阅读说明：本技术 行驶控制装置、行驶控制方法和非暂时性存储介质 (Travel control device, travel control method, and non-transitory storage medium ) 是由 户仓隆明 河野克己 安田武司 于 2020-11-10 设计创作，主要内容包括：搭载在包括作为动力源的电动机和内燃机的车辆上的行驶控制装置包括：创建单元,配置为创建速度曲线,在每个时刻的所述车辆的速度在所述速度曲线中得到预测；估计单元,配置为利用预定近似模型来近似所述速度曲线,并且基于近似结果估计再生能量的预测量,所述再生能量是通过所述电动机的再生制动可回收的能量；和确定单元,配置为基于所述再生能量的预测量确定要用于行驶的动力源。(A travel control device mounted on a vehicle including an electric motor and an internal combustion engine as power sources includes: a creating unit configured to create a speed profile in which a speed of the vehicle at each time is predicted; an estimation unit configured to approximate the speed profile using a predetermined approximation model, and estimate a predicted amount of regenerative energy that is energy recoverable by regenerative braking of the electric motor based on the approximation result; and a determination unit configured to determine a power source to be used for traveling based on the predicted amount of regenerative energy.)

1. A travel control device mounted on a vehicle including an electric motor and an internal combustion engine as power sources, the travel control device comprising:

a creating unit configured to create a speed profile in which a speed of the vehicle at each time is predicted;

an estimation unit configured to approximate the speed profile using a predetermined approximation model, and estimate a predicted amount of regenerative energy that is energy recoverable by regenerative braking of the electric motor based on the approximation result; and

a determination unit configured to determine a power source to be used for traveling based on the predicted amount of regenerative energy.

2. The running control apparatus according to claim 1, wherein the creation unit is configured to create the speed profile based on one or both of a running history of a user and a running history of another user.

3. The running control apparatus according to claim 1 or 2, characterized in that the predetermined approximation model is configured to use a model that approximates the change over time in the speed of the vehicle indicated in the speed curve with the sum of gaussian functions having different peak positions.

4. The running control apparatus according to claim 3, wherein the estimation unit is configured to derive power indicated by a sum of work efficiency that causes a change in kinetic energy of the vehicle and work efficiency dissipated by running resistance, based on the approximation result, and to regard a time-integrated value of a magnitude of the power during a period as an estimated value of a predicted amount of regenerative energy to be recovered, the period being one or more periods in which the power is negative and a period in which the regenerative energy is recoverable.

5. The running control apparatus according to claim 4, wherein the estimation unit is configured to estimate the predicted amount of regenerative energy further based on one or more fluctuation factors.

6. The running control apparatus according to claim 5, wherein the variation factor is at least one of a type of a road surface, a gradient of the road surface, a load weight of the vehicle, and weather.

7. The running control apparatus according to claim 5 or 6, characterized in that the estimation unit is configured to correct the power based on the variation factor.

8. The running control apparatus according to any one of claims 5 to 7, wherein the estimation unit is configured to correct the time integration value based on the variation factor.

9. The running control apparatus according to any one of claims 4 to 8, wherein the determination unit is configured to: determining that the motor is to be used for running when a condition that a total amount including energy for the motor currently stored in the vehicle and the predicted amount of regenerative energy in a next period is equal to or greater than a threshold value is satisfied.

10. A travel control method executed by a travel control apparatus mounted on a vehicle including an electric motor and an internal combustion engine as power sources, characterized by comprising:

creating a speed profile in which the speed of the vehicle at each instant is predicted;

approximating the speed profile using a predetermined approximation model, and estimating a predicted amount of regenerative energy, which is energy recoverable by regenerative braking of the electric motor, based on the approximation result; and

a power source to be used for traveling is determined based on the predicted amount of regenerative energy.

11. A non-transitory storage medium that stores a travel control program that causes a computer of a travel control device mounted on a vehicle including an electric motor and an internal combustion engine as power sources to execute:

creating a speed profile in which the speed of the vehicle at each instant is predicted;

approximating the speed profile using a predetermined approximation model, and estimating a predicted amount of regenerative energy, which is energy recoverable by regenerative braking of the electric motor, based on the approximation result; and

a power source to be used for traveling is determined based on the predicted amount of regenerative energy.

Technical Field

The present invention relates to a travel control device mounted on a vehicle, a travel control method, and a non-transitory storage medium.

Background

With a hybrid vehicle including an electric motor and an internal combustion engine, it is possible to improve fuel efficiency through travel control in which the electric motor and the internal combustion engine are selectively and efficiently used.

Japanese patent No. 4702086 (JP 4702086B) discloses a vehicle driving support device that notifies a user of a braking start point at which a regenerative braking operation needs to be started, based on a position of a vehicle and map information including a point at which stopping is required, such as a railroad crossing, and a point at which deceleration is required, such as a curve. In this vehicle driving support apparatus, the user is urged to operate the regenerative brake at a deceleration speed that enables the regenerative energy to be efficiently recovered, so the amount of regenerative energy to be recovered can be increased.

Disclosure of Invention

In the technique of JP 4702086B, a point where recovery of regenerative energy can be assumed can be predicted, but the recovery amount of regenerative energy cannot be predicted quantitatively. In the case where the recovery amount of the regenerative energy can be quantitatively predicted at an early stage, the recovery amount can be used for appropriate travel control.

The invention provides a travel control device, a travel control method, and a non-transitory storage medium for quantitatively predicting a recovery amount of regenerative energy to be used for travel control.

A first aspect of the present invention relates to a travel control device mounted on a vehicle including an electric motor and an internal combustion engine as power sources. The travel control device includes: a creating unit configured to create a speed profile in which a speed of the vehicle at each time is predicted; an estimation unit configured to approximate a speed profile using a predetermined approximation model and estimate a predicted amount of regenerative energy, which is energy recoverable by regenerative braking of the motor, based on the approximation result; and a determination unit configured to determine a power source to be used for traveling based on the predicted amount of regenerative energy.

In the travel control apparatus of the first aspect, the creating unit may be configured to create the speed profile based on one or both of a travel history of the user and a travel history of another user.

In the running control apparatus of the first aspect, the predetermined approximation model may be configured to use a model that approximates the change over time in the speed of the vehicle indicated in the speed curve with the sum of gaussian functions having different peak positions.

In the running control apparatus of the first aspect, the estimation unit may be configured to derive the power indicated by a sum of work efficiency that causes a change in kinetic energy of the vehicle and work efficiency dissipated by the running resistance based on the approximation result, and to regard a time-integrated value of a magnitude of the power during a period as an estimated value of the predicted amount of regenerative energy to be recovered. The periods are one or more periods in which the power is negative and periods in which regenerated energy is recoverable.

In the running control apparatus of the first aspect, the estimation unit may be configured to estimate the predicted amount of regenerative energy further based on one or more variation factors.

In the running control apparatus of the first aspect, the varying factor may be at least one of a type of a road surface, a gradient of the road surface, a load weight of the vehicle, and weather.

In the running control apparatus of the first aspect, the estimation unit may be configured to correct the power based on the variation factor.

In the running control apparatus of the first aspect, the estimation unit may be configured to correct the time-integrated value based on the variation factor.

In the travel control apparatus of the first aspect, the determination unit may be configured to: when a condition that a total amount including energy for the motor currently stored in the vehicle and a predicted amount of regenerative energy in a next period is equal to or greater than a threshold value is satisfied, it is determined that the motor is to be used for traveling.

A second aspect of the invention relates to a running control method executed by a running control apparatus mounted on a vehicle that includes an electric motor and an internal combustion engine as power sources. The travel control method includes: creating a speed profile in which the speed of the vehicle at each moment is predicted; approximating the speed profile using a predetermined approximation model, and estimating a predicted amount of regenerative energy, which is energy recoverable by regenerative braking of the motor, based on the approximation result; and determining a power source to be used for traveling based on the predicted amount of regenerative energy.

A third aspect of the present invention relates to a non-transitory storage medium storing a travel control program that causes a computer of a travel control device mounted on a vehicle including an electric motor and an internal combustion engine as power sources to execute: creating a speed profile in which the speed of the vehicle at each moment is predicted; approximating the speed profile using a predetermined approximation model, and estimating a predicted amount of regenerative energy, which is energy recoverable by regenerative braking of the motor, based on the approximation result; and determining a power source to be used for traveling based on the predicted amount of regenerative energy.

According to the present invention, it is possible to provide a travel control apparatus that creates a speed curve in which a speed of a vehicle is predicted, quantitatively predicts a recovery amount of regenerative energy based on the speed curve, and uses the predicted recovery amount for travel control.

Drawings

Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, in which like reference numerals represent like elements, and wherein:

fig. 1 is a functional block diagram of a travel control apparatus and its peripheral components according to an embodiment of the present invention;

fig. 2 is a flowchart of a running control process according to an embodiment of the invention;

FIG. 3 is a diagram illustrating an example of a speed profile according to an embodiment of the present invention;

FIG. 4 is a graph showing a Gaussian function;

FIG. 5 is a diagram illustrating a portion of an example of a velocity profile and an approximation of the portion of the example of a velocity profile with a Gaussian function, according to an embodiment of the invention;

FIG. 6 is a diagram illustrating an example of a velocity profile and an approximation of the example of the velocity profile with a Gaussian function according to an embodiment of the invention;

FIG. 7 is a graph illustrating an example of the amount of power required in association with a change in kinetic energy and the amount of power required dissipated by the travel resistance, according to an embodiment of the invention;

FIG. 8 is a graph illustrating an example of required power according to an embodiment of the invention; and

fig. 9 is a diagram showing an example of an integrated value of required power according to an embodiment of the present invention.

Detailed Description

Examples

Embodiments of the present invention will be described below with reference to the accompanying drawings. The running control apparatus according to the present embodiment uses the speed curve in which the speed of the vehicle is predicted to quantitatively predict the recovery amount of regenerative energy at an early stage to execute appropriate running control for improving fuel efficiency.

Configuration of

Fig. 1 shows functional blocks of a travel control apparatus 10 and its peripheral components according to the present embodiment. The travel control device 10 is mounted on a vehicle. In addition to the travel Control device 10, the vehicle includes an internal combustion engine Electronic Control Unit (ECU) 20, an internal combustion engine 21, a transmission 22, a motor ECU 30, an Electric motor 31, a battery ECU 40, a battery 41, a manager ECU 50, a drive support ECU 60, an automatic drive ECU 65, a storage Unit 70, a communication Unit 80, a travel Control ECU 90, an Electric Power Steering (EPS) ECU 100, an EPS system 101, a brake ECU 110, and a brake device 111.

The vehicle may further include various devices such as an accelerator pedal sensor, a brake pedal sensor, a camera or obstacle sensor, a vehicle speed sensor, a yaw rate sensor, various other sensors such as a Global Positioning System (GPS) sensor, and a navigation System, but these various devices are not illustrated.

The internal combustion engine 21 and the electric motor 31 are actuators serving as power sources for driving the vehicle. The electric motor 31 is also a generator that generates electric power and a brake system that generates braking force by regenerative braking.

The engine ECU 20 is an ECU that controls the internal combustion engine 21 and the transmission 22, and changes the rotation speed between input and output to generate a driving torque with engine braking and generate a braking torque.

The motor ECU 30 is an ECU that controls the motor 31 to generate drive torque and generate brake torque using regenerative braking.

The battery 41 supplies electric power to the motor 31 and other devices by discharging, and is charged with electric power (recovered energy) obtained by regenerative braking of the motor 31. The battery ECU 40 is an ECU that controls charging and discharging of electric power of the battery 41.

The travel control ECU 90 is an ECU that controls the engine ECU 20 and the motor ECU 30 according to a travel mode described later.

The EPS system 101 is an actuator that performs steering by changing the steering angle of wheels to change the traveling direction of the vehicle. The EPS ECU 100 is an ECU that controls the EPS system 101.

The brake device 111 (foot brake device) is an actuator that generates a braking force by a frictional force applied to a member that rotates together with the wheel. The brake ECU 110 is an ECU that controls the brake device 111.

The driving support ECU 60 is an ECU that performs functions of driving support such as collision avoidance, preceding vehicle following, and lane keeping. The driving support ECU 60 outputs instructions to control the movement of the vehicle including acceleration/deceleration and a steering angle, based on information acquired from various sensors and the like. The functions of driving support ECU 60 and the number of driving support ECUs 60 are not limited.

The automated driving ECU 65 outputs instructions for controlling the movement of the vehicle including acceleration/deceleration and a steering angle based on information acquired from various sensors and the like to perform a function of automated driving.

The manager ECU 50 gives instructions to the travel control ECU 90, the EPS ECU 100, the brake ECU 110, and the like (hereinafter collectively referred to as actuator ECUs) based on instructions from the driving support ECU 60, the automated driving ECU 65, and the like. For example, an instruction for acceleration is given to the travel control ECU 90, an instruction for steering is given to the EPS ECU 100, and an instruction for deceleration is given to the travel control ECU 90 and the brake ECU 110.

When receiving instructions from the plurality of driving support ECUs 60 and the like, the manager ECU 50 executes a process called arbitration, in which the manager ECU 50 determines which instruction to follow to control the vehicle based on a predetermined rule, and gives instructions to the actuator ECU based on the arbitration result. The user's operation of the steering wheel, the brake pedal, the accelerator pedal, and the like may be acquired by the manager ECU 50 and subjected to arbitration processing by the manager ECU 50, or may be acquired by the actuator ECU, and the actuator ECU may individually arbitrate between the user's manual operation and an instruction from the manager ECU 50.

The storage unit 70 stores one or more travel histories of the user. The travel history is information including the speed of the vehicle at each time point within a driving period in which the vehicle was driven in the past. For example, the storage unit 70 generates the travel history by periodically storing the speed of the vehicle acquired from a vehicle speed sensor or the like mounted on the vehicle when the vehicle is in an energized state. For example, the storage unit 70 may be provided as part of a vehicle navigation system.

The communication unit 80 may wirelessly communicate with a server outside the vehicle, another vehicle, or the like, and may receive the travel history of the other user obtained based on the travel result of the other vehicle.

The running control apparatus 10 is an ECU including a creation unit 11, an estimation unit 12, and a determination unit 13. The creation unit 11 creates a speed profile based on the travel history. The estimation unit 12 estimates a predicted amount of regenerative energy, which is energy that can be recovered by regenerative braking, based on the speed profile. The determination unit 13 determines which of the electric motor 31 and the internal combustion engine 21 is used for running based on the predicted amount of regenerative energy.

Each of the above ECUs is typically a computer including a memory and a processor. The processor of each ECU realizes the functions by, for example, reading and executing a program stored in a non-transitory memory. These ECUs are connected to each other by a communication line, and can operate cooperatively by communicating with each other appropriately.

The configuration of the devices mounted on the vehicle and the configuration of the travel control device 10 described above are merely examples, and additions, substitutions, changes, and omissions may be made as appropriate. Further, the functions of each device may be integrated into one device or distributed to a plurality of devices as appropriate to be implemented.

For example, the running control apparatus 10 may be provided as a separate ECU, or may be provided as a part of the manager ECU 50 or a part of the running control ECU 90, or the like. Alternatively, the functions of the running control apparatus 10 may be allocated to the manager ECU 50, the running control ECU 90, and the like.

For example, the travel control device 10, the driving support ECU 60, the automated driving ECU 65, the manager ECU 50, the travel control ECU 90, and the like may be provided as a single ECU. Further, for example, the automatic drive ECU 65 need not be provided.

Treatment of

Details of the processing according to the present embodiment will be described below. Fig. 2 is a flowchart of processing executed by the travel control apparatus 10. This process is started, for example, when the user sets the vehicle to the power-on state and starts the trip, and is executed until the user sets the vehicle to the power-off state and ends the trip.

Step S101

The creating unit 11 creates a speed profile. The speed profile is information representing the predicted speed of the vehicle at each time point in the current trip.

Fig. 3 shows an example of a speed profile. In fig. 3, the horizontal axis shows the elapsed time from the start of the stroke, and the vertical axis shows the speed of the vehicle. As an example, fig. 3 shows a speed curve based on a speed change pattern used in a fuel consumption rate test (JC08 mode) established in japan. The velocity profile typically includes a plurality of peaks indicating repeated acceleration and deceleration during a single stroke.

The creating unit 11 may create a speed profile based on, for example, the travel history stored in the storage unit 70. As a simple example, when the travel patterns of the user include only patterns in which the user travels on the same route at the same time on a weekday for commuting, the patterns of the time-varying speeds included in the travel history are considered to be substantially the same. In this case, the creation unit 11 may create a speed curve based on one of the past travel histories.

The storage unit 70 may associate the travel history with attributes such as the day of the week and the time of day of the week of the vehicle, and classify and store the associated travel history and attributes. Therefore, the creation unit 11 can create the speed profile based on the travel history having a large number of attributes (such as the day of the week and the time of day in the week) that match the attributes of the current trip. As a result, even for users having more than one travel pattern, as long as the attributes have a common travel pattern, the travel pattern can be specified with a certain accuracy, and the speed profile can be created with accuracy.

The storage unit 70 may acquire a travel route from a navigation system or the like included in the vehicle and store the travel route in the travel history. Therefore, the creation unit 11 may create the speed profile based on the travel history including the travel route having high similarity to the travel route of the current trip. The method may be performed when the user sets a travel route in a navigation system or the like in the current trip and the creation unit 11 can acquire the set travel route. The accuracy of the speed profile can be improved.

When the travel route is set for the current trip, the creation unit 11 may query the server for road traffic information such as a speed limit and traffic congestion prediction on the travel route via the communication unit 80, and create a speed profile based on the road traffic information. Alternatively, the creation unit 11 may request, via the communication unit 80, a server that can create a speed profile based on road traffic information on the travel route to create the speed profile, and acquire the created speed profile.

The creation unit 11 may acquire the travel history of another user via the communication unit 80 and create a speed profile based on the travel history. The server collects, for example, from a large number of vehicles, travel histories associated with the day of the week, the time of day, a travel route, and the like, and classifies and stores the travel histories. The creating unit 11 may acquire a travel history having a high degree of matching with the classification of the current trip, and create a speed curve based on the travel history.

The server may divide a plurality of persons into groups and store the travel history of each person for each group. The creating unit 11 may create the speed profile based on the travel history selected from the same group to which the user belongs. For example, when persons whose homes and workplaces are located in the same area belong to the same group, the accuracy of the speed profile in traveling for commuting can be improved.

Alternatively, the creation unit 11 may acquire a travel history stored in one or more vehicles other than the server via the communication unit 80, and create a speed profile based on the acquired travel history in the same manner as described above.

In each of the methods described above, when there are a plurality of travel histories that serve as candidates for a speed curve, for example, the creation unit 11 may set any one of the plurality of travel histories as the speed curve, or may average the plurality of travel histories as the speed curve. The method of creating the speed profile is not limited, and the above methods may be appropriately combined. The speed profile may be created using only one of the travel history of the user and the travel history of the other user, or may be created using both the travel history of the user and the travel history of the other user.

Step S102

The estimation unit 12 approximates the speed profile using a predetermined approximation model. In this embodiment, the sum of gaussian functions is used for the approximation. FIG. 4 shows a graph of a Gaussian function represented by expression 1 and having time t as a variable (t ≧ 0). Where μ is a parameter defining the peak position (time of day), v_maxIs a parameter that defines the peak value, and σ is a parameter that defines the range of the distribution.

FIG. 5 shows a graph of speed variation in the range of 0 ≦ t ≦ 100 (sec) approximating the speed profile shown in FIG. 3, where the parameters μ, vmax, and σ in expression 1 are set appropriately. In fig. 5, the speed curve is shown by a dashed line, and the approximate graph is shown by a solid line.

In the present embodiment, by having different peak positions μ_iTo approximate the entire velocity curve. Each gaussian function may have a different peak value v_maxiAnd distribution range σ_i. When the number of Gaussian functions to be used is represented by N, the approximate expression is represented by using μ_i、v_maxiAnd σ_iExpression of (i ═ 1, 2.., N) as a parameterRepresented by formula 2.

Here, a known fitting method may be used to derive an appropriate value as the parameter μ_i、v_maxiAnd σ_i(i ═ 1, 2.., N). For example, the values may be defined such that the minimum integrated value S is obtained by integrating the absolute value of the difference between the velocity value V (T) and the approximation value v (T) over the entire period of the velocity profile (0 ≦ T ≦ T). The integrated value S is represented by expression 3.

Using this method, the parameter μ in expression 2 is derived_i、v_maxi、σ_i(i 1, 2.., N), and a graph of the speed variation over the entire period approximating the speed profile shown in fig. 3 is shown in fig. 6. In fig. 6, the speed curve is shown by a dashed line, and the approximate curve is shown by a solid line. In this example, N ═ 10.

As can be understood from fig. 6, a good approximation can be obtained that characterizes the speed variation in one stroke. The value of N is not limited and may be determined according to the length of the travel period of the speed profile and the number of peaks in the speed variation. For example, in a stroke of about 1200 seconds, a good approximation can be obtained by N-10, and a better approximation can be obtained by N-20. Note that when the stroke period is relatively short or the number of peaks is relatively small, N may be set to 1.

Step S103

The estimation unit 12 estimates a predicted amount of regenerative energy, which is energy obtained by regenerative braking of the motor 31, using the approximate model. The estimation method will be described below.

First, the estimation unit 12 derives the required power p (t), which is the work efficiency to be given to the vehicle in order to maintain the speed v (t). The required power p (t) is represented by expression 4.

Here, m represents the weight of the vehicle. The expression m.dv (t)/dt represents the rate of change in momentum of the vehicle, the expression a (v (t))²+ b · v (t) + c represents the running resistance. The required power P (t) is the sum of the above expressions multiplied by the vehicle speed v (t). That is, the required power p (t) is the sum of the work efficiency resulting in a change in the kinetic energy of the vehicle and the work efficiency dissipated by the running resistance, and is the work efficiency necessary to achieve the speed v (t) at the time t. As shown in expression 4, the running resistance can be appropriately approximated by using the sum of a component proportional to the square of the speed, a component proportional to the first power of the speed, and a constant component.

FIG. 7 shows, in solid lines, an example of the amount of required power P (t) resulting in a change in kinetic energy (the first term on the right side of expression 4) for the required power P (t) in the range of 0. ltoreq. t.ltoreq.100 (sec) of the speed curve shown in FIG. 3, and in dashed lines, an example of the amount of required power P (t) dissipated due to running resistance (the second term on the right side of expression 4) for the required power P (t) in the range of 0. ltoreq. t.ltoreq.100 (sec) of the speed curve shown in FIG. 3, where the horizontal axis represents time and the vertical axis represents power.

Fig. 8 shows a graph of the total amount of required power p (t), where the horizontal axis represents time and the vertical axis represents power.

Next, the estimation unit 12 estimates a period in which it is predicted that the regenerative energy can be recovered and a predicted amount of recovery based on the required power p (t). In the graph shown in fig. 8, the period in which the value of the required power p (t) becomes negative (t1< t < t2) is a period in which it is predicted that regenerative energy can be recovered. The integrated value of the magnitude of the required power in the above-described period represented by expression 5, that is, the area of the shaded area in fig. 8, is an estimated value E of the predicted amount of regenerative energy to be recovered.

Fig. 9 shows a graph of the integrated value i (t) of the required power shown in fig. 8 from time 0 to time t, in which the horizontal axis represents time and the vertical axis represents energy. The integrated value i (t) is represented by expression 6.

In fig. 9, the difference between the energy value at the peak and the energy value at the time when the line becomes flat after the peak is equal to the estimated value E of the predicted amount of regenerative energy to be recovered.

By extracting one or more periods in which the required power becomes negative as described above from the entire period of the speed curve and calculating the integrated value of the magnitude of the required power for each period, at the start of the trip, one or more periods in which the regenerative energy can be recovered and the predicted amount of recovery for each period can be estimated.

The weight m of the vehicle and the coefficients a, b, and c are basically constants defined based on the characteristics of the vehicle, and good estimation accuracy can be obtained by setting appropriate values. When one or more variable factors that may affect the required power can be acquired and at least one of the weight m and the coefficients a, b, and c is subjected to the following correction based on the acquired variable factors, the estimation accuracy can be further improved.

For example, when the estimation unit 12 can obtain the load weight of the occupant, the luggage, or the like from an input from a weight sensor or the like provided in the vehicle or an input from the user, the estimation unit 12 can add the load weight to the weight m of the vehicle to correct the weight m.

When the variation factor can be acquired, the estimation unit 12 can correct the coefficients a, b, and c by using the variation factor of the running resistance, such as the type of road surface, the gradient of the road surface, and the weather.

For example, when the travel route is set for the current trip, the type of road surface and the gradient of the road surface may be specified, and the coefficient may be corrected using these pieces of information. The information on the type of road surface and the gradient of the road surface may be stored in the storage unit 70 in advance in association with the map information, or may be acquired by the communication unit 80 from an external server or the like. The coefficients may also be corrected using weather. The weather information may be acquired by various sensors provided in the vehicle, or the communication unit 80 may acquire the weather information from an external server or the like.

For example, when a road surface such as a gravel road is relatively wet, the running resistance is corrected to be larger than when the road is an asphalt road on which it is relatively difficult to slide.

When the gradient of the road surface indicates that the road is an uphill road, the running resistance is corrected to be larger than when the road is a flat road, and when the gradient of the road surface indicates that the road is a downhill road, the running resistance is corrected to be smaller than when the road is a flat road. By such correction of the running resistance based on the gradient of the road surface, the influence of the increase or decrease in the position energy of the vehicle on the required power p (t) is incorporated into expression 4.

When the weather is rain or snow, the running resistance is corrected to be larger than that when the weather is clear. When the travel route is set for the current trip, the travel direction of the vehicle can be estimated, and thus the travel resistance can be corrected based on the wind force and the wind direction, which are regarded as the weather. For example, when the wind force is not zero, the running resistance is corrected to be larger in the case of upwind and smaller in the case of downwind than when the wind force is zero, based on the wind amount and the wind direction.

When the running resistance is corrected in the above-described manner, specifically, the values of the coefficients a, b, and c are changed. In this case, the coefficients a, b, and c change according to the position of the vehicle. Using the approximation in expression 2, the coefficients a, b and c are each reduced as a function of time t. The coefficient to be corrected among the coefficients a, b, and c and the degree of correction can be appropriately determined in consideration of the speed-dependent characteristic of the influence of the variation factor on the running resistance.

Instead of or in addition to the above correction, the estimation unit 12 may correct the value of the estimation value E according to the above variation factor. That is, the correction coefficient α (e.g., 0 ≦ α ≦ 1) may be set for each period so that the value of the corrected estimation value E becomes smaller as the load weight becomes larger or the running resistance becomes larger due to the variation factor. The correction coefficient α can thus be corrected as represented by expression 7.

The correction factor α may be combined with the efficiency of regenerative braking such that the corrected estimate E increases as the efficiency of regenerative braking increases. For example, the efficiency of regenerative braking can be derived based on the rotation speed of the electric motor 31 assumed from the speed v (t) and an efficiency map corresponding to the rotation speed.

The numerical calculation method used for the above-described processing is not particularly limited, and a known calculation algorithm can be appropriately used. In the present embodiment, the approximation using the gaussian function can indicate the characteristics of the speed curve with relatively few parameters, so that the amount of calculation can be suppressed. When function values of gaussian functions and derivatives for a plurality of values and a definite integral value of the gaussian function in a plurality of value ranges are prepared in advance in the value table, and calculation is made by appropriately referring to the value table, the amount of calculation can be further reduced.

Step S104

The determination unit 13 determines whether a condition for running using the motor 31 is satisfied. In the present embodiment, the determination unit 13 executes control of switching the travel mode between a motor mode in which only the electric motor 31 is used and an internal combustion engine mode in which only the internal combustion engine 21 is used, as an example.

Here, the determination unit 13 appropriately acquires various information from, for example, various sensors provided in the vehicle, the driving support ECU 60, the manager ECU 50, and the like, and makes the determination, for example, in the manner described below.

(1) When the intention to decelerate the vehicle is established, it is determined whether the following conditions (1-1) to (1-3) are satisfied. The intention to decelerate the vehicle is established, for example, by: at least one of the facts that the brake pedal operation is performed by the user and the accelerator pedal operation is released by the user while the vehicle is running is realized, or an instruction indicating deceleration or stop is given from the driving support ECU 60 or the automatic driving ECU while the driving support function of the driving support ECU 60 and the automatic driving function of the automatic driving ECU 65 are running.

(1-1) the speed of the vehicle is equal to or higher than the first speed threshold. When the current actual speed of the vehicle is relatively low, a sufficient rotation speed of the electric motor 31 cannot be obtained during regenerative braking, and efficient recovery of regenerative energy cannot be predicted. Therefore, it is determined whether the speed of the vehicle is equal to or higher than a first speed threshold value, which is defined as a speed at which a certain degree of regeneration efficiency can be predicted.

(1-2) the required power is equal to or less than the first power threshold. When the current required power is relatively large, the internal combustion engine 21 may output the required power, but since the maximum output of the electric motor 31 is generally smaller than that of the internal combustion engine 21, the electric motor 31 may not be able to output the required power. Therefore, it is determined whether the required power is equal to or less than a first power threshold value, which is defined as the power that can be output from the motor 31.

(1-3) the charging rate of the battery 41 is equal to or lower than the first charging rate threshold. When the current charging rate of the battery 41 is high, the amount of further chargeable electric power is small, and it is likely that all the regenerated energy cannot be stored. Therefore, it is determined whether the charging rate of the battery 41 is equal to or less than a first charging rate threshold value defined as a charging rate that allows a sufficient amount of electric power to be charged. The amount of charged power may be used instead of the charging rate for determination.

When all the determination results of (1-1) to (1-3) are affirmative, the process proceeds to step S105, otherwise, the process proceeds to step S106.

(2) In the case other than the above (1), that is, except when the intention to decelerate the vehicle is established, it is determined whether the following conditions (2-1) to (2-4) are satisfied.

(2-1) the speed of the vehicle is below a second speed threshold. The internal combustion engine 21 is generally more efficient than the electric motor 31 when the current actual speed of the vehicle is relatively high. Thus, it is determined whether the speed of the vehicle is below a second speed threshold, defined as the speed at which the electric motor 31 can be predicted to be more efficient than the internal combustion engine 21. The second speed threshold is a speed higher than the first speed threshold.

(2-2) the required power is equal to or lower than the first power threshold. For the same reason as (1-2) above, it is determined whether the required power is equal to or lower than a first power threshold value, which is defined as the power that can be output from the motor 31.

(2-3) the total amount of the energy for the motor currently stored in the vehicle and the predicted amount of energy to be recovered in the period in which the next regenerative energy can be recovered is equal to or higher than the first energy threshold. The total amount of the amount of electric power that is currently stored in the battery 41 in the vehicle and that can be supplied to the electric motor 31 and the predicted amount of electric power that can be recovered in the period in which regenerative energy can be recovered is relatively small, and when the vehicle is driven using the electric motor 31, the amount of electric power stored in the battery 41 may decrease, which may hinder the function of the vehicle. Therefore, it is determined whether the above total amount is equal to or higher than a first energy threshold value defined as a sufficient amount.

(2-4) the vehicle is currently running using the internal combustion engine 21, and the first time threshold or more has elapsed since the start of the operation of the internal combustion engine 21. When the operation of the internal combustion engine 21 is stopped immediately after the start of the operation thereof, a user may be given a feeling of malfunction of the internal combustion engine 21 or unstable behavior of the vehicle, which may cause discomfort or anxiety. Therefore, it is determined whether or not a first time threshold, which is defined as a sufficient elapsed time that does not cause discomfort even after the operation of the internal combustion engine 21 is stopped, has elapsed since the start of the operation of the internal combustion engine 21.

When all the determination results of (2-1) to (2-4) are affirmative, the process proceeds to step S105, otherwise, the process proceeds to step S106.

Step S105

The determination unit 13 determines that the travel mode should be set to the motor mode. In the present embodiment, the determination unit 13 notifies the travel control ECU 90 that the travel mode is set to the motor mode. The travel control ECU 90 causes the motor ECU 30 to control travel using the motor 31.

In the motor mode, regenerative braking is performed to recover kinetic energy of the vehicle as electric power. When the user depresses the brake pedal to a large extent or the driving support ECU 60 issues a high priority rapid deceleration instruction to avoid a collision or the like, and a certain degree or more of deceleration is required, the manager ECU 50 and the brake ECU 110 perform control to generate braking force with the brake device 111 so as to generate sufficient braking force.

Step S106

The determination unit 13 determines that the running mode should be set to the internal combustion engine mode. In the present embodiment, the determination unit 13 notifies the running control ECU 90 that the running mode is set to the internal combustion engine mode. The running control ECU 90 causes the engine ECU 20 to control running using the internal combustion engine 21.

Step S107

The creation unit 11 determines whether a condition for updating the predicted amount of regenerative energy is satisfied. The condition for updating is, for example, that the degree of matching between the change in speed with time in actual travel until the current time and the speed profile created in step S101 is below a predetermined allowable value. The degree of matching can be derived by appropriately using a known method. For example, the degree of matching may be derived based on an integrated value in a past fixed period of an absolute value of a difference between a velocity value of the velocity profile and an actual velocity value. When the degree of matching is lower than the allowable value, it is considered that the period in which the regenerative energy can be recovered and the accuracy of the predicted amount of regenerative energy are also low. When the condition for updating is satisfied, the process proceeds to step S108, and when the condition for updating is not satisfied, the process proceeds to step S104.

Step S108

The estimation unit 12 updates the period in which the regenerative energy can be recovered and the predicted amount of the regenerative energy by re-estimating the period in which the regenerative energy can be recovered and the predicted amount of the regenerative energy. The updating method is not particularly limited. For example, the estimation unit 12 may perform modification of the time scale of the compression or expansion speed profile so that the degree of matching between the speed change with time in actual traveling until the current time and the speed profile created in step S101 becomes higher, and may perform the same processing as steps S102 and S103 based on the speed profile after modification to perform updating.

Alternatively, the creation unit 11 may execute the same processing as step S101, select a travel history other than the travel history used to create the current speed curve, and create a new speed curve based on the travel history. The estimation unit 12 may perform the same processing as steps S102 and S103 based on the newly created speed profile to perform updating. For example, when the vehicle is stopped, a new trip is started from that position in consideration of that time, and the travel history may be selected in the same manner as step S101.

Since there is a possibility that the value of the above-described variation factor has changed, correction may be performed using the latest value in the above-described update. By performing such updating, it is possible to improve the estimation accuracy of the period in which the regenerative energy can be recovered and the predicted amount of regenerative energy. After the processing in this step, the processing proceeds to step S104.

In the above process, two traveling modes are set: a motor mode in which the vehicle travels using only the electric motor 31, and an internal combustion engine mode in which the vehicle travels using only the internal combustion engine 21. As in the above-described condition (2-3), when it is possible to predict that the amount of regenerative energy to be recovered is large, the chance of traveling using the electric motor 31 is increased as compared to when it is predicted that the amount of regenerative energy to be recovered is small, which can improve fuel consumption. In view of the above, in the switching control between any two running modes among the three running modes including the motor mode, the internal combustion engine mode, and the mixed mode in which both the motor 31 and the internal combustion engine 21 are used for running, and in the switching control between these three modes, the predicted amount of regenerative energy to be recovered can also be used to improve the fuel efficiency.

For example, when it is possible to predict that the amount of regenerative energy to be recovered is large, the chance of switching from the internal combustion engine mode to the hybrid mode may be increased, or the chance of switching from the hybrid mode to the motor mode may be increased, as compared to when it is predicted that the amount of regenerative energy to be recovered is small.

Effect

The travel control device 10 according to the present embodiment can quantitatively predict the amount of regenerative energy to be recovered at an early stage using a speed curve in which the speed of the vehicle is predicted. Appropriate travel control can be executed using the prediction result. That is, when it can be predicted that the amount of regenerative energy to be recovered is large, it is possible to increase the chance of traveling using the electric motor 31 and improve fuel efficiency, as compared to when it is predicted that the amount of regenerative energy to be recovered is small.

The travel control device 10 can suppress the number of parameters for calculating the predicted amount of regenerative energy to be recovered by approximating the speed curve with a gaussian function, and can suppress the calculated amount by referring to a numerical value table prepared in advance including a gaussian function.

Since the travel control apparatus 10 can create a speed curve based on the travel history of the user and the travel history of another user, it is possible to estimate the predicted amount of regenerative energy to be recovered even when the user does not set a travel route. When the travel route is set by the user, the speed profile can be created using the travel route, and the estimation accuracy can be improved.

Since the running control apparatus 10 corrects the predicted amount based on the variable factor that is considered to affect the amount of regenerative energy to be recovered, the estimation accuracy can be improved by combining the variable factor.

When the degree of matching between the speed profile and the actual change in the speed of the vehicle over time is low, the running control apparatus 10 again estimates the predicted amount of recovery, and therefore the estimation accuracy can be improved.

When determining the running mode, the running control apparatus 10 determines which of the internal combustion engine 21 and the electric motor 31 is appropriate, taking into account storability of regenerative energy, operating efficiency, and the possibility of achieving the required power, based on the charging rate of the battery 41, the vehicle speed, and the required power, and the predicted amount of regenerative energy to be recovered. Therefore, the certainty and stability of the vehicle control can be improved.

Although the embodiments of the present invention have been described above, the present invention can be modified and implemented as appropriate. The present invention can be considered as a travel control apparatus, a travel control method executed by a travel control apparatus including a processor and a memory, a travel control program, a computer-readable non-transitory storage medium storing the travel control program, and a vehicle equipped with the travel control apparatus.

The present invention is useful for a travel control device mounted on a vehicle or the like.