JP7003451B2 - Vehicle control device - Google Patents

Description

The present invention relates to a vehicle control device.

Conventionally, as seen in Patent Document 1, for example, a vehicle in which automatic driving control such as collision avoidance control for avoiding a collision between a own vehicle and a target is performed is known. The vehicle includes a power storage device, a device used for automatic driving control, and a control device for performing automatic driving control using the device. The device is driven by being supplied with power from the power storage device.

International Publication No. 2012/132435

When a failure occurs in the power storage device, it may not be possible to properly supply power to the device for automatic operation control from the power storage device, and it may not be possible to properly perform automatic operation control. Therefore, if the control device determines that a failure has occurred in the power storage device, the control device may uniformly prohibit automatic operation control. However, in this configuration, for example, the vehicle user who uses the automatic driving control may be confused, and the vehicle operation may not be properly performed .

An object of the present invention is to provide a vehicle control device capable of not impairing the running safety of a vehicle even when it is determined that a failure has occurred in the power storage device.

The present invention is a vehicle control device applied to a vehicle. The vehicle includes a power storage device and a device that is driven by power supplied from the power storage device and is used for automatic driving control of the vehicle. The present invention changes the degree of limitation imposed on the automatic operation control performed by using the device based on the failure determination unit for determining the failure state of the power storage device and the failure state determined by the failure determination unit. It has a change part.

In the present invention, the degree of limitation imposed on the automatic operation control is changed based on the failure state of the power storage device determined by the failure determination unit. Therefore, it is determined that the power storage device has a failure as compared with the configuration in which the automatic operation control is uniformly prohibited when it is determined that the power storage device that is the power supply source of the device has a failure. Even if this is the case, automatic operation control may be permitted with restrictions. As a result, for example, it is possible to suppress the occurrence of a situation in which the vehicle user who uses the automatic driving control is confused, and it is possible to prevent the driving safety of the vehicle from being impaired.

The whole block diagram of the in-vehicle system which concerns on 1st Embodiment. The flowchart which shows the procedure of the restriction processing of automatic operation control. A flowchart showing the procedure of failure determination processing. The flowchart which shows the procedure of the restriction processing of the automatic operation control which concerns on 2nd Embodiment. A flowchart showing the procedure of failure determination processing. The overall block diagram of the in-vehicle system which concerns on 3rd Embodiment. The flowchart which shows the procedure of the restriction processing of automatic operation control. The figure which shows the restriction mode of the automatic operation control. The figure which shows the restriction mode of the automatic operation control which concerns on the modification of 3rd Embodiment. The figure which shows the restriction mode of the automatic operation control which concerns on the modification of 3rd Embodiment. The flowchart which shows the procedure of the restriction processing of the automatic operation control which concerns on 4th Embodiment. The figure which shows the restriction mode of the automatic operation control. The figure which shows the restriction mode of the automatic operation control. The figure which shows the restriction mode of the automatic operation control which concerns on 5th Embodiment. The figure which shows the relationship between the degree of limitation of automatic operation control, and each parameter. The figure which shows the restriction mode of the automatic operation control which concerns on 6th Embodiment. The flowchart which shows the procedure of the restriction processing of the automatic operation control which concerns on 7th Embodiment. The flowchart which shows the procedure of the initial setting process of automatic operation control. The flowchart which shows the procedure of the restriction processing of the automatic operation control which concerns on 8th Embodiment. The flowchart which shows the procedure of the restriction processing of the automatic operation control which concerns on 9th Embodiment. The figure which shows the relationship between the failure state and each specified number of times. The figure which shows the relationship between the failure state and each threshold value.

<First Embodiment>
Hereinafter, the first embodiment in which the control device according to the present invention is embodied will be described with reference to the drawings. The control device constitutes an in-vehicle system.

As shown in FIG. 1, the system includes an internal combustion engine 10 as a traveling power source, a starter 11, an alternator 12, and a storage battery 20 as a power storage device. The storage battery 20 is, for example, a lead storage battery.

The internal combustion engine 10 includes a fuel injection valve and the like, and generates power by burning fuel injected from the fuel injection valve. This power is taken out from the output shaft of the internal combustion engine 10. Combustion control of the internal combustion engine 10 including fuel injection control of the fuel injection valve is executed by the injection control ECU 50 provided in the system.

The starter 11 is supplied with power from the storage battery 20 and driven to give initial rotation to the output shaft of the internal combustion engine 10. The alternator 12 generates electricity by being supplied with power from the output shaft of the internal combustion engine 10. The generated power of the alternator 12 becomes the charging power of the storage battery 20 or the driving power of other in-vehicle devices.

The vehicle includes an electric power steering device 30, an electronically controlled braking device 31, a steering angle sensor 32 that detects the steering angle of the steering wheel of the own vehicle, a vehicle speed sensor 33 that detects the traveling speed of the own vehicle, and an automatic driving control unit. The automatic operation ECU 51 is provided. In the present embodiment, the power supply source used by the electric power steering device 30, the brake device 31, the steering angle sensor 32, the vehicle speed sensor 33, and the automatic operation ECU 51 is at least one of the storage battery 20 and the alternator 12.

The electric power steering device 30 includes a steering motor 30A that applies steering force to the steering and a steering ECU 30B. The steering ECU 30B executes power steering control in which the steering motor 30A generates an assist force when the steering angle of the steering wheel is changed based on the steering angle detected by the steering angle sensor 32 during the steering operation of the user. Further, the steering ECU 30B performs automatic steering control in which the steering angle is automatically controlled by the steering motor 30A without the user's steering operation based on the steering control signal transmitted from the automatic driving ECU 51 via the communication line.

The brake device 31 includes a brake actuator 31A for adjusting the hydraulic pressure of the master cylinder and a brake ECU 31B. The brake ECU 31B performs ABS control, traction control, and the like by the brake actuator 31A based on the hydraulic pressure of the master cylinder and the own vehicle speed, which is the running speed of the own vehicle detected by the vehicle speed sensor 33. Further, the brake ECU 31B performs automatic braking control that automatically applies a braking force to the wheels by the brake actuator 31A without the user's braking operation based on the braking control signal transmitted from the automatic operation ECU 51 via the communication line. ..

The system includes an image pickup device 34, a radar sensor 35, and a laser sensor 36. In the present embodiment, the power supply source used in the image pickup apparatus 34, the radar sensor 35, and the laser sensor 36 is at least one of the storage battery 20 and the alternator 12.

The image pickup device 34 is an in-vehicle camera, and is composed of a CCD camera, a CMOS image sensor, a near-infrared camera, and the like. The image pickup device 34 photographs the surrounding environment including the driving road of the own vehicle. The image pickup device 34 is attached to the vicinity of the upper end of, for example, the windshield of the own vehicle, and takes a picture of a region extending within a range of a predetermined shooting angle toward the front of the vehicle with the image pickup axis as the center. The image pickup device 34 may be a monocular camera or a stereo camera. The image pickup apparatus 34 generates image data representing the captured image and sequentially outputs the image data to the automatic operation ECU 51. Based on the input image data, the automatic driving ECU 51 recognizes boundary lines located in each of the left and right directions in front of the own vehicle, such as a lane marking that divides the own lane.

The radar sensor 35 detects an object in front of the own vehicle by using a directional electromagnetic wave such as a millimeter wave. For example, the radar sensor 35 is attached to the front part of the own vehicle so that its optical axis faces the front of the vehicle. Has been done. The radar sensor 35 scans a region extending in a predetermined range toward the front of the own vehicle at predetermined time intervals with a radar signal, and receives an electromagnetic wave reflected on the surface of the front object to obtain a distance from the front object and the front. Acquires the relative velocity with an object as object information. Specifically, the object information includes the distance to the front object in the traveling direction of the own vehicle and the relative speed to the front object in the traveling direction of the own vehicle. The acquired object information is input to the automatic operation ECU 51.

The laser sensor 36 uses directional radar light as a transmission wave, and receives a reflected wave reflected from an object in front of the own vehicle in response to the transmission wave. The laser sensor 36 detects the position of the preceding vehicle and the current inter-vehicle distance between the own vehicle and the preceding vehicle by scanning the transmitted wave in the lateral direction of the vehicle. Further, the laser sensor 36 detects the height of the preceding vehicle by scanning the transmitted wave in the vertical direction. The information detected by the laser sensor 36 is input to the automatic operation ECU 51. The automatic operation ECU 51 outputs a control signal for performing automatic operation control to at least one of the electric power steering device 30, the brake device 31, and the injection control ECU 50 based on various input information.

The system includes a navigation device 40. The navigation device 40 acquires map data from at least one of a map storage medium recording road map data and various information, and an external cloud server 60 connected via a network, and GPS received via a GPS antenna. Calculate the current position of your vehicle based on signals and the like. Further, the navigation device 40 controls to display the current location of the own vehicle on the display screen, controls to guide the route from the current location to the destination, and the like.

The system includes a current sensor 21, a voltage sensor 22, a battery temperature sensor 23, and a power supply control ECU 52 corresponding to a vehicle control device. The power supply source used in the current sensor 21, the voltage sensor 22, the battery temperature sensor 23, and the power supply control ECU 52 is at least one of the storage battery 20 and the alternator 12. The power supply control ECU 52 includes a non-volatile memory 52A as a storage unit.

The current sensor 21 detects the current flowing through the storage battery 20 as the current detection value Ir. The voltage sensor 22 detects the terminal voltage of the storage battery 20 as the voltage detection value Vr. The battery temperature sensor 23 detects the temperature of the storage battery 20 as the temperature detection value Tr. The detection signals of the current sensor 21, the voltage sensor 22, and the battery temperature sensor 23 are input to the power supply control ECU 52.

The system includes a water temperature sensor 24, an oil temperature sensor 25, and an outside air temperature sensor 26. The water temperature sensor 24 detects the cooling water temperature of the internal combustion engine 10. The oil temperature sensor 25 detects the temperature of the engine oil of the internal combustion engine 10. The outside air temperature sensor 26 detects the outside air temperature around the own vehicle. The detection signals of the water temperature sensor 24, the oil temperature sensor 25, and the outside air temperature sensor 26 are input to the injection control ECU 50. The injection control ECU 50 uses these detection signals for combustion control and the like.

In the present embodiment, each of the injection control ECU 50, the automatic operation ECU 51, and the power supply control ECU 52 can communicate with each other. Therefore, each of the injection control ECU 50, the automatic operation ECU 51, and the power supply control ECU 52 can transmit the sensor signal input to itself to other ECUs.

When the automatic driving ECU 51 determines that the automatic driving mode has been selected by the user, the automatic driving ECU 51 performs automatic driving control according to the automatic driving level selected by the user. In the present embodiment, the automatic driving level is set by the user via the display unit (for example, a touch panel) of the navigation device 40. In this embodiment, the automatic operation level is defined as follows.

The automatic driving level 1 is a level at which any one of acceleration, steering, and braking is performed according to the instruction of the automatic driving ECU 51. The deceleration of the vehicle is performed by automatic braking control, and the acceleration of the vehicle is performed by combustion control of the internal combustion engine 10 via the injection control ECU 50. The steering of the vehicle is performed by automatic operation control. At the automatic driving level 1, for example, driving support control of ACC (Adaptive Cruise Control) or LKA (Lane Keep Assist) is performed. The automatic driving level 2 is a level at which a plurality of operations of acceleration, steering, and braking are performed by instructions of the automatic driving ECU 51.

The automatic driving level 3 is a level in which all operations of acceleration, steering, and braking are performed by instructions of the automatic driving ECU 51, but the user responds only when requested by the system. The automatic driving level 4 is a level in which all operations of acceleration, steering, and braking are performed by instructions of the automatic driving ECU 51, and the user is not involved in the vehicle operation at all. At levels 3 and 4, automatic driving to the destination can be performed without requiring a user's driving operation. The automatic operation level is not limited to the above-mentioned four stages, and may be defined in, for example, five stages.

Subsequently, the restriction processing of the automatic operation control in the present embodiment will be described.

FIG. 2 shows a procedure for limiting processing of automatic operation control. This process is repeatedly executed by the power supply control ECU 52, for example, at predetermined process cycles. This process is executed, for example, after the ignition switch of the vehicle is turned on and before the vehicle travels, or when the automatic driving mode is selected by the user.

In step S10, a failure determination process is performed. The process of step S10 corresponds to the failure determination unit. FIG. 3 shows a procedure for failure determination processing.

In step S101, the current detection value Ir detected by the current sensor 21 is acquired, and the charge rate SOCr of the storage battery 20 is calculated based on the acquired current detection value Ir. Further, in step S101, the temperature detection value Tr detected by the battery temperature sensor 23 and the voltage detection value Vr detected by the voltage sensor 22 are acquired.

In step S102, it is determined whether or not the calculated charge rate SOCr is larger than the overcharge threshold value SHth. This process is a process for determining whether or not the storage battery 20 is in an overcharged state.

If an affirmative determination is made in step S102, the process proceeds to step S103, and the overcharge determination counter NHsoc is incremented by one. The initial value of the overcharge determination counter NHsoc is 0.

If a negative determination is made in step S102, or if the process of step S103 is completed, the process proceeds to step S104, and it is determined whether or not the charge rate SOCr is smaller than the over-discharge threshold SLth (<SHth). This process is a process for determining whether or not the storage battery 20 is in an over-discharged state.

If an affirmative determination is made in step S104, the process proceeds to step S105, and the over-discharge determination counter NLsoc is incremented by one. The initial value of the over-discharge determination counter NLsoc is 0.

If a negative determination is made in step S104, or if the process of step S105 is completed, the process proceeds to step S106, and it is determined whether or not the acquired temperature detection value Tr is smaller than the low temperature threshold TLth. The low temperature threshold value TLth is set to, for example, a lower limit value in a temperature range in which the reliability of the storage battery 20 does not deteriorate.

If an affirmative determination is made in step S106, the process proceeds to step S107, and the low temperature determination counter NLtr is incremented by 1. The initial value of the low temperature determination counter NLtr is set to 0.

If a negative determination is made in step S106, or if the process of step S107 is completed, the process proceeds to step S108, and it is determined whether or not the acquired voltage detection value Vr is smaller than the low voltage threshold value VLth. The low voltage threshold value VLth is set to, for example, the lower limit value of the operable voltage range of the device to be supplied with power of the storage battery 20.

If an affirmative determination is made in step S108, the process proceeds to step S109, and the low voltage determination counter NLvr is incremented by 1. The initial value of the low pressure determination counter NLvr is set to 0.

If a negative determination is made in step S108, or if the process of step S109 is completed, the process proceeds to step S110. In step S110, it is determined whether or not all of the overcharge determination counter NHsoc, the overdischarge determination counter NLsoc, the low temperature determination counter NLtr, and the low pressure determination counter NLvr are 0. If it is determined in step S110 that all are 0, the process proceeds to step S111, and it is determined that the storage battery 20 is normal.

If it is determined in step S110 that at least one of the overcharge determination counter NHsoc, the overdischarge determination counter NLsoc, the low temperature determination counter NLtr, and the low pressure determination counter NLvr is 1 or more, the process proceeds to step S112. In step S112, the first condition that the overcharge determination counter NHsoc is the overcharge specified number of times NHsth or more, the second condition that the overdischarge determination counter NLsoc is the overdischarge specified number of times NLsth or more, and the low temperature determination counter NLtr are low temperature. It is determined whether or not the logical sum of the third condition that the specified number of times is NLth or more and the fourth condition that the low voltage determination counter NLvr is the specified number of times NLvth or more is true. The overcharge specified number of times NHsth, the overdischarge specified number of times NLsth, the low temperature specified number of times NLth, and the low pressure specified number of times NLvth are set to values of 2 or more, respectively.

The overcharge specified number of times NHsth, the overdischarge specified number of times NLsth, the low temperature specified number of times NLth, and the low pressure specified number of times NLvth may be set to the same value or different values from each other, for example. ..

If it is determined in step S112 that none of the first to fourth conditions is satisfied, the process proceeds to step S113, and it is determined that the storage battery 20 has a temporary failure.

If it is determined in step S112 that at least one of the first to fourth conditions is satisfied, the process proceeds to step S114, and it is determined that the storage battery 20 has a definite failure. A definite failure is a failure that is more likely to be out of order than a temporary failure. For example, to explain by taking the terminal voltage of the storage battery 20 as an example, even though the actual terminal voltage of the storage battery 20 is not less than the low voltage threshold value VLth, noise is temporarily mixed in the voltage detection value Vr, so that the step is performed. A positive judgment can be made in S108. In this case, it should be determined that the possibility that the low voltage abnormality of the storage battery 20 has occurred is low. For this reason, we decided to adopt a judgment method using temporary failures and definite failures.

Returning to the above description of FIG. 2, in step S11, it is determined whether or not the storage battery 20 is normal. If an affirmative determination is made in step S110 of FIG. 3, it is determined that the determination is normal in step S11. On the other hand, if a negative determination is made in step S110, a negative determination is made in step S11.

If it is determined to be normal in step S11, the process proceeds to step S12, and no restriction is imposed on the automatic operation control.

If a negative determination is made in step S11, the process proceeds to step S13, and it is determined whether or not a temporary failure has occurred in the storage battery 20. If it is determined in step S13 that a temporary failure has occurred, the process proceeds to step S14, and restrictions are imposed on the automatic operation control. In the present embodiment, the parameters shown in the following (A) to (D) are assumed as the parameters to which the restriction is imposed.

(A) Maximum vehicle speed Vmax of own vehicle that is permitted to execute automatic driving control
In step S14, the maximum vehicle speed Vmax is lowered as compared with the case of step S12.

(B) Minimum road width Wmin permitted as a travel route included in the planned travel route
The travel route set by the navigation device 40 when the own vehicle is driven to the destination by using the automatic driving control is set as the planned travel route. In step S14, the minimum road width Wmin is made larger than in the case of step S12.

(C) Traffic volume Tmax permitted as a travel route included in the planned travel route
In step S14, the traffic volume Tmax is made smaller than in the case of step S12.

(D) Maximum automatic driving level Amax that can be selected by the user
In step S14, the maximum automatic operation level Amax that can be selected by the user is made smaller than in the case of step S12. For example, in step S12, the maximum automatic operation level Amax is set to 4, but in step S14, it is set to 2.

If a negative determination is made in step S13, it is determined that the storage battery 20 has a definite failure, and the process proceeds to step S15. In step S15, automatic operation control is prohibited. Specifically, an instruction is given to the automatic operation ECU 51 to prohibit automatic operation control. This prevents the user from selecting the automatic driving mode.

The process of steps S11 to S15 corresponds to the changed part.

According to the present embodiment described in detail above, the following effects can be obtained.

When it is determined that the storage battery 20 has a temporary failure, the degree of limitation imposed on the automatic operation control is increased. Therefore, even if it is determined that the storage battery 20 has a failure, the automatic operation control is uniformly prohibited when it is determined that the storage battery 20 has a failure. Automatic operation control can be used for as long as possible. For example, ACC and collision avoidance control can be used for as long as possible. As a result, even if it is determined that the storage battery 20 has failed, the running safety of the vehicle can be prevented from being impaired.

<Modified example of the first embodiment>
If a negative determination is made in step S110 of FIG. 3 and then an affirmative determination is made in step S110 over a predetermined time, the counters NHsoc, NLsoc, NLtr, and NLvr may be reset to 0.

In the process shown in FIG. 3, in addition to the low temperature state of the storage battery 20, it may be determined whether or not the storage battery 20 is in the high temperature state. Specifically, it may be determined whether or not the temperature detection value Tr is larger than the high temperature threshold value THth (> TLth). The high temperature threshold THth is set to, for example, an upper limit value in a temperature range in which the reliability of the storage battery 20 does not deteriorate.

Further, in the process shown in FIG. 3, in addition to the low voltage state of the storage battery 20, it may be determined whether or not the storage battery 20 is in the overvoltage state. Specifically, it may be determined whether or not the voltage detection value Vr is larger than the high voltage threshold value VHth (> VLth). The high voltage threshold value VHth is set to, for example, an upper limit value in a voltage range in which the reliability of the device to be supplied with power of the storage battery 20 does not deteriorate.

<Second Embodiment>
Hereinafter, the second embodiment will be described with reference to the drawings, focusing on the differences from the first embodiment. In this embodiment, minor failures and major failures are used as definite failures.

FIG. 4 shows a procedure for limiting processing of automatic operation control, and FIG. 5 shows a procedure for failure determination processing, which is the processing of step S10 of FIG. In addition, in FIGS. 4 and 5, the same processing as the processing shown in FIGS. 2 and 3 or the corresponding processing is designated by the same reference numerals for convenience.

First, FIG. 5 will be described.

In step S102, it is determined whether or not the calculated charge rate SOCr is larger than the first overcharge threshold value SHth1. The first overcharge threshold SHth1 corresponds to the overcharge threshold SHth in FIG. The first overcharge threshold value SHth1 is a threshold value for determining whether the storage battery 20 is in the overcharged state and the normal charged state. In step S104, it is determined whether or not the charge rate SOCr is smaller than the first over-discharge threshold value SLth1 (<SHth1). The first over-discharge threshold SLth1 corresponds to the over-discharge threshold SLth in FIG. The first over-discharge threshold value SLth1 is a threshold value for determining whether the storage battery 20 is in an over-discharged state and a normal charging state.

In step S106, it is determined whether or not the acquired temperature detection value Tr is smaller than the first low temperature threshold value TLth1. The first low temperature threshold TLth1 corresponds to the low temperature threshold TLth in FIG. The first low temperature threshold value TLth1 is a threshold value for discriminating between the low temperature state and the normal temperature state of the storage battery 20. In step S108, it is determined whether or not the acquired voltage detection value Vr is smaller than the first low voltage threshold value VLth1. The first low pressure threshold VLth1 corresponds to the low pressure threshold VLth in FIG. The first low voltage threshold value VLth1 is a threshold value for discriminating between the low voltage state and the normal voltage state of the storage battery 20.

After the processing of step S114 is completed, the process proceeds to step S115, the A condition that the charge rate SOCr is larger than the second overcharge threshold value SHth2 (> SHth1), and the charge rate SOCr is from the second overdischarge threshold value SLth2 (<SLth1). B condition that the temperature detection value Tr is smaller than the second low temperature threshold TLth2 (<TLth1), and D that the voltage detection value Vr is smaller than the second low pressure threshold VLth2 (<VLth1). Determine if the logical sum of the conditions is true.

The second overcharge threshold value SHth2 is a value set on the overcharge side with respect to the first overcharge threshold value SHth1. The second over-discharge threshold value SLth2 is a value set on the over-discharge side of the first over-discharge threshold value SLth1. The second low temperature threshold value TLth2 is a value set on the lower temperature side than the first low temperature threshold value TLth1. The second low-voltage threshold value VLth2 is a value set on the low-voltage side of the first low-voltage threshold value VLth1.

If it is determined in step S115 that none of the conditions A to D is satisfied, the process proceeds to step S116, and it is determined that the storage battery 20 has a minor failure. If it is determined in step S115 that at least one of the A to D conditions is satisfied, the process proceeds to step S117, and it is determined that the storage battery 20 has a serious failure. A serious failure is a failure in which the degree of failure is relatively larger than that of a minor failure.

Subsequently, FIG. 4 will be described.

If a negative determination is made in step S13, the process proceeds to step S16 to determine whether or not a minor failure has occurred in the storage battery 20. If it is determined in step S16 that a minor failure has occurred, the process proceeds to step S17, and restrictions are imposed on the automatic operation control.

If a negative determination is made in step S16, it is determined that the storage battery 20 has a serious failure, and the process proceeds to step S15. This prohibits automatic driving control. The process of steps S11 to S15 corresponds to the changed part.

Incidentally, the degree of restriction imposed on the automatic operation control in step S17 may be larger than the degree of restriction in step S14.

Further, in step S14, the degree of limitation when the voltage detection value Vr is smaller than the low voltage threshold value VLth may be larger than the degree of limitation when the charge rate SOCr is larger than the overcharge threshold value SHth. This is based on the fact that when the voltage detection value Vr becomes the low voltage threshold value VLth, the operation of the in-vehicle device may not be guaranteed, and therefore it is necessary to impose a large limitation on the automatic operation control.

In the present embodiment described above, automatic operation control is prohibited when it is determined that the storage battery 20 has a serious failure. This makes it possible to prevent the running safety of the vehicle from being impaired.

<Modified example of the second embodiment>
In the process shown in FIG. 5, it may be determined whether or not the storage battery 20 is in a high temperature state. Further, in the process shown in FIG. 5, it may be determined whether or not the storage battery 20 is in an overvoltage state.

<Third Embodiment>
Hereinafter, the third embodiment will be described with reference to the drawings, focusing on the differences from the second embodiment. In the present embodiment, as shown in FIG. 6, the system includes a first storage battery 20A and a second storage battery 20B as a power storage device. In FIG. 6, the same components as those shown in FIG. 1 above are designated by the same reference numerals for convenience.

The first storage battery 20A and the second storage battery 20B are, for example, lead storage batteries. The power supply source used in the vehicle-mounted device such as the electric power steering device 30 is at least one of the first storage battery 20A, the second storage battery 20B, and the alternator 12. In the present embodiment, the capacity of the first storage battery 20A is the same as the capacity of the second storage battery 20B.

The current sensor 21 detects the current flowing through the first storage battery 20A as the first current detection value Ir1, and detects the current flowing through the second storage battery 20B as the second current detection value Ir2. The voltage sensor 22 detects the terminal voltage of the first storage battery 20A as the first voltage detection value Vr1, and detects the terminal voltage of the second storage battery 20B as the second voltage detection value Vr2. The battery temperature sensor 23 detects the temperature of the first storage battery 20A as the first temperature detection value Tr1 and detects the temperature of the second storage battery 20B as the second temperature detection value Tr2.

FIG. 7 shows a procedure for limiting processing of automatic operation control. This process is repeatedly executed by the power supply control ECU 52, for example, at predetermined process cycles.

In step S20, a failure determination process for the first storage battery 20A is performed. The process of step S20 is executed in the same manner as the process of FIG. 5 using the first charge rate SOC1, the first temperature detection value Tr1 and the first voltage detection value Vr1, which are the charge rates of the first storage battery 20A. Just do it. The first charge rate SOC1 may be calculated based on the first current detection value Ir1.

In step S21, the failure determination process of the second storage battery 20B is performed. The process of step S21 is executed in the same manner as the process of FIG. 5 using the second charge rate SOC2, the second temperature detection value Tr2, and the second voltage detection value Vr2, which are the charge rates of the second storage battery 20B. Just do it. The second charge rate SOC2 may be calculated based on the second current detection value Ir2.

In step S22, the degree of limitation of automatic driving control is determined in the manner shown in FIG. 8 based on the determination results in steps S20 and S21.

When it is determined that both the first storage battery 20A and the second storage battery 20B are normal, no restriction is imposed on the automatic operation control.

When it is determined that at least one of the first storage battery 20A and the second storage battery 20B has a temporary failure or a minor failure, the automatic operation control is restricted.

When it is determined that at least one of the first storage battery 20A and the second storage battery 20B has a serious failure, the automatic operation control is prohibited.

According to the present embodiment described in detail above, the following effects can be obtained.

-In order to improve the running safety of the vehicle, the vehicle is equipped with first and second storage batteries 20A and 20B which are power sources for equipment used for automatic driving control. Here, even if any one of the first and second storage batteries 20A and 20B has not failed, the non-failed storage battery may subsequently fail. If restrictions are suddenly imposed on the automatic driving control when the storage battery that has not failed is subsequently broken down, there is a concern that the driving safety of the vehicle may be impaired, such as confusing users who expect the automatic driving control to be implemented. be.

Therefore, in the present embodiment, when it is determined that either one of the first and second storage batteries 20A and 20B is out of order, both the first and second storage batteries 20A and 20B are not out of order (normally). The degree of restriction imposed on the automatic operation control is greater than when it is determined that there is). As a result, the limit imposed on the automatic operation control is increased when it is determined that one of the first and second storage batteries 20A and 20B is out of order. Therefore, it is possible to avoid imposing restrictions on the automatic operation control suddenly when it is determined that both the first and second storage batteries 20A and 20B have failed, and it is possible to suppress the occurrence of a situation in which the user is confused. This makes it possible to prevent the running safety of the vehicle from being impaired.

Further, according to the present embodiment, automatic operation is compared with a configuration in which automatic operation control is uniformly prohibited when it is determined that any of the first and second storage batteries 20A and 20B has a failure. Control can be used for as long as possible.

-When it is determined that both the first and second storage batteries 20A and 20B have a temporary failure, automatic operation is performed as compared with the case where at least one of the first and second storage batteries 20A and 20B is determined to be normal. The degree of restriction imposed on control is increased. Therefore, it is possible to increase the degree of restriction imposed on the automatic operation control before both the first and second storage batteries 20A and 20B have a definite failure or a serious failure. As a result, the user can be made aware that the automatic driving control is restricted before the degree of failure of at least one of the first and second storage batteries 20A and 20B becomes large, and the vehicle can be moved to a repair shop. The user can be made to take appropriate measures. As a result, it is possible to suppress the occurrence of a situation in which automatic driving control cannot be performed while the vehicle is running.

-When it is determined that one of the first and second storage batteries 20A and 20B has a serious failure, the automatic operation control is performed regardless of whether or not the other is determined to have a failure. It is forbidden. As a result, it is possible to prevent the user from using the automatic driving control in a state where at least one of the first and second storage batteries 20A and 20B has a large degree of failure, and it is possible to prevent the driving safety of the vehicle from being impaired.

<Modified example of the third embodiment>
-As shown in FIG. 9, when it is determined that at least one of the first and second storage batteries 20A and 20B has a definite failure, regardless of whether or not it is determined that the other has a failure. , Automatic operation control may be prohibited.

As shown in FIG. 10, when it is determined that both the first and second storage batteries 20A and 20B have a minor failure, one of the first and second storage batteries 20A and 20B has a minor failure. If it is determined that a temporary failure has occurred on the other side, or if it is determined that a temporary failure has occurred in both the first and second storage batteries 20A and 20B, the automatic operation control may be prohibited.

-The capacity of the first storage battery 20A and the capacity of the second storage battery 20B may be different.

<Fourth Embodiment>
Hereinafter, the fourth embodiment will be described with reference to the drawings, focusing on the differences from the third embodiment. In the present embodiment, the power supply control ECU 52 changes the degree of limitation of the other of the first and second storage batteries 20A and 20B based on the state quantity of one of them.

FIG. 11 shows a procedure for limiting processing of automatic operation control. This process is repeatedly executed by the power supply control ECU 52, for example, at predetermined process cycles. In FIG. 11, the same processing as that shown in FIG. 7 is designated by the same reference numerals for convenience.

After the processing in step S21 is completed, in step S23, the state quantity of the first storage battery 20A is acquired. In the present embodiment, the first charge rate SOC1, the first temperature detection value Tr1, and the first internal resistance value R1 which is the internal resistance value of the first storage battery 20A are acquired as the state quantities. The first internal resistance value R1 may be calculated based on, for example, the first current detection value Ir1 and the first voltage detection value Vr1.

In step S24, the state quantity of the second storage battery 20B is acquired. In the present embodiment, the second charge rate SOC2, the second temperature detection value Tr2, and the second internal resistance value R2, which is the internal resistance value of the second storage battery 20B, are acquired as the state quantities. The second internal resistance value R2 may be calculated based on, for example, the second current detection value Ir2 and the second voltage detection value Vr2.

In step S22, the degree of restriction imposed on the automatic driving control is determined in the embodiment shown in FIG. At this time, the degree of limitation of the other of the first and second storage batteries 20A and 20B is changed based on the state quantity of one.

First, with reference to FIG. 12, a method of changing the degree of limitation based on the state quantity of the first storage battery 20A will be described. FIG. 12 shows a case where the first storage battery 20A is normal and the second storage battery 20B is determined to have a temporary failure or a minor failure.

In step S22, the smaller the first charge rate SOC1, the greater the degree of restriction imposed on the automatic operation control. This is because there is a concern that the equipment used for automatic operation control cannot be sufficiently supplied with power when the normal charge rate of the storage battery is low.

In step S22, the lower the first temperature detection value Tr1, the greater the degree of limitation. This is because the lower the temperature of the storage battery, the smaller the allowable upper limit of the power that can be input / output to the storage battery.

In step S22, the larger the first internal resistance value R1, the greater the degree of limitation. This is because the larger the internal resistance value, the lower the terminal voltage of the storage battery, and there is a concern that the voltage applied to the equipment used for automatic operation control will be insufficient.

FIG. 12 shows that the greater the degree of restriction, the lower the maximum vehicle speed Vmax, the wider the minimum road width Wmin, the smaller the traffic volume Tmax, and the lower the maximum automatic driving level Amax. Here, the degree of limitation of the maximum vehicle speed Vmax, the minimum road width Wmin, and the traffic volume Tmax may be changed stepwise or continuously.

For example, when the first charge rate SOC1 changes from the first predetermined value to the second predetermined value, all of the maximum vehicle speed Vmax, the minimum road width Wmin, and the traffic volume Tmax may not be changed. Specifically, for example, when the first charge rate SOC1 changes from the first predetermined value to the second predetermined value, the maximum vehicle speed Vmax may be maintained at the same value even if the minimum road width Wmin is changed. ..

Subsequently, with reference to FIG. 13, a method of changing the degree of limitation based on the state amount of the second storage battery 20B will be described. FIG. 13 shows a case where the second storage battery 20B is normal and it is determined that the first storage battery 20A has a temporary failure or a minor failure.

In step S22, the smaller the second charge rate SOC2 is, the greater the degree of restriction imposed on the automatic operation control. Further, the lower the second temperature detection value Tr2, the greater the degree of limitation. Further, the larger the second internal resistance value R2, the greater the degree of limitation.

According to the present embodiment described above, the degree of restriction imposed on the automatic operation control is appropriately determined according to the state amount of the storage batteries determined to be normal among the first and second storage batteries 20A and 20B. Can be done. This makes it possible to prevent the running safety of the vehicle from being impaired.

<Modified example of the fourth embodiment>
-The terminal voltage of the storage battery may be used as the state quantity of the storage battery. For example, in the case shown in FIG. 12, the lower the first voltage detection value Vr1, the greater the degree of limitation imposed on the automatic operation control.

-The degree of deterioration of the storage battery may be used as the state quantity of the storage battery. For example, in the case shown in FIG. 12, the greater the degree of deterioration of the first storage battery, the greater the degree of limitation. The degree of deterioration may be calculated as SOH, for example, as described in Japanese Patent No. 5740899.

-When the storage battery is an assembled battery including a series connection of battery cells, a normal number of battery cells may be used as the state quantity of the storage battery. For example, in the case shown in FIG. 12, the smaller the number of normal battery cells among the number of battery cells constituting the first storage battery, the greater the degree of limitation may be.

<Fifth Embodiment>
Hereinafter, the fifth embodiment will be described with reference to the drawings, focusing on the differences from the fourth embodiment. In the present embodiment, when the power supply control ECU 52 determines that a minor failure or a temporary failure has occurred in each of the first and second storage batteries 20A and 20B, the level of the degree of limitation is changed in the embodiment shown in FIG. Here, FIG. 15 shows the levels L1 to L5 of the degree of restriction. When arranged in descending order of the degree of restriction, they are L5, L4, L3, L2, and L1. Corresponding to these levels, FIG. 15 corresponds to V1 to V5 corresponding to the maximum vehicle speed Vmax, W1 to W5 corresponding to the minimum road width Wmin, T1 to T5 corresponding to the traffic volume Tmax, and the maximum automatic driving level Amax. A1 to A5 are shown. In this embodiment, it is assumed that there are five levels of automatic operation.

By the way, the level when the first storage battery 20A has a temporary failure and the second storage battery 20B is determined to be normal, and the level when the second storage battery 20B has a temporary failure and the first storage battery 20A is normal. The level when determined is the same for L1. In this case, the case where the first storage battery 20A has a temporary failure and the second storage battery 20B is determined to be normal, and the case where the second storage battery 20B has a temporary failure and the first storage battery 20A is normal. The degree of restriction may be the same or the degree of restriction may be different depending on the case where the determination is made.

According to the present embodiment described above, the degree of limitation can be more appropriately determined according to the combination of the failure states of the first and second storage batteries 20A and 20B. As a result, it is possible to prevent the running safety of the vehicle from being further impaired.

<Sixth Embodiment>
Hereinafter, the sixth embodiment will be described with reference to the drawings, focusing on the differences from the fifth embodiment. In the present embodiment, as shown in FIG. 16, even if it is determined that one of the first and second storage batteries 20A and 20B has a serious failure, the other is normal. If it is determined that, automatic operation control is not prohibited. As a result, the use of automatic driving control can be continued as much as possible.

<7th Embodiment>
Hereinafter, the seventh embodiment will be described with reference to the drawings, focusing on the differences from the third embodiment. In the present embodiment, the power supply control ECU 52 stores in the memory 52A the degree of limitation imposed on the automatic driving control set when the in-vehicle system is used. Then, the power supply control ECU 52 is stored in the memory 52A last time when the ignition switch is turned off again by the user's operation and the use of the in-vehicle system is stopped, and then the ignition switch is turned on again and the system is restarted. Set the degree of restriction.

FIG. 17 shows a procedure for limiting processing of automatic operation control executed by the power supply control ECU 52. In FIG. 17, the same processing as that shown in FIG. 7 is designated by the same reference numerals for convenience.

After the processing of step S22 is completed, in step S25, the memory 52A stores information on the determination result of the first storage battery 20A in step S20, the determination result of the second storage battery 20B in step S21, and the degree of limitation determined in step S22. To memorize.

FIG. 18 shows a procedure of initial setting processing executed by the power supply control ECU 52.

In step S30, it is determined whether or not an operation instruction has been given to the power supply control ECU 52. For example, when the ignition switch is turned on by the user's operation and the power supply to the power supply control ECU 52 is started, it is determined that the operation instruction has been given.

If an affirmative determination is made in step S30, the process proceeds to step S31, and information regarding the determination result of the first storage battery 20A in step S20, the determination result of the second storage battery 20B in step S21, and the degree of limitation determined in step S22. And are read from the memory 52A.

In step S32, the degree of restriction imposed on the automatic driving control is set based on the read information. When the process of step S32 in FIG. 18 is completed, the process proceeds to the process shown in FIG.

According to the present embodiment described above, when the in-vehicle system is restarted, the degree of restriction imposed on the automatic driving control can be appropriately set.

<8th Embodiment>
Hereinafter, the eighth embodiment will be described with reference to the drawings, focusing on the differences from the seventh embodiment. In the present embodiment, the power supply control ECU 52 tells the user that the automatic operation control is restricted based on the information regarding the failure determination result of the first and second storage batteries 20A and 20B stored in the memory 52A. Performs notification processing. Further, when it is determined that the power supply control ECU 52 cannot notify the user that the restriction is imposed, the power supply control ECU 52 outputs an instruction for prohibiting the automatic operation control to the automatic operation ECU 51.

FIG. 19 shows a procedure for limiting processing of automatic operation control executed by the power supply control ECU 52. In FIG. 19, the same processing as that shown in FIG. 17 is designated by the same reference numerals for convenience.

After the processing of step S21 is completed, the process proceeds to step S40, and it is determined whether or not the navigation device 40 can inform the user of information regarding the degree of restriction imposed on the automatic driving control. For example, when the user operation is instructed to stop the notification of the information regarding the degree of restriction, a negative determination is made in step S40. The process of step S40 corresponds to the state determination unit.

If it is determined in step S40 that the state cannot be notified, the process proceeds to step S41 and automatic operation control is prohibited. A situation in which the user is not aware of the limitation of autonomous driving control may impair the driving safety of the vehicle. For example, when automatic driving control is used, at least one of the first and second storage batteries 20A and 20B may fail, and the in-vehicle system may request the user to transfer the vehicle operation. In this case, if the user is not in an awake state, the vehicle cannot be operated properly, and the running safety of the vehicle may be impaired. Therefore, by providing the processes of steps S40 and S41, the running safety of the vehicle is not impaired. The process of step S41 corresponds to the prohibited portion.

If it is determined in step S40 that the state can be notified, the process proceeds to step S42 via step S22. In step S42, the navigation device indicates that the restriction is imposed based on the information regarding the failure determination result of the first and second storage batteries 20A and 20B stored in the memory 52A and the degree of restriction imposed on the automatic operation control. Notify the user via 40. In the present embodiment, visual notification using the display unit of the navigation device 40 and auditory notification using a voice or a warning sound from the navigation device 40 are performed. By notifying the user by a plurality of methods, it is possible for the user to easily recognize that the restriction is imposed. As a result, the user can properly operate the vehicle.

The visual notification may be performed by turning on the warning light of the instrument panel of the vehicle, for example. Further, as the notification method, in addition to the visual and auditory ones, vibrations such as vibration of the steering may be used. At this time, at least two of notification using the display unit of the navigation device 40, notification using the voice and warning sound of the navigation device 40, and notification by lighting the warning light may be performed in combination.

By the way, even when the automatic driving control is restricted, if the automatic driving control is not prohibited, the auditory notification can be stopped by the user operation. That is, the number of notification methods to the user can be reduced. As a result, even though automatic driving control is not prohibited, it is possible to suppress the occurrence of a situation in which a voice or a warning sound is emitted and the user is confused. Therefore, it is possible to support the safe driving of the user. The process of step S42 corresponds to the notification instruction unit.

According to the present embodiment described above, it is possible to make the user properly recognize that the restriction is imposed according to the degree of restriction imposed on the automatic driving control.

<9th embodiment>
Hereinafter, the ninth embodiment will be described with reference to the drawings, focusing on the differences from the eighth embodiment. In the present embodiment, the power supply control ECU 52 has the specified number of times NHth, NLsth, NLth, NLvth and the threshold values SHth2, SLth2, TLth2 shown in FIG. 5 based on the failure determination results of the first and second storage batteries 20A and 20B. , VLth2 and so on.

FIG. 20 shows a procedure for limiting processing of automatic operation control. This process is repeatedly executed by the power supply control ECU 52, for example, at predetermined process cycles. In FIG. 20, the same processing as that shown in FIG. 19 is designated by the same reference numerals for convenience.

After the process of step S21 is completed, the first setting process is performed in step S50. Hereinafter, this process will be described with reference to FIGS. 21 and 22.

As shown in FIG. 21, in step S50, when it is determined that the second storage battery 20B has a temporary failure, each specified number of times NHsth used in step S20 is higher than when it is determined that the second storage battery 20B is normal. , NLsth, NLth, NLvth are set small. Further, when it is determined that the second storage battery 20B has a minor failure, the specified number of times NHsth, NLsth, NLtth, NLvth used in step S20 is higher than when it is determined that the second storage battery 20B has a temporary failure. Is set small. Further, when it is determined that the second storage battery 20B has a serious failure, the specified number of times NHsth, NLsth, NLtth, NLvth used in step S20 is higher than when it is determined that the second storage battery 20B has a minor failure. Is set small. According to the process described above, the greater the degree of failure of the second storage battery 20B, the easier it is to determine that the first storage battery 20A has a definite failure.

As shown in FIG. 22, in step S50, when it is determined that the second storage battery 20B has a temporary failure, the second overcharge used in step S20 is higher than when it is determined that the second storage battery 20B is normal. The threshold value SHth2 is set small, and the second overdischarge threshold value SLth2, the second low temperature threshold value TLth2, and the second low pressure threshold value VLth2 used in step S20 are set large. As a result, the second overcharge threshold SHth2, the second overdischarge threshold SLth2, the second low temperature threshold TLth2, and the second low pressure threshold VLth2 become the first overcharge threshold SHth1, the first overdischarge threshold SLth1, the first low temperature threshold TLth1, and the first. 1 Approaches the low pressure threshold VLth1. Further, when it is determined that the second storage battery 20B has a minor failure, the second overcharge threshold value SHth2 used in step S20 is set smaller than when it is determined that the second storage battery 20B has a temporary failure. , The second over-discharge threshold SLth2, the second low-temperature threshold TLth2, and the second low-pressure threshold VLth2 used in step S20 are set large. Further, when it is determined that the second storage battery 20B has a serious failure, the second overcharge threshold value SHth2 used in step S20 is set smaller than when it is determined that the second storage battery 20B has a minor failure. , The second over-discharge threshold SLth2, the second low-temperature threshold TLth2, and the second low-pressure threshold VLth2 used in step S20 are set large. According to the process described above, the greater the degree of failure of the second storage battery 20B, the easier it is to determine that the first storage battery 20A has a serious failure.

Even if the second overcharge threshold value SHth2 is reduced in step S50, the second overcharge threshold value SHth2 is set to a value larger than the first overcharge threshold value SHth1. Further, even if the second overdischarge threshold SLth2, the second low temperature threshold TLth2, and the second low pressure threshold VLth2 are increased in step S50, the second overdischarge threshold SLth2, the second low temperature threshold TLth2, and the second low pressure threshold VLth2 are set. The values are smaller than the first overdischarge threshold SLth1, the first low temperature threshold TLth1, and the first low pressure threshold VLth1.

After the process of step S50 is completed, the process proceeds to step S51 via step S20. In step S51, the second setting process is performed.

In step S51, when it is determined that the first storage battery 20A has a temporary failure, the specified number of times NHsth, NLsth, NLth, NLvth used in step S21 are determined as compared with the case where it is determined that the first storage battery 20A is normal. Set small. Further, when it is determined that the first storage battery 20A has a minor failure, the specified number of times NHsth, NLsth, NLtth, NLvth used in step S21 is higher than when it is determined that the first storage battery 20A has a temporary failure. Is set small. Further, when it is determined that the first storage battery 20A has a serious failure, the specified number of times NHsth, NLsth, NLtth, NLvth used in step S21 is higher than when it is determined that the first storage battery 20A has a minor failure. Is set small.

In step S51, when it is determined that the first storage battery 20A has a temporary failure, the second overcharge threshold value SHth2 used in step S21 is set smaller than when it is determined that the first storage battery 20A is normal. The second over-discharge threshold SLth2, the second low-temperature threshold TLth2, and the second low-pressure threshold VLth2 used in step S21 are set large. Further, when it is determined that the first storage battery 20A has a minor failure, the second overcharge threshold value SHth2 used in step S21 is set smaller than when it is determined that the first storage battery 20A has a temporary failure. , The second over-discharge threshold SLth2, the second low-temperature threshold TLth2, and the second low-pressure threshold VLth2 used in step S21 are set large. Further, when it is determined that the first storage battery 20A has a serious failure, the second overcharge threshold value SHth2 used in step S21 is set smaller than when it is determined that the first storage battery 20A has a minor failure. , The second over-discharge threshold SLth2, the second low-temperature threshold TLth2, and the second low-pressure threshold VLth2 used in step S21 are set large. After the process of step S51 is completed, the process proceeds to step S40.

Even if the second overcharge threshold value SHth2 is reduced in step S51, the second overcharge threshold value SHth2 is set to a value larger than the first overcharge threshold value SHth1. Further, even if the second overdischarge threshold SLth2, the second low temperature threshold TLth2, and the second low pressure threshold VLth2 are increased in step S51, the second overdischarge threshold SLth2, the second low temperature threshold TLth2, and the second low pressure threshold VLth2 are set. The values are smaller than the first overdischarge threshold SLth1, the first low temperature threshold TLth1, and the first low pressure threshold VLth1.

According to the present embodiment described above, the greater the degree of failure of any of the first and second storage batteries 20A and 20B, the greater the degree of restriction imposed on the automatic operation control. Therefore, it is possible to prevent the running safety of the vehicle from being further impaired.

<Other embodiments>
In addition, each of the above-mentioned embodiments may be changed and carried out as follows.

When the power supply control ECU 52 imposes a limit on the automatic driving control, the power supply control ECU 52 preferentially imposes a limit on the automatic driving control other than the automatic braking control among the automatic braking control, the control for automatically accelerating the vehicle, and the automatic steering control. May be good. Specifically, for example, even if the power supply control ECU 52 prohibits the automatic operation control, the automatic brake control may not be restricted. As a result, even if it is determined that the storage battery has a failure, the automatic braking control can be continuously used as much as possible. Therefore, the means for safely stopping the vehicle can be continuously used as much as possible, and the running safety of the vehicle can be prevented from being impaired.

-Instead of the navigation device as an in-vehicle device, information regarding the degree of restriction may be notified to the user via a portable device carried by the user.

When the power supply control ECU 52 determines that the elapsed time from the previous stop of the in-vehicle system to the start of this time is equal to or longer than the specified time, the water temperature sensor 24, the oil temperature sensor 25, or the oil temperature sensor 25 is used instead of the battery temperature sensor 23. The temperature detection value of the outside air temperature sensor 26 may be substituted as the temperature of the storage battery. The specified time may be set to, for example, the time required for the temperature of the storage battery, the temperature of the cooling water of the engine, and the temperature of the engine oil to drop to the outside air temperature after the in-vehicle system is stopped last time.

-The power storage device is not limited to a storage battery, and may be, for example, a capacitor.

-The vehicle is not limited to a vehicle equipped with only an internal combustion engine as a traveling power source, and may be a hybrid vehicle equipped with a rotating electric machine as a traveling power source or an electric vehicle equipped with only a rotating electric machine as a traveling power source.

20 ... Storage battery, 30 ... Electric power steering device, 31 ... Brake device, 51 ... Automatic operation ECU, 52 ... Power control ECU.

Claims (12)

In the vehicle control device (52) applied to the vehicle,
The vehicle includes a power storage device (20, 20A, 20B) and a device (30 to 36, 51) that is driven by being supplied with power from the power storage device and is used for automatic operation control of the vehicle.
The power storage device includes a first power storage device (20A) and a second power storage device (20B).
A failure determination unit that determines the failure state of each of the first power storage device and the second power storage device ,
When the failure determination unit determines that one of the first power storage device and the second power storage device has a failure and the other has no failure, the first power storage device and the second power storage device are used. It is provided with a change unit that increases the degree of restriction imposed on the automatic operation control performed by using the equipment , as compared with the case where it is determined by the failure determination unit that both of the devices have not failed .
When the failure determination unit determines that one of the first power storage device and the second power storage device has a failure and the other has no failure, the change unit is the first power storage device. A vehicle control device that increases the degree of limitation as the amount of electricity stored in the second electricity storage device determined to be free of failure is smaller . In the vehicle control device (52) applied to the vehicle,
The vehicle includes a power storage device (20, 20A, 20B) and a device (30 to 36, 51) that is driven by being supplied with power from the power storage device and is used for automatic operation control of the vehicle.
The power storage device includes a first power storage device (20A) and a second power storage device (20B).
A failure determination unit that determines the failure state of each of the first power storage device and the second power storage device ,
When the failure determination unit determines that one of the first power storage device and the second power storage device has a failure and the other has no failure, the first power storage device and the second power storage device are used. It is provided with a change unit that increases the degree of restriction imposed on the automatic operation control performed by using the equipment , as compared with the case where it is determined by the failure determination unit that both of the devices have not failed .
When the failure determination unit determines that one of the first power storage device and the second power storage device has a failure and the other has no failure, the change unit is the first power storage device. A vehicle control device that increases the degree of limitation as the temperature of the second power storage device determined to be free of failure is lower . In the vehicle control device (52) applied to the vehicle,
The vehicle includes a power storage device (20, 20A, 20B) and a device (30 to 36, 51) that is driven by being supplied with power from the power storage device and is used for automatic operation control of the vehicle.
The power storage device includes a first power storage device (20A) and a second power storage device (20B).
A failure determination unit that determines the failure state of each of the first power storage device and the second power storage device ,
When the failure determination unit determines that one of the first power storage device and the second power storage device has a failure and the other has no failure, the first power storage device and the second power storage device are used. It is provided with a change unit that increases the degree of restriction imposed on the automatic operation control performed by using the equipment , as compared with the case where it is determined by the failure determination unit that both of the devices have not failed .
When the failure determination unit determines that one of the first power storage device and the second power storage device has a failure and the other has no failure, the change unit is the first power storage device. A vehicle control device that increases the degree of limitation as the internal resistance value of the second power storage device determined to have no failure increases . In the vehicle control device (52) applied to the vehicle,
The vehicle includes a power storage device (20, 20A, 20B) and a device (30 to 36, 51) that is driven by being supplied with power from the power storage device and is used for automatic operation control of the vehicle.
The power storage device includes a first power storage device (20A) and a second power storage device (20B).
A failure determination unit that determines the failure state of each of the first power storage device and the second power storage device ,
When the failure determination unit determines that one of the first power storage device and the second power storage device has a failure and the other has no failure, the first power storage device and the second power storage device are used. It is provided with a change unit that increases the degree of restriction imposed on the automatic operation control performed by using the equipment , as compared with the case where it is determined by the failure determination unit that both of the devices have not failed .
When the failure determination unit determines that one of the first power storage device and the second power storage device has a failure and the other has no failure, the change unit is the first power storage device. A vehicle control device that increases the degree of limitation as the degree of deterioration of the second power storage device determined not to have failed increases . In the vehicle control device (52) applied to the vehicle,
The vehicle includes a power storage device (20, 20A, 20B) and a device (30 to 36, 51) that is driven by being supplied with power from the power storage device and is used for automatic operation control of the vehicle.
The power storage device includes a first power storage device (20A) and a second power storage device (20B).
A failure determination unit that determines the failure state of each of the first power storage device and the second power storage device ,
When the failure determination unit determines that one of the first power storage device and the second power storage device has a failure and the other has no failure, the first power storage device and the second power storage device are used. It is provided with a change unit that increases the degree of restriction imposed on the automatic operation control performed by using the device as compared with the case where it is determined by the failure determination unit that both of the devices have not failed .
The failure determination unit is either a temporary failure, which is a failure with a relatively low possibility of failure, or a definite failure, which is a failure with a relatively high possibility of failure than the temporary failure. Judging that it is occurring in the power storage device,
The failure determination unit determines that either a minor failure having a relatively small degree of failure or a serious failure having a relatively larger degree of failure than the minor failure has occurred in the power storage device.
When the change unit determines that both the first power storage device and the second power storage device have a minor failure, one of the first power storage device and the second power storage device has a minor failure. If it is determined that a temporary failure has occurred on the other side, or if it is determined that a temporary failure has occurred in both the first power storage device and the second power storage device, the vehicle control for prohibiting the automatic operation control. Device. In the vehicle control device (52) applied to the vehicle,
The vehicle includes a power storage device (20, 20A, 20B) and a device (30 to 36, 51) that is driven by being supplied with power from the power storage device and is used for automatic operation control of the vehicle.
The power storage device includes a first power storage device (20A) and a second power storage device (20B).
A failure determination unit that determines the failure state of each of the first power storage device and the second power storage device ,
When the failure determination unit determines that one of the first power storage device and the second power storage device has a failure and the other has no failure, the first power storage device and the second power storage device are used. It is provided with a change unit that increases the degree of restriction imposed on the automatic operation control performed by using the device as compared with the case where it is determined by the failure determination unit that both of the devices have not failed .
The failure determination unit is either a temporary failure, which is a failure with a relatively low possibility of failure, or a definite failure, which is a failure with a relatively high possibility of failure than the temporary failure. Judging that it is occurring in the power storage device,
When the failure determination unit determines that one of the first power storage device and the second power storage device has a definite failure and the other has a temporary failure, the change unit is the first. The degree of limitation is increased as compared with the case where it is determined by the failure determination unit that a temporary failure has occurred in both the power storage device and the second power storage device.
The failure determination unit is
When it is determined that the power storage device has a failure, the number of times of determination is one or more and less than two or more specified times, it is determined that the power storage device has a temporary failure, and the above-mentioned When it is determined that the number of times of determination that the power storage device has a failure is equal to or more than the specified number of times, it is determined that the power storage device has a definite failure.
When it is determined that the first power storage device has a failure, it is determined that the second power storage device has a definite failure, rather than when it is determined that the first power storage device has no failure. When the specified number of times is set small and it is determined that the second power storage device has a failure, the first power storage device has a higher value than when it is determined that the second power storage device has no failure. A vehicle control device that sets a small number of times to determine that a definite failure has occurred . In the vehicle control device (52) applied to the vehicle,
The vehicle includes a power storage device (20, 20A, 20B) and a device (30 to 36, 51) that is driven by being supplied with power from the power storage device and is used for automatic operation control of the vehicle.
The power storage device includes a first power storage device (20A) and a second power storage device (20B).
A failure determination unit that determines the failure state of each of the first power storage device and the second power storage device ,
When the failure determination unit determines that one of the first power storage device and the second power storage device has a failure and the other has no failure, the first power storage device and the second power storage device are used. It is provided with a change unit that increases the degree of restriction imposed on the automatic operation control performed by using the device as compared with the case where it is determined by the failure determination unit that both of the devices have not failed .
The failure determination unit determines that either a minor failure having a relatively small degree of failure or a serious failure having a relatively larger degree of failure than the minor failure has occurred in the power storage device.
When the failure determination unit determines that one of the first power storage device and the second power storage device has a serious failure and the other has a minor failure, the change unit is the first. The degree of limitation is increased as compared with the case where it is determined that both the power storage device and the second power storage device have a minor failure.
The failure determination unit is
When it is determined that the state quantity of the power storage device straddles the first threshold for determining whether the power storage device is faulty or normal from the normal side to the failure side, the power storage device has a minor failure. When it is determined that the power storage device is generated, and it is determined that the state quantity of the power storage device straddles the second threshold value set on the failure side of the first threshold value in a direction away from the first threshold value, the power storage is performed. Judging that the equipment has a serious failure,
When it is determined that the first power storage device has a failure, it is determined that the second power storage device has a serious failure rather than when it is determined that the first power storage device has no failure. When the second threshold value is brought closer to the first threshold value side and it is determined that the second power storage device has a failure, the case where it is determined that the second power storage device has no failure is more than the case where the failure has occurred. A vehicle control device that brings the second threshold value, which determines that a serious failure has occurred in the first power storage device, closer to the first threshold value side . When the failure determination unit determines that one of the first power storage device and the second power storage device has a serious failure, the change unit is determined to have a failure in the other. The vehicle control device according to claim 7 , which prohibits the automatic driving control regardless of whether or not the vehicle is controlled. When the failure determination unit determines that both the first power storage device and the second power storage device have a minor failure, the change unit is at least one of the first power storage device and the second power storage device. The vehicle control device according to claim 7 or 8 , wherein the degree of limitation is made larger than that in the case where it is determined that no failure has occurred. The automatic driving control is a plurality of types of automatic driving control including an automatic braking control that applies a braking force to the vehicle.
When the changing unit imposes a restriction on the automatic driving control, any one of claims 1 to 9 which preferentially imposes a restriction on the automatic driving control other than the automatic braking control among a plurality of types of the automatic driving control. The vehicle control device described in. In the vehicle control device (52) applied to the vehicle,
The vehicle informs the user of a power storage device (20, 20A, 20B), a device (30 to 36, 51) that is driven by power supply from the power storage device and is used for automatic driving control of the vehicle. With a notification unit (40) to notify
A failure determination unit that determines the failure status of the power storage device, and
A change unit that changes the degree of restriction imposed on the automatic operation control performed by using the device based on the failure state determined by the failure determination unit.
A non-volatile storage unit (52A) for storing information is provided.
The changed part is
When the failure determination unit determines that the power storage device has a failure when the vehicle is used by a user, information on the degree of limitation and information that the power storage device has a failure. Is stored in the storage unit,
When it is determined by the user that the use of the vehicle is started, the limit degree is set based on the information regarding the limit degree stored in the storage unit.
The notification unit can notify the user by a plurality of methods.
The notification having a notification function to the user is a process of notifying the user that the automatic operation control is restricted based on the information stored in the storage unit to the effect that the failure has occurred. Equipped with a notification instruction unit that gives instructions to the unit
When the notification instruction unit determines that the automatic driving control is permitted even if the restriction degree is increased by the change unit, the vehicle control device reduces the number of notification methods to the user by the notification unit. .. A state determination unit that determines that the notification unit cannot notify the user of information, and a state determination unit.
The vehicle control device according to claim 11 , further comprising a prohibition unit that prohibits the automatic driving control when the state determination unit determines that the notification unit cannot notify the vehicle.

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