of a sound pressure level that is higher than background noise regardless of a magnitude of a frequency of the background noise.SOLUTION: An apparatus includes: a control part for controlling a movement of a control target provided in a vehicle; and a record part for storing a record of a first relational expression 38 specifying a relation between a frequency and a sound pressure level of sound issued from the control target when the control target moves. The control part identifies, a control frequency that acquires a given first sound pressure level when applied to the first relational expression and acquires a second sound pressure level being higher than the first sound pressure level when applied to second relational expressions 32, 34 that specify a relation between a frequency and a sound pressure level of background noise surrounding the control target; and moves the control target by the control frequency.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a vehicle control device.

Background Art

[0002] Patent Document 1 below discloses a vehicle that controls the rate of change of the rotational speed of a compressor based on the vehicle speed in order not to produce a sound louder than the background noise.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the vehicle of Patent Document 1 above, depending on the frequency of the background noise, the sound pressure level of the compressor becomes higher than the sound pressure level of the background noise.

[0005] In consideration of the above fact, an object of the present invention is to obtain a vehicle control device that can control a controlled object so as not to produce a sound having a sound pressure level higher than the background noise regardless of the magnitude of the frequency of the background noise.

Means for Solving the Problems

[0006] The vehicle control device of the first embodiment includes a control unit that controls the operation of a control object provided on a vehicle, and a recording unit that records a first relational expression that defines the relationship between the frequency of sound emitted by the control object when the control object is operating and the sound pressure level, wherein the control unit identifies a control frequency that, when applied to the first relational expression, acquires a predetermined first sound pressure level and, when applied to a second relational expression that defines the relationship between the frequency of ambient noise around the control object and the sound pressure level, acquires a second sound pressure level higher than the first sound pressure level, and operates the control object at the control frequency.

[0007] In the vehicle control device of the first embodiment, a first sound pressure level is obtained by applying the control frequency to a first relational expression. Furthermore, a second sound pressure level higher than the first sound pressure level is obtained by applying the control frequency to a second relational expression that defines the relationship between the frequency of ambient noise surrounding the controlled object and its sound pressure level. The control unit then operates the controlled object at the control frequency. Therefore, the vehicle control device of the first embodiment can control the controlled object so as not to emit sound with a sound pressure level higher than the ambient noise, regardless of the magnitude of the ambient noise frequency.

[0008] In the second embodiment of the vehicle control device, in the first embodiment, when the control unit changes the control frequency, the absolute value of the amount of change in the control frequency is made greater than a predetermined first set value.

[0009] According to the second embodiment, there is a higher probability that the controlled object can be controlled so as not to emit sounds with a sound pressure level higher than the background noise, regardless of the frequency of the background noise.

[0010] In the third embodiment of the vehicle control device, in the second embodiment, the control unit makes the absolute value of the change in the control frequency less than a second setting value which is greater than the first setting value.

[0011] According to the third embodiment, there is a higher probability that the controlled object can be controlled so as not to emit sounds with a sound pressure level higher than the background noise, regardless of the frequency of the background noise.

[0012] In the fourth embodiment of the vehicle control device, in the first or second embodiment, the control unit determines the control frequency such that, when there are multiple second relational expressions, the first sound pressure level becomes smaller than the second sound pressure level which is the maximum when the control frequency is applied.

[0013] According to the fourth aspect, even when there are multiple second relational equations, it is possible to control the object to be controlled so as not to emit sounds with a sound pressure level greater than the background noise, regardless of the magnitude of the background noise frequency. [Effects of the Invention]

[0014] As described above, the vehicle control device according to the present invention has the excellent effect of being able to control the object to be controlled so as not to emit sounds with a sound pressure level higher than the ambient noise, regardless of the frequency of the ambient noise. [Brief explanation of the drawing]

[0015] [Figure 1] This is a schematic side view of a vehicle equipped with a vehicle control device according to an embodiment. [Figure 2] Figure 1 is a control block diagram of the ECU of the vehicle shown. [Figure 3] Figure 2 is a functional block diagram of the ECU. [Figure 4] This diagram shows a control map illustrating the relationship between compressor frequency and sound pressure level, as well as the relationship between ambient noise frequency and sound pressure level. [Figure 5] This figure shows how the vehicle control devices of the comparative example and embodiment control the compressor using a control map. [Figure 6] This is a flowchart illustrating the processes executed by the CPU of the ECU. [Modes for carrying out the invention]

[0016] Hereinafter, embodiments of the vehicle control device according to the present invention will be described with reference to the attached drawings.

[0017] As shown in FIG. 1, the vehicle 10 to which the vehicle control device of this embodiment is applied has an electric motor 12 and a battery 14. The electric motor 12 is a drive source of the vehicle 10 and operates by receiving electric power supplied from the battery 14. That is, the vehicle 10 of this embodiment is a BEV (Battery Electric Vehicle). Further, the vehicle 10 includes a vehicle speed sensor 15, a sound collection microphone 16, and a blower 17. For example, a voice recognition microphone and an error microphone for active noise cancellation can be used as the sound collection microphone 16.

[0018] Furthermore, the vehicle 10 includes a cooling device for cooling the battery 14. This cooling device includes a rotary compressor (control object) 18. Further, the vehicle 10 includes an ECU (Electronic Control Unit) 21 connected to the electric motor 12, the battery 14, the vehicle speed sensor 15, the sound collection microphone 16, the blower 17, and the compressor 18.

[0019] As shown in FIG. 2, the ECU 21 includes a CPU (Central Processing Unit: processor) (control unit) 22, a ROM (Read Only Memory) 23, a RAM (Random Access Memory) 24, a storage (recording unit) 25, a communication I / F (Inter Face) 26, and an input / output I / F 27. The CPU 22, the ROM 23, the RAM 24, the storage 25, the communication I / F 26, and the input / output I / F 27 are communicably connected to each other via a bus 28. The ECU 21 can acquire information regarding the date and time from a timer (not shown).

[0020] The CPU 22 is a central processing unit that executes various programs and controls each part. That is, the CPU 22 reads a program from the ROM 23 or the storage 25 and executes the program using the RAM 24 as a work area. The CPU 22 performs control of each component and various arithmetic processes (information processing) according to the program recorded in the ROM 23 or the storage 25.

[0021] The ROM 23 stores various programs and various data. The RAM 24 temporarily stores programs or data as a working area. The storage 25 is composed of a storage device such as a HDD (Hard Disk Drive) or SSD (Solid State Drive), and stores various programs and various data. The communication I / F 26 is an interface capable of communicating with devices located outside the vehicle 10. For example, the communication I / F 26 can wirelessly communicate with an external server (not shown). The communication I / F 26 uses communication standards such as Bluetooth (registered trademark) and Wi-Fi (registered trademark). Furthermore, the communication I / F 26 can communicate with an ECU different from the ECU 21 provided in the vehicle 10 via an external bus. The input / output I / F 27 is an interface for communicating with various devices.

[0022] As shown in FIG. 3, the ECU 21 has, as a functional configuration, a background noise recognition unit 221 and a compressor control unit 222. The background noise recognition unit 221 and the compressor control unit 222 are realized by the CPU 22 of the ECU 21 reading and executing the programs stored in the ROM 23.

[0023] The background noise recognition unit 221 recognizes the background noise inside the vehicle 10 based on the background noise components. The background noise components include the sound acquired by the microphone 16.

[0024] The background noise recognition unit 221 generates a background noise relation equation (second relation equation) that represents the relationship between the frequency (Hz) and sound pressure level (dBA) of the background noise based on the acquired background noise components at predetermined intervals. For example, the background noise recognition unit 221 generates a background noise relation equation every few seconds while performing frequency analysis processing. For example, the second background noise relation equation (second relation equation) 34 shown in Figure 4 is an example of a background noise relation equation generated by the background noise recognition unit 221. For example, the second background noise relation equation 34 is generated when the vehicle speed of the vehicle 10 is high, loud noises are being generated around the vehicle 10, and the blower 17 is rotating at high speed. Note that if there are multiple noise sources inside and outside the vehicle 10, the background noise recognition unit 221 may generate multiple background noise relation equations simultaneously.

[0025] Furthermore, the first background noise relation equation (second relation equation) 32 for the case where the vehicle speed of vehicle 10 is low, no loud noise is generated around vehicle 10, and the blower 17 is rotating at a low speed has been obtained in advance through experiments and is recorded in storage 25 in advance.

[0026] The first background noise relation equation 32 and the second background noise relation equation 34, where the frequency is f and the sound pressure level is SL, are as follows: SL = P_bgn1(f) ···First background noise relation SL = P_bgn2(f) ···Second background noise relation

[0027] The first ambient noise relation equation 32 and the ambient noise relation equations generated by the ambient noise recognition unit 221 (for example, the second ambient noise relation equation 34) are part of the control map 30 shown in Figure 4 and recorded in the storage 25. The control map 30 is updated each time the ambient noise recognition unit 221 generates a new ambient noise relation equation.

[0028] The control map 30 includes a compressor relation (first relation) 38 that represents the relationship between the frequency (rotation speed) of the compressor 18 and the sound pressure level. The compressor relation 38 is as follows: SL = Pu(f) ... Compressor relation As is clear from Figure 4, compressor relation 38 indicates that the sound pressure level of compressor 18 increases monotonically as the frequency of compressor 18 increases. If the frequency of compressor 18 is f (Hz) and the rotational speed of compressor 18 per minute is N (rpm), then f = N / 60.

[0029] The compressor control unit 222 controls the compressor 18 based on the control map 30. More specifically, the compressor control unit 222 controls the compressor 18 at a control frequency which is a predetermined frequency f. The sound pressure level of the compressor 18 when it rotates at the control frequency (first sound pressure level) is lower than the sound pressure level obtained by applying the control frequency to the background noise relation (second sound pressure level).

[0030] For example, consider the case where the control map 30 includes the first background noise relation 32 but does not include the second background noise relation 34. For example, if the magnitude of frequency f is frequency F3, the sound pressure level of the compressor 18 (first sound pressure level) is smaller than the sound pressure level represented by the first background noise relation 32 (second sound pressure level). Therefore, even if the compressor control unit 222 rotates the compressor 18 at frequency F3, there is little risk that the occupants will find the sound generated by the compressor 18 bothersome. Also, if the magnitude of frequency f is frequency F4, the sound pressure level of the compressor 18 (first sound pressure level) is slightly smaller than the sound pressure level represented by the first background noise relation 32 (second sound pressure level). That is, frequency F4 is the maximum value of frequency f in the range where the difference between the second sound pressure level and the first sound pressure level is not zero. Therefore, even if the compressor control unit 222 rotates the compressor 18 at frequency F4, there is little risk that the occupants will find the noise generated by the compressor 18 bothersome. On the other hand, when the magnitude of frequency f is frequency F5, the sound pressure level of the compressor 18 (first sound pressure level) is greater than the sound pressure level represented by the first background noise relation 32 (second sound pressure level). Therefore, if the compressor control unit 222 rotates the compressor 18 at frequency F5, there is a risk that the occupants will find the noise generated by the compressor 18 bothersome. Furthermore, for example, if the magnitude of frequency f is changed from frequency F3 to frequency F2, the sound pressure level of the compressor 18 (first sound pressure level) becomes slightly smaller than the sound pressure level represented by the first background noise relation 32 (second sound pressure level). That is, frequency F2 is the minimum value of frequency f in the range where the difference between the second sound pressure level and the first sound pressure level is not zero.

[0031] Furthermore, consider the case where the control map 30 includes the first background noise relation 32 and the second background noise relation 34. As is clear from Figure 4, at all frequencies, the sound pressure level of the second background noise relation 34 is greater than the sound pressure level of the first background noise relation 32. Therefore, the compressor control unit 222 controls the compressor 18 based on the second background noise relation 34 and the compressor relation 38. For example, when the magnitude of frequency f is F2, F3, F4, or F5, the sound pressure level of the compressor 18 (first sound pressure level) is smaller than the sound pressure level represented by the second background noise relation 34 (second sound pressure level). Therefore, even if the compressor control unit 222 rotates the compressor 18 at frequencies F2, F3, F4, or F5, there is little risk that the occupants will find the sound generated by the compressor 18 bothersome. Furthermore, when the magnitude of frequency f is frequency F6, the sound pressure level of the compressor 18 (first sound pressure level) is slightly lower than the sound pressure level represented by the second background noise relation equation 34 (second sound pressure level). That is, frequency F6 is the maximum value of frequency f in the range where the difference between the second sound pressure level and the first sound pressure level is not zero. Therefore, even if the compressor control unit 222 rotates the compressor 18 at frequency F6, there is little risk that the occupants will find the sound generated by the compressor 18 bothersome. On the other hand, when the magnitude of frequency f is frequency F7, the sound pressure level of the compressor 18 (first sound pressure level) is greater than the sound pressure level represented by the second background noise relation equation 34 (second sound pressure level). Therefore, if the compressor control unit 222 rotates the compressor 18 at frequency F7, there is a risk that the occupants will find the sound generated by the compressor 18 bothersome. Furthermore, if the magnitude of frequency f is changed from frequency F3 to frequency F1, for example, the sound pressure level of compressor 18 (first sound pressure level) becomes slightly smaller than the sound pressure level represented by the second background noise relation equation 34 (second sound pressure level). In other words, frequency F1 is the minimum value of frequency f in the range where the difference between the second sound pressure level and the first sound pressure level is not zero.

[0032] Also, due to the disturbance generated when the second noise relational expression 34 is included in the control map 30, as shown in FIG. 4, a part of the second noise relational expression 34 may change to a disturbance part 34X. For example, when the vehicle 10 travels on a rough road surface, when heavy rain starts to fall, or when the sound pressure level generated by a speaker (not shown) of the vehicle 10 temporarily increases, a disturbance occurs. In this case, when the magnitude of the frequency f is between the frequency F8 and the frequency F9, the sound pressure level (the first sound pressure level) of the compressor 18 is smaller than the sound pressure level (the second sound pressure level) represented by the second noise relational expression 34 (the disturbance part 34X).

[0033] The rotational speed of the compressor 18 changes according to the temperature of the battery 14 and the like. That is, when the temperature of the battery 14 and the like change, a battery control unit (not shown) calculates a required frequency. The compressor control unit 222 performs rotational control of the compressor 18 while referring to the calculated required frequency. That is, the compressor control unit 222 performs rotational control of the compressor 18 while changing the magnitude of the frequency f so that the magnitude of the frequency f at the current time approaches the required frequency.

[0034] For example, assume a case where the compressor 18 is rotating at the frequency F4 when the first noise relational expression 32 and the second noise relational expression 34 are included in the control map 30. Further, assume a case where the required frequency is the frequency F5. That is, assume a case where the required frequency is higher than the current frequency. Here, when the frequency f at the current time is set as the frequency F, in this case, the compressor control unit 222 sets the first set frequency F + Fmin and the second set frequency F + Fmax shown by the solid line. The Fmin which is the first set value and the Fmax which is the second set value are each a predetermined constant value, and the absolute value of Fmin < the absolute value of Fmax. Fmin is the minimum value of the absolute value of the amount of change in the frequency when changing the frequency of the compressor 18, and Fmax is the maximum value of the absolute value of the amount of change in the frequency when changing the frequency of the compressor 18.

[0035] The compressor control unit 222 can change the frequency f only within the range between the first set frequency F+Fmin and the second set frequency F+Fmax, both shown by solid lines. In this case, frequency F5 is greater than the second set frequency F+Fmax. Furthermore, the sound level of the compressor relation 38 at the second set frequency F+Fmax is less than the sound pressure level of the second background noise relation 34 at the second set frequency F+Fmax. Therefore, in the first rotation control of the compressor 18, the compressor control unit 222 changes the frequency f of the compressor 18 from frequency F4 to the second set frequency F+Fmax.

[0036] Once the first rotation control of the compressor 18 is complete, the compressor control unit 222 again sets the first set frequency F+Fmin and the second set frequency F+Fmax, indicated by the dashed-dotted line. In this case, frequency F5 falls within the range between the first set frequency F+Fmin and the second set frequency F+Fmax. Furthermore, the sound level of the compressor relation 38 at frequency F5 is smaller than the sound pressure level of the second background noise relation 34 at frequency F5. Therefore, in the second rotation control of the compressor 18, the compressor control unit 222 changes the frequency f of the compressor 18 to frequency F5.

[0037] For example, let's assume that compressor 18 is rotating at frequency F4 and the required frequency is frequency F4a. Since this frequency F4a is smaller than the first set frequency F+Fmin shown by the solid line, the compressor control unit 222 does not increase (change) the frequency of compressor 18.

[0038] Next, we consider the case where the compressor 18 is rotating at frequency F4, and the control map 30 includes the first background noise relation 32 and the second background noise relation 34. Furthermore, we consider the case where the requested frequency is frequency F3. That is, we consider the case where the requested frequency is smaller than the current frequency. If we let the frequency f at the current time be frequency F, then in this case the compressor control unit 222 sets the first set frequency F-Fmin and the second set frequency F-Fmax, which are indicated by the dashed line.

[0039] The compressor control unit 222 can change the frequency f only within the range between the first set frequency F-Fmin and the second set frequency F-Fmax, both indicated by dashed lines. In this case, frequency F3 is smaller than the second set frequency F-Fmax, both indicated by dashed lines. Furthermore, the sound level of the compressor relation 38 at the second set frequency F-Fmax is smaller than the sound pressure level of the second background noise relation 34 at the second set frequency F-Fmax. Therefore, in the first rotation control of the compressor 18, the compressor control unit 222 changes the frequency f of the compressor 18 from frequency F4 to the second set frequency F-Fmax.

[0040] Once the first rotation control of the compressor 18 is complete, the compressor control unit 222 again sets the first set frequency F-Fmin and the second set frequency F-Fmax, indicated by the dashed-dotted line. In this case, frequency F3 falls within the range between the first set frequency F-Fmin and the second set frequency F-Fmax, indicated by the dashed-dotted line. Furthermore, the sound level of the compressor relation 38 at frequency F3 is smaller than the sound pressure level of the second background noise relation 34 at frequency F3. Therefore, in the second rotation control of the compressor 18, the compressor control unit 222 changes the frequency f of the compressor 18 to frequency F3.

[0041] For example, let's assume that compressor 18 is rotating at frequency F4 and the required frequency is frequency F4b. Since this frequency F4b is greater than the first set frequency F-Fmin shown by the dashed line, the compressor control unit 222 does not reduce (change) the frequency of compressor 18.

[0042] In the configuration described above, the ECU21 and the control map30 are components of the vehicle control device 40.

[0043] Next, we will explain the processes executed by the CPU 22 of the ECU 21. The CPU 22 repeatedly executes the processes shown in the flowchart in Figure 6 at predetermined intervals.

[0044] In step S10 (hereinafter, the word "step" will be omitted), the CPU 22 determines whether or not it has obtained the requested frequency calculated by the battery control unit.

[0045] If the result in S10 is "Yes", the CPU22 proceeds to S11 and determines whether the requested frequency is greater than the first set frequency F + Fmin.

[0046] If the CPU determines "Yes" in S11, it proceeds to S12 and determines whether there exists a frequency f that is greater than the current frequency F of the compressor 18 and greater than the value of the background noise relation equation 38.

[0047] If the CPU determines "Yes" in S12, it proceeds to S13 and determines whether there exists a frequency f that is greater than the first set frequency F + Fmin and less than the smaller of the second set frequency F + Fmax and the requested frequency.

[0048] If the result in S13 is "Yes", the CPU 22 proceeds to S14 and changes the frequency F to the maximum value of frequency f within the range that satisfies the conditions in S13.

[0049] After completing the processing in S14, CPU22 proceeds to S15 and controls the compressor 18 based on the frequency f (maximum value) obtained in S14.

[0050] On the other hand, if the result in S11 is No, the CPU 22 proceeds to S16 and determines whether the requested frequency is smaller than the first set frequency F-Fmin.

[0051] If the CPU determines "Yes" in S16, it proceeds to S17 and determines whether there exists a frequency f that is smaller than the current frequency F of the compressor 18 and larger than the value of the background noise relation 38.

[0052] If the CPU determines "Yes" in S17, it proceeds to S18 and determines whether there exists a frequency f that is greater than the larger of the second set frequency F-Fmax and the requested frequency, and less than the first set frequency F-Fmin.

[0053] If the response in S18 is "Yes", the CPU 22 proceeds to S19 and changes the frequency F to the minimum value of frequency f within the range that satisfies the conditions in S18.

[0054] After completing the processing in S19, CPU22 proceeds to S20 and controls the compressor 18 based on the frequency f (minimum value) obtained in S19.

[0055] When the CPU determines "No" in S16, or when it has finished processing S15 or S20, the CPU 22 terminates the processing shown in the flowchart in Figure 6. Note that the CPU 22 determines "No" in S16 if the current frequency F of the compressor 18 is the same as the magnitude of the requested frequency.

[0056] As described above, in this embodiment, when the battery control unit calculates the required frequency, the vehicle control device 40 obtains a frequency f (control frequency) that, when applied to the compressor relation 38, acquires a first sound pressure level, and when applied to the background noise relation 32 and 34, acquires a second sound pressure level higher than the first sound pressure level. Based on this frequency f, the vehicle control device 40 controls the compressor 18. Therefore, regardless of the magnitude of the background noise frequency, the vehicle control device 40 can control the compressor 18 so as not to produce sound with a sound pressure level higher than the background noise.

[0057] Figure 5 shows a comparative example. The vehicle control device of the comparative example controls the compressor 18 without setting a first set frequency F+Fmin(F-Fmin) and a second set frequency F+Fmax(F-Fmax). For example, let's assume that the frequency F of the compressor 18 at the current time is Fc1. Furthermore, let's assume that the actual sound pressure level SL1 of the compressor 18 when the frequency of the compressor 18 is Fc1 is the sound pressure level shown in Figure 5. In this case, the background noise recognition unit 221 may calculate a background noise relation based on the sound pressure level SL1 of the compressor 18. In this case, let's assume, for example, that the frequency of the compressor 18 at the current time is Fc1, and the requested frequency is a requested frequency Fcrq-1 which is greater than the frequency Fc1. In this case, the compressor control unit 222 determines that the sound pressure level of the compressor 18 at the requested frequency Fcrq-1 is less than the sound pressure level SL1. Therefore, the compressor control unit 222 rotates the compressor 18 at the requested frequency Fcrq-1, and as a result, the sound pressure level of the compressor 18 becomes higher than the sound pressure level represented by the first background noise relation 32. When this type of control is performed, as the requested frequency increases, the compressor control unit 222 mistakenly determines that the sound pressure level of the compressor 18 at each requested frequency is lower than the actual sound pressure level of the compressor 18 at each requested frequency. Therefore, the compressor control unit 222 rotates the compressor 18 while gradually increasing the requested frequency. As a result, the sound pressure level of the compressor 18 remains higher than the sound pressure level represented by the first background noise relation 32.

[0058] In contrast, the vehicle control device 40 of this embodiment sets a first set frequency Fc1+Fmin when controlling the rotation of the compressor 18, as shown in Figure 5. Furthermore, the absolute value of the difference (amount of change) between this first set frequency Fc1+Fmin and the frequency Fc1 is set to a certain magnitude. That is, the absolute value of Fmin is set so that the first set frequency Fc1+Fmin is greater than the frequency range of the sound pressure level SL1. Therefore, if the requested frequency is a frequency Fcqr-1 which is smaller than the first set frequency Fc1+Fmin, the compressor control unit 222 does not change the frequency of the compressor 18. Also, if the requested frequency is a frequency Fcqr-2 which is greater than the first set frequency Fc1+Fmin, the compressor control unit 222 determines, without being affected by the sound pressure level SL1, that the sound pressure level of the compressor 18 at the requested frequency Fcqr-2 is greater than the sound pressure level represented by the first background noise relation 32. Therefore, in this case, the compressor control unit 222 does not raise the frequency of the compressor 18 to the required frequency Fcqr-2. Consequently, in this case, the sound pressure level of the compressor 18 does not become greater than the sound pressure level represented by the first background noise relation equation 32.

[0059] Furthermore, consider a scenario where, for example, the frequency of the compressor 18 at the current time is frequency F5 in Figure 4, and the required frequency is frequency F8, and a disturbance causes a part of the second background noise relation 34 to change to the disturbance part 34X. In this case, if the compressor control unit 222 does not set the second set frequency F+Fmax, the compressor control unit 222 may cause a large change in the frequency of the compressor 18 from frequency F5 to frequency F8. However, in this case, when the frequency of the compressor 18 changes between frequency F6 and frequency F7a, the sound pressure level of the compressor 18 (first sound pressure level) becomes greater than the sound pressure level (second sound pressure level) represented by the second background noise relation 34. In contrast to this, the compressor control unit 222 of the vehicle control device 40 in this embodiment controls the compressor 18 while setting the second set frequency F+Fmax. In other words, the compressor control unit 222 determines that at the second set frequency F+Fmax (indicated by the dashed line), the audio level of the compressor relation 38 is greater than the sound pressure level of the second background noise relation 34. Therefore, in this case, the vehicle control device 40 does not change the frequency of the compressor 18 from frequency F5 to frequency F8. In other words, in this case, the vehicle control device 40 does not change the frequency of the compressor 18 to a value greater than frequency F6. Accordingly, according to this embodiment, it is possible to prevent the sound pressure level of the compressor 18 (first sound pressure level) from becoming greater than the sound pressure level represented by the second background noise relation 34 (second sound pressure level) in such cases.

[0060] Although the vehicle control devices according to the embodiments have been described above, these can be modified as appropriate without departing from the spirit of the present invention.

[0061] The controlled object may be a device other than the compressor 18.

[0062] The background noise components may include elements other than the sound acquired by the sound-receiving microphone 16.

[0063] Vehicle 10 may be a vehicle other than a BEV. For example, vehicle 10 may be an HEV (Hybrid Electric Vehicle) or a PHEV (Plug-in Hybrid Electric Vehicle), or it may be equipped with an internal combustion engine as a power source. [Explanation of symbols]

[0064] 10 vehicles 18. Compressor (Controlled Object) 22 CPU (Control Unit) 25 Storage (Recording Unit) 32. First background noise relation (second relation) 34. Second background noise relation (Second relation) 38. Compressor relation (First relation) 40 Vehicle control system Fmin 1st setting value Fmax 2nd setting value

Claims

1. A control unit that controls the movement of an object to be controlled, installed in the vehicle, A recording unit records a first relational expression that defines the relationship between the frequency of the sound emitted by the controlled object when the controlled object is operating and the sound pressure level. Equipped with, The control unit, A vehicle control device that identifies a control frequency that, when applied to the first relational expression, obtains a predetermined first sound pressure level, and when applied to a second relational expression that defines the relationship between the frequency and sound pressure level of ambient noise surrounding the object to be controlled, obtains a second sound pressure level higher than the first sound pressure level, and operates the object to be controlled at the control frequency.

2. The control unit, The vehicle control device according to claim 1, wherein when the control frequency is changed, the absolute value of the amount of change in the control frequency is made greater than a predetermined first set value.

3. The control unit, The vehicle control device according to claim 2, wherein the absolute value of the amount of change in the control frequency is made smaller than a second setting value which is greater than the first setting value.

4. The control unit, The vehicle control device according to claim 1 or 2, wherein, when there are multiple second relational expressions, the control frequency is specified such that the first sound pressure level is smaller than the second sound pressure level which is the maximum when the control frequency is applied.

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