JP4639320B2 - Moving body movement pattern calculation apparatus and method - Google Patents

Description

  The present invention relates to a moving body movement pattern calculation apparatus and method, and more particularly, to a moving body movement pattern calculation apparatus and method for calculating a movement pattern indicating the movement content of a moving body.

  The fuel consumption (practical fuel consumption) during vehicle travel is greatly influenced not only by the performance of the device but also by the operation of the driver. Therefore, in order to improve the practical fuel consumption, it is not enough to optimize the device, and it is necessary to present a driving pattern (movement pattern) that reduces the fuel consumption to the driver or to guide the driver's operation. It becomes. In order to achieve this, the most important technical issue is how to give a recommended travel pattern as a guidance target.

By the way, conventionally, an in-vehicle display device for optimal accelerator operation of a vehicle using fossil fuel and a method therefor have been disclosed (see Patent Document 1). In this apparatus, an operation pattern that can be the best fuel consumption using data of individual vehicle characteristics for each vehicle model is sent to each vehicle by data transmission from an external server.
JP 2002-370560 A

  However, Patent Document 1 does not disclose how to obtain the motion pattern in accordance with a traveling state or a vehicle state. Even if an exercise pattern is calculated from moment to moment, there is no conventional method for calculating an exercise pattern by dividing a certain interval and calculating the fuel consumption in the entire interval. Furthermore, even if a certain section is divided, the vehicle is not allowed to travel in the section without limitation, and a restraint condition for restraining the traveling of the vehicle is required there.

  In this way, if you do not calculate the movement pattern by dividing the section and calculating the fuel consumption, or even if you divide the section, if you ignore the constraint condition that restricts the driving of the vehicle in that section, the movement pattern will be It is not possible to optimize the driving results in a form that is in line with actual driving.

  The present invention has been made in view of the above-described facts, and an object of the present invention is to provide a moving body movement pattern calculation apparatus and method capable of improving the movement result of moving a moving body.

In order to achieve the above object, a moving body movement pattern calculation apparatus according to claim 1 is characterized in that setting means for setting a section to an arrival position of a moving body that consumes energy and moves the set section. A determination means for determining a movement constraint condition for restraining movement when the body moves, and, based on the movement constraint condition , consumption of energy consumed by the moving body for moving the entire set section , The amount of fuel consumed when the fuel is consumed to generate the energy, the amount of gas discharged when the gas is generated and discharged to the outside when the fuel is consumed, at least one make less, calculating means for calculating a movement pattern representing a movement content of the moving body of the wear amount of the tire when moving by rotating and the tire provided with the tire , A mobile moving pattern calculation device wherein the calculation means includes application means for applying a standard movement pattern predetermined showing the movement content of the movable body, in the set period, the application Deformation means for deforming the standard movement pattern that has been generated based on the movement constraint condition, and as the standard movement pattern, an acceleration pattern portion representing an acceleration state, a coasting pattern portion representing a coasting state, and a deceleration state A first standard movement pattern composed of a deceleration pattern portion representing, an acceleration pattern portion representing an acceleration state, a constant speed pattern portion representing a constant speed state, and a second deceleration pattern portion representing a deceleration state A standard movement pattern is determined in advance, and when the section is less than a predetermined length, the calculation means sets the standard movement pattern as the standard movement pattern. Using one of the standard movement pattern, when the interval is less than a predetermined length, characterized by using the second standard movement pattern as the standard movement pattern.
According to a second aspect of the present invention, there is provided a moving body movement pattern calculating device that sets a section up to an arrival position of a moving body that consumes energy and moves the moving body through the set section. A determination means for determining a movement constraint condition for restraining the movement of the vehicle, and based on the movement constraint condition, an energy consumption amount consumed for moving the moving body in all the set sections, and generating the energy The amount of fuel consumed when the fuel is consumed, the amount of gas discharged when the gas is generated and discharged to the outside when the fuel is consumed, the moving body includes a tire, and the A moving body transfer comprising: a calculating means for calculating a movement pattern indicating a movement content of the moving body that reduces at least one of the wear amount of the tire when the tire is rotated and moved. In the pattern calculation device, the calculation unit applies a predetermined standard movement pattern indicating the movement content of the moving body in the set section, and the applied standard movement pattern, Deformation means for deforming based on the movement constraint condition, and the standard movement pattern includes an acceleration pattern portion representing an acceleration state, a coasting pattern portion representing a coasting state, and a deceleration pattern portion representing a deceleration state. A first standard movement pattern, an acceleration pattern portion representing an acceleration state, a constant speed pattern portion representing a constant speed state, and a second standard movement pattern composed of a deceleration pattern portion representing a deceleration state in advance. And the calculation means uses the first standard movement pattern as the standard pattern for the section. Characterized by using the second standard movement pattern as the standard movement pattern if it exceeds a predetermined maximum speed of the section.

  First, the present invention is a moving body movement pattern calculation device that calculates a movement pattern indicating the movement content of a moving body.

Here, the moving body is, for example, a vehicle, a motorcycle, a railway, an airplane, an electric bicycle, or the like that moves while consuming energy .

  The setting means sets a section up to the arrival position of the moving body.

  Here, the arrival position of the moving body is, for example, a position to stop next, a position to be decelerated next, an arbitrarily selected arrival position, and the like. Note that the arrival position may be determined by a movement distance, a movement time, or the like, or automatically determined based on information on a movement destination.

  The determining means determines a movement restraint condition for restraining the movement when the moving body moves in the set section. Examples of the movement constraint condition include an average movement speed and a maximum movement speed.

Then, calculation means, based on the movement restraint condition, the consumption of energy mobile all the section is consumed to move, the fuel the consumption when consume fuel in order to generate the energy Consumption amount, amount of gas to be discharged when gas is generated and discharged to the outside when the fuel is consumed, wear of the tire when the moving body is provided with a tire and the tire is rotated to move A movement pattern indicating the movement content of the moving body that reduces at least one of the quantities is calculated .

That is, the movement pattern indicates the movement contents when the moving body moves in all the sections. When the moving body moves in all the sections in this movement pattern, the energy consumption and the fuel consumption (so-called , Fuel consumption, etc.), the amount of exhausted gas (CO2, NOX, etc.), and at least one of the amount of tire wear is reduced.

Incidentally, calculation means, the standard movement pattern predetermined showing the movement content before Symbol mobile, and application means for applying at the set interval, the applied standard movement pattern, the movement constraint a deformation unit that based deformation, Ru comprising a.

  When the standard movement pattern is composed of a plurality of pattern portions, the deformation means may be deformed for each pattern portion as in the fourth aspect.

  In this case, each pattern portion is determined by a predetermined equation indicating the movement content of the moving body by designating the parameter, and the deforming means defines the parameter of the equation as in claim 5 so that the deformation is performed. Execute.

As standard moving pattern, acceleration pattern portion representing the acceleration state, coasting pattern portion representing the coasting state, and acceleration pattern representing a first standard movement pattern formed, the accelerating state by the reduction pattern portion representing a deceleration state part, the constant speed pattern portion representing the constant speed state, and a second standard movement pattern constituted by the reduction pattern portion representing a deceleration state, the pre-determined contact Ku. In this case, as in claim 1 , when the section is less than a predetermined length, the first standard movement pattern is used as the standard movement pattern, and when the section is longer than a predetermined length, The second standard movement pattern is used as the standard movement pattern. Further, as in claim 2 , when the first standard movement pattern is used as the standard pattern for the section, the second movement pattern is used as the standard movement pattern when a predetermined maximum speed of the section is exceeded. The standard movement pattern is used.

  As described above, the present invention calculates a movement pattern by setting a section up to the arrival position of the mobile body and determining a movement constraint condition for restraining movement when the mobile body moves in the set section. Therefore, it is possible to calculate a movement pattern that improves the movement result of the movement of the moving body.

Since it is possible that the moving body to calculate a moving pattern to improve the movement result of moving, as claimed in claim 3, support means, on the basis of the movement pattern calculated to assist the movement of the moving body .

  Here, as a movement support method, for example, a first support method for displaying the calculated movement pattern on the display means, a movement state before a predetermined time obtained based on the movement pattern, and an actual predetermined pattern are used. A second support method for obtaining a difference from the movement state of the result of movement before time and displaying the obtained difference on the display means; a movement state after a predetermined time or until a predetermined time obtained based on the movement pattern; A third support method and a third support method for obtaining a difference between a current movement state or a movement result of a movement after a predetermined time estimated from the current movement state and displaying the obtained difference on a display means There is a fourth support method for controlling the movement state based on the difference in the above.

The inventions described in claims 6 and 7 have the same operations and effects as the inventions described in claims 1 and 2, respectively, and therefore description thereof is omitted.

  The following inventions are also proposed. That is, a moving body movement pattern calculation program for causing a computer to execute the following moving body movement pattern calculation process, wherein the moving body movement pattern calculation process is a step of setting a section to a reaching position of the moving body by a setting unit. Determining a movement restriction condition for restricting movement when the moving body moves in the set section by the determining means; and calculating the setting section based on the movement restriction condition by the calculating means. A moving body movement pattern calculation program comprising: a step of calculating a movement pattern indicating a movement content of the moving body, which improves a moving result of the movement of the moving body.

  As described above, the present invention calculates a movement pattern by setting a section up to the arrival position of the mobile body and determining a movement constraint condition for restraining movement when the mobile body moves in the set section. As a result, the movement result of the movement of the moving body can be improved.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  As shown in FIG. 1, the moving body movement pattern calculation device according to the present embodiment includes a section setting means 12 as a setting means for setting a section to the arrival position of a vehicle as a moving body, and a set section. Based on the travel constraint condition, the travel constraint condition detection unit 14 as a determination unit that determines the travel constraint condition that restrains the movement of the vehicle when moving, and based on the travel constraint condition, the traveling result of the vehicle traveling is improved. , An optimization processing unit 16 as a calculation unit that calculates an optimal travel pattern as a movement pattern indicating the travel content of the vehicle, and a support unit 18 that supports the movement of the vehicle based on the calculated optimal travel pattern. I have.

  Next, the operation of the present embodiment will be described along the procedure shown in FIG. This procedure is repeatedly executed for each section from the departure point to the destination.

  In step 22, the section setting means 12 sets a section up to the arrival position of the host vehicle.

  Here, as the arrival position of the own vehicle, for example, as shown in FIG. 3, if the own vehicle is stopped at the position K, it is a stop position S according to the stop mark M, that is, the next stop position. . In addition to this, a position to be decelerated next (curve, intersection, pedestrian crossing, ETC toll booth, priority road side traveling at the intersection, etc.), an arbitrarily selected arrival position, or the like may be used.

  Such an arrival position may be determined based on a movement distance, a movement time, or the like, or may be automatically determined based on car navigation information (movement destination information).

  The section to the arrival position of the host vehicle thus set includes the position K at which the host vehicle is stopped as described above, and the stop position S to be stopped or the position to be decelerated (set as the arrival position). For example, it is between the start position K and the stop position S because there is no stop line S, that is, when it is not a temporary stop intersection.

  In the present specification, the section to the arrival position of the host vehicle set in this way may be referred to as one traveling unit.

  In step 24, the travel restraint condition detecting means 14 determines a travel restraint condition for restraining the movement when the vehicle moves in the set section. For example, as shown in FIG. 4, the travel distance (or travel time) in one travel unit and the average vehicle speed in one travel unit. The maximum speed (statutory speed limit) may be taken into consideration.

  The travel condition is obtained by accumulating and using travel data, using travel environment information, or using an operation with a travel plan determined.

  First, a case where travel data is accumulated and used will be described. Travel data is accumulated every time the vehicle travels on the road, and based on the result, travel constraint conditions such as travel speed and stop position (in conjunction with a car navigation system) on the road are learned. In addition, by associating the characteristics of roads (map information) with travel patterns, it is possible to predict travel patterns on roads that have never traveled and to determine travel constraint conditions.

  Next, the case where it calculates | requires using driving environment information is demonstrated. Learning (modeling) at which timing the signal changes by accumulating road-to-vehicle communication or running data, predicting the signal state, for example, which signal will stop next, and correcting the driving constraint condition To do.

  Traffic state (flow) information is collected by measuring information on road conditions such as traffic jams and movements of vehicles ahead by radar, etc., and based on this information, average vehicle speed and the like are obtained, and travel constraint conditions are corrected.

  And as a case where the travel plan is determined by using the determined operation, in the case of traveling along the travel plan in which the travel conditions such as the place to stop, time, etc. are specified (including automatic travel), Based on the travel plan, travel constraint conditions are determined.

  In step 26, the optimization processing means 16 calculates an optimum traveling pattern that improves the traveling result of the vehicle traveling in all the set sections based on the traveling constraint condition.

  The optimal travel pattern indicates the content of travel when the vehicle travels in all the sections. When the vehicle travels in all the sections in the optimal travel pattern, the travel result of the vehicle is improved.

Here, as the running results, for example, the consumption of fuel consumed for running (so-called fuel consumption, etc.), the generation amount of exhaust gas such as NO _x and CO _2, and the tires worn for running This is the amount of wear on the surface (wear part). Therefore, improving the running result means reducing the consumption amount, the exhaust gas amount, and the wear amount in the above example. In the following, a case where fuel efficiency is improved will be described as an example.

  As shown in FIG. 5, the optimum travel pattern is determined by the travel constraint condition determination means 14 by storing a standard pattern in advance corresponding to the travel constraint condition, that is, for example, a combination of average vehicle speed and travel distance. The corresponding standard pattern is read out based on the travel constraint condition, applied to the set section, and is obtained by optimizing it.

  In addition, it is not limited to storing the standard pattern in advance corresponding to the combination of the average vehicle speed and the travel distance. For example, every time the travel constraint condition is determined, the optimization calculation is performed based on the simple vehicle model representing the driving performance. An optimum pattern may be obtained. Thereby, it becomes easy to cope with various traveling conditions.

  By the way, as the optimal traveling pattern for improving the traveling result of the vehicle traveling in all the set sections, there may be a complicated pattern. That is, for example, acceleration / deceleration is frequently repeated depending on the travel route in the section, and fuel efficiency is improved, but driving by a driver or the like is prevented.

  Therefore, in the present embodiment, the acceleration pattern portion that accelerates from the start position K to the stop position S, the constant speed / coasting traveling pattern that turns from the acceleration state and performs constant speed / inertial traveling (hereinafter referred to as coasting). The encouragement driving pattern including the part and the deceleration pattern part as elements is obtained. Specifically, as shown in FIG. 5, the recommended travel pattern is calculated by approximating each pattern portion with a linear function (straight line). In addition to the linear function, approximation may be performed using a higher-order function or a spline function. It is also possible to describe it with a differential equation in consideration of dynamic characteristics.

  Next, the acceleration pattern portion, the constant speed / coasting pattern portion, and the deceleration pattern portion will be described. In the acceleration pattern portion, there may be a region where the acceleration efficiency of a drive device such as an engine is poor. In such a region, the acceleration pattern is corrected (optimized) so as to reduce the inclination of the acceleration pattern, that is, to prevent sudden acceleration.

  Next, when the maximum speed is specified in the constant speed / coasting traveling pattern portion, the maximum speed is designated within the range as a traveling constraint condition.

  If the coasting condition is not satisfied, the vehicle will travel at a constant speed, and if the engine or drive system is not efficient at a constant speed, it will accelerate to a more efficient area than at constant speed. Then, it is possible to give a running pattern in which the average speed is set to a predetermined value by repeating energy regeneration by coasting or deceleration.

  In addition, the reason that the constraint condition is not satisfied in coasting is that the speed needs to be high in order to coast, and the speed limit is exceeded, especially when the traveling distance is long, the speed is considerably high. Because there is a possibility.

  In the deceleration travel pattern portion, if the regeneration does not work at a low speed and a low speed, the speed pattern is set to a deceleration pattern that can be completed in a short time. In other words, the pattern is such that the vehicle decelerates to a certain degree without slow deceleration.

  By the way, in actual driving, acceleration, coasting, and deceleration are not only performed once, but may also be decelerated due to the influence of signals and other things during driving and then returned to the original speed even after acceleration. Even in such a case, it is decomposed into an acceleration pattern portion, a coasting / constant speed pattern portion, and a deceleration pattern portion, and a recommended pattern is obtained by combining them as shown in FIG.

  In step 28, the support means 18 supports the driver based on the encouraged travel pattern.

  Here, as a movement support method, for example, a first support method for displaying the calculated encouraged travel pattern on a display means (display) may be executed.

  Further, a second support for obtaining a difference between a traveling state obtained a predetermined time before based on the encouraged traveling pattern and a traveling state as a result of actually traveling a predetermined time before, and displaying the obtained difference on the display means. The method may be performed.

  In this case, for example, as shown in FIG. 7 (A), the movement state (speed) obtained based on the encouragement traveling pattern several seconds before and the actual movement several seconds before, for example, during each traveling in the section A difference from the state (speed) may be obtained, and the obtained difference may be displayed on the display means. Further, as shown in FIG. 7B, when all the sections have been traveled, the difference between the movement state (speed) and the actual movement state (speed) in the entire section may be displayed on the display means. Good.

  Further, the assisting means 18 travels after the predetermined time estimated from the current travel state and the travel state (speed) after the predetermined time obtained based on the encouragement travel pattern while traveling in the section. A third support method may be executed in which a difference from the movement state (speed) is obtained and the obtained difference is displayed on the display means.

  Moreover, you may perform the 4th assistance method which controls a movement state (automatic driving | running | working) based on the difference in a 3rd assistance method.

  As described above, by optimizing within one driving unit (section from start to stop), the goal is to improve the overall fuel consumption, not the instantaneous moment, and further the fuel consumption from the departure point to the destination A pattern (operation method) can be presented. Thereby, it is easy to grasp what should be done to improve the fuel consumption as a series of operations, not instantaneously, that is, where and how it differs from the recommended travel pattern.

  In addition, since the standard running pattern is determined by approximating each pattern part of acceleration, constant speed, and deceleration with a function or equation and determining its parameters, each pattern can be determined by a map or the like according to the running conditions. Even in the case of storing, it is only necessary to store the parameters of the function, and the storage capacity can be reduced.

  In addition, it takes a very long time to solve the optimization problem, but the number of parameters to be calculated can be reduced by approximating each pattern as a linear function (straight line), for example, as in this embodiment. The amount and calculation time can be greatly reduced.

  In FIG. 8, for the process from start to stop where the vehicle starts at the intersection and stops at the next intersection, the fuel consumption by this recommended driving pattern and the fuel consumption by the actual driving pattern are predicted and compared by simulation. The results are shown. As shown in FIG. 7, if the vehicle travels like the recommended pattern, it is predicted that the improvement effect will increase by an average of several 10% in this example.

  As described above, the present embodiment sets a section to the vehicle arrival position, determines a travel constraint condition that restrains travel when the vehicle travels in the set section, and calculates a travel pattern. Therefore, it is possible to calculate a driving pattern that improves the driving result in accordance with the actual driving, and to support appropriately.

  In this regard, for example, if a pattern for determining only the maximum vehicle speed and minimizing fuel consumption is to be obtained, it may be desirable to accelerate and decelerate as slowly as possible, as shown in FIG. However, it takes a long time to arrive at the destination, which is not suitable for actual driving.

  Therefore, the minimum fuel consumption pattern changes depending on the driving conditions (section, speed, arrival time, etc.), and a useful pattern cannot be obtained as shown in FIG. 10 unless it is determined appropriately.

  On the other hand, in the present embodiment, as described above, the section to the arrival position of the vehicle is set, and the travel constraint condition for restraining the travel when the vehicle travels in the set section is determined. Since driving patterns within this range are calculated and supported, practical fuel consumption can be reduced.

  Next, a second embodiment of the present invention will be described. In this embodiment, since there are the same components as those of the first embodiment described above, the same portions are denoted by the same reference numerals, and detailed description thereof is omitted.

  As shown in FIG. 11, the moving body movement pattern calculation device of the present embodiment includes a vehicle state detection unit 32 that detects a vehicle state such as a vehicle speed, and a road information detection unit that detects a road that has traveled in conjunction with a car navigation system or the like. 34, traveling state storage means 36 for storing the information in synchronization, section setting means 12 for setting the section, and traveling distance, average speed, speed limit, etc. based on information from the traveling state storage means Based on the restraint condition obtained by the travel restraint condition detection means 14 for detecting the restraint condition, the optimization processing means 16 for calculating the recommended pattern that minimizes the fuel consumption based on the restraint condition obtained by the travel restraint condition detection means, and obtained by the optimization process means. Support means 18 is provided for assisting the driver in driving to a driving pattern that improves fuel efficiency based on the recommended driving pattern.

  Next, the operation of the present embodiment will be described with reference to the procedure shown in FIG. The procedure shown in FIG. 12 is repeatedly executed for each section from the departure point to the destination. In this procedure, it is assumed that the section setting means 12 has set the section when repeatedly executing.

  In step 42, the travel distance, average vehicle speed, and maximum speed limit of the target section are read from the constraint condition detecting means 14, and in step 44, the vehicle travels according to the predetermined standard pattern shown in FIG. 13 from the travel distance and average vehicle speed. The maximum speed in this case and the constant speed running speed in the case of running with the predetermined standard pattern shown in FIG. 14 are obtained from a map obtained by calculation in advance.

  In step 46, it is determined whether the maximum speed is greater than a specified value. If it is determined that the maximum speed is greater than a specified value, a constant speed optimum pattern calculation is executed in step 50, and the maximum speed is determined. If it is determined that the speed is equal to or less than the specified value, the coasting optimum pattern calculation is executed in step 48.

  In the coasting optimum pattern calculation in step 50, optimization calculation is performed on the travel pattern shape of FIG. 13 from the average vehicle speed and distance, and the parameters (ai, bi) of the recommended pattern obtained in advance or acceleration and acceleration time, coasting The recommended travel pattern is calculated by reading deceleration and coasting time, deceleration and deceleration time, etc.

  Here, in the optimization processing calculation, the recommended pattern is determined as shown in FIG. 13, and the acceleration pattern portion, coasting pattern portion, and deceleration pattern portion are used as linear functions, for example, and the slope ai and intercept bi are obtained. A set of parameters for each pattern satisfying the average vehicle speed and travel distance, which is a constraint condition, is selected, a pattern in which the fuel consumption is minimized among the combinations is determined by simulation or experiment, and the minimum pattern is stored as a recommended pattern.

  In addition, the acceleration pattern portion and the deceleration pattern portion can be approximated by a plurality of linear functions (polygonal lines) in consideration of the influence of the output of the engine, the motor, etc. depending on the speed. Alternatively, each pattern can be described by a polynomial function or a spline function.

  On the other hand, in the constant speed optimum pattern calculation in step 48, optimization calculation is performed for the constant speed running pattern shape as shown in FIG. 14, and parameters of the recommended pattern (acceleration and acceleration time, constant distance running time, The recommended pattern is calculated by reading the deceleration and deceleration time. Here, the optimization calculation is obtained by the same calculation with the coasting section of FIG. 13 as y = b2.

  Next, a third embodiment of the present invention will be described. In addition, since this Embodiment is the same as that of the structure of 2nd Embodiment, the description is abbreviate | omitted.

  Next, the operation of the present embodiment will be described with reference to the procedure shown in FIG. The procedure shown in FIG. 15 is repeatedly executed for each section from the departure point to the destination. In this procedure, it is assumed that the section setting means 12 has set the section when repeatedly executing.

  In step 52, the travel distance, average vehicle speed, and maximum distance limit of the target section are read from the constraint condition detection means 14, and in step 54, it is determined whether the travel distance of the section is a short distance (for example, less than 500 m). To do.

  If the travel distance of the section is a short distance (for example, 500 m or less), the short distance optimum pattern calculation is executed in step 56. If the travel distance of the section is not a short distance, the average speed is a specified value (step 58). For example, it is determined whether it is greater than 80 km / h). If the average speed is greater than a specified value (for example, 80 km / h), a high-speed long-distance optimal pattern calculation is executed in step 60. If the average speed is not more than a specified value (for example, 80 km / h), it is determined in step 62 whether or not the engine can be stopped.

  The determination of whether or not the engine can be stopped is based on the vehicle speed and the SOC (battery charge state), the vehicle speed at which the engine can be stopped, and if there is power that can be started again after the engine is stopped, the engine can be stopped. Judgment is made, otherwise it is determined that the engine cannot be stopped. In the present embodiment, a hybrid engine vehicle is targeted.

  If the engine can be stopped, the above-described high-speed long-distance optimal pattern calculation is executed in step 60. If the engine cannot be stopped, the low-speed long-distance optimal travel pattern calculation is executed in step 64.

  The optimization calculation in the short-distance optimum driving pattern calculation (step 56) is performed by considering the acceleration pattern portion, the coasting pattern portion, and the deceleration pattern portion in consideration of response characteristics instead of the linear approximation equation as shown in FIG. This is done by describing such differential equations.

  Here, fa is a function for obtaining a driving force from the acceleration power Pac and the speed V of the vehicle, and fb is a function for obtaining a braking force from the deceleration power Pbk and the speed V. By using the expressions (1), (2), and (3), the pattern in FIG. 13 becomes the pattern shown in FIG.

  First, parameters that define each pattern such as acceleration power Pac, acceleration time, coasting time, deceleration power Pbk, and the like are determined. The parameter is adjusted, and the parameter with the best fuel consumption among the solutions satisfying the driving constraint condition is obtained by simulation or experiment. A recommended traveling pattern for a short distance is determined from the obtained parameters.

  Here, it is also possible to correct Pac and Pbk based on the vehicle state quantity in consideration of the efficiency of the motor and engine. For example, since the motor is inefficient at low speed and high torque, the size of Pac can be varied or limited accordingly.

  In the high-speed and long-distance optimal travel pattern calculation (step 60), the constant speed travel pattern portion shown in FIG. 14 is applied. However, in order to achieve constant speed running, the right side of equation (1) is set to O. A recommended traveling pattern for a high speed and long distance is obtained by the same calculation as in step 56.

  In the low speed long distance optimum traveling pattern calculation (step 64), the parameters of the high speed long distance optimum traveling pattern in step 60 are read. Thus, the constant speed travel time and the constant speed travel speed are determined. Next, as shown in FIG. 17, for the constant speed travel section, a constant average speed traveling pattern is determined such that the average speed is the same as the constant speed travel speed. This is because when driving at a low vehicle distance, the driving force equivalent to constant speed driving is used in an area where the efficiency (fuel efficiency) is poor for the engine. By trying to recover energy by not using or regenerating, the fuel consumption is improved more than when driving at a constant speed.

  With respect to the given average vehicle speed, the acceleration power Px and the acceleration time are used as parameters to obtain a parameter that improves the fuel efficiency as compared with the case of running at a constant speed. Based on the obtained parameters, the constant average speed traveling pattern and the acceleration / deceleration portion of the high-speed long-distance traveling pattern are connected to obtain a low-speed long-distance recommended traveling pattern.

  In the embodiment described above, the main purpose is to improve the fuel consumption, but the present invention is not limited to this, and instead of or together with this, the reduction of vehicle exhaust gas and the wear of tires are reduced. It may also be applied to the case of making them.

  In the above embodiment, an example in which a moving body movement pattern calculation device is provided in a vehicle has been described. However, the present invention is not limited to this, and for example, an external device (central management center) And the calculated pattern may be transmitted to the vehicle using road-to-vehicle communication, and the vehicle may be received and supported as described above.

  Further, in the above-described embodiment, the vehicle is described as an example of the moving body, but the present invention is not limited to this, and can be similarly applied to, for example, a motorcycle, a railway, an airplane, an electric bicycle, and the like. .

  Each means described above may be configured by an element (for example, an IC) or the like, but may be realized by a single program as a whole.

It is a block diagram of the moving body movement pattern calculation apparatus of 1st Embodiment. It is a flowchart which shows the process sequence of 1st Embodiment. It is a figure which shows a mode that an area is set. It is the figure which showed the optimal driving | running | working pattern. It is the figure which showed the method of calculating | requiring a standard running pattern. It is the figure which showed the encouragement running pattern which consists of a combination of a some pattern part. It is the figure which showed the assistance method, (A) shows the method of assisting during driving | running | working, (B) is the figure which showed the method of assisting when it complete | finishes the area. It is the figure which showed the simulation result of this Embodiment. It is the figure which showed the pattern at the time of applying a prior art. It is another figure which showed the pattern at the time of applying a prior art. It is a block diagram of the moving body movement pattern calculation apparatus of 2nd Embodiment. It is a flowchart which shows the process sequence of 2nd Embodiment. It is the figure which showed the coasting optimal pattern. It is the figure which showed the constant speed optimal pattern. It is a flowchart which shows the process sequence of 3rd Embodiment. It is the figure which showed the coasting optimal pattern in 3rd Embodiment. It is the figure which showed the low-speed long-distance recommendation pattern.

Explanation of symbols

12 Section setting means (setting means)
14 Travel constraint condition detection means (determination means)
16 Optimization processing means (calculation means)
18 Support means

Claims (7)

Setting means for setting an interval until arrival position of a moving body that moves by consuming energy,
Determining means for determining a movement restraint condition for restraining movement when the moving body moves in the set section;
Based on the movement restraint condition, the amount of energy consumed for the mobile body to move in all the set sections , and the amount of fuel consumed when the fuel is consumed to generate the energy The amount of gas to be discharged when the gas is generated and discharged to the outside when the fuel is consumed, and the amount of wear of the tire when the moving body is provided with a tire and the tire is rotated to move. Calculating means for calculating a movement pattern indicating the movement content of the moving body, wherein at least one is reduced ;
A moving body movement pattern calculation device comprising :
The calculating means includes
Applying means for applying a predetermined standard movement pattern indicating the movement content of the mobile body in the set section;
Deformation means for deforming the applied standard movement pattern based on the movement constraint condition;
As the standard movement pattern,
A first standard movement pattern composed of an acceleration pattern portion representing an acceleration state, a coasting pattern portion representing a coasting state, and a deceleration pattern portion representing a deceleration state;
A second standard movement pattern composed of an acceleration pattern portion representing an acceleration state, a constant speed pattern portion representing a constant speed state, and a deceleration pattern portion representing a deceleration state;
Is predetermined,
The calculation means uses the first standard movement pattern as the standard movement pattern when the section is less than a predetermined length, and uses the first movement pattern as the standard movement pattern when the section is longer than a predetermined length. A moving body movement pattern calculation apparatus using the second standard movement pattern. A setting means for setting a section to an arrival position of a moving object that consumes energy and moves;
Determining means for determining a movement restraint condition for restraining movement when the moving body moves in the set section;
Based on the movement restraint condition, the amount of energy consumed for the mobile body to move in all the set sections , and the amount of fuel consumed when the fuel is consumed to generate the energy The amount of gas to be discharged when the gas is generated and discharged to the outside when the fuel is consumed, and the amount of wear of the tire when the moving body is provided with a tire and the tire is rotated to move. Calculating means for calculating a movement pattern indicating the movement content of the moving body, wherein at least one is reduced ;
A moving body movement pattern calculation device comprising :
The calculating means includes
Applying means for applying a predetermined standard movement pattern indicating the movement content of the mobile body in the set section;
Deformation means for deforming the applied standard movement pattern based on the movement constraint condition;
As the standard movement pattern,
A first standard movement pattern composed of an acceleration pattern portion representing an acceleration state, a coasting pattern portion representing a coasting state, and a deceleration pattern portion representing a deceleration state;
A second standard movement pattern composed of an acceleration pattern portion representing an acceleration state, a constant speed pattern portion representing a constant speed state, and a deceleration pattern portion representing a deceleration state;
Is predetermined,
In the case where the first standard movement pattern is used as the standard pattern for the section, the calculation means uses the second standard movement pattern as the standard movement pattern when the predetermined maximum speed of the section is exceeded. A moving body movement pattern calculation device characterized by using the above. Based on the movement pattern of the calculated, mobile movement pattern calculating apparatus according to claim 1 or claim 2, further comprising a support means for supporting the movement of the moving body. The standard movement pattern is composed of a plurality of pattern portions,
The mobile body movement pattern calculation apparatus according to any one of claims 1 to 3, wherein the deformation means is deformed for each pattern portion. Each pattern portion is determined by a predetermined equation indicating the movement content of the moving object by specifying parameters,
The mobile body movement pattern calculation apparatus according to claim 4, wherein the deformation means executes the deformation by determining parameters of the equation. A step of setting a section to an arrival position of a moving body that consumes energy and moves by setting means;
Determining a movement restraint condition for restraining movement when the moving body moves in the set section by a determining unit;
Based on the movement restraint condition, the calculation means consumes the energy consumed for the moving body to move in all the set sections , and the consumption when the fuel is consumed to generate the energy. The amount of fuel consumed, the amount of gas to be discharged when the gas is generated and discharged to the outside when the fuel is consumed, the tire when the moving body is equipped with a tire and the tire is rotated to move a step of causing less at least one of the wear amount, calculates a movement pattern representing a movement contents of the moving body,
A moving body movement pattern calculation method comprising:
The application means of the calculation means applies a predetermined standard movement pattern indicating the movement content of the moving body in the set section,
The deformation means of the calculation means deforms the applied standard movement pattern based on the movement constraint condition,
As the standard movement pattern,
A first standard movement pattern composed of an acceleration pattern portion representing an acceleration state, a coasting pattern portion representing a coasting state, and a deceleration pattern portion representing a deceleration state;
A second standard movement pattern composed of an acceleration pattern portion representing an acceleration state, a constant speed pattern portion representing a constant speed state, and a deceleration pattern portion representing a deceleration state;
Is predetermined,
The calculation means uses the first standard movement pattern as the standard movement pattern when the section is less than a predetermined length, and uses the first movement pattern as the standard movement pattern when the section is longer than a predetermined length. A moving body movement pattern calculation method using the second standard movement pattern. A step of setting a section to an arrival position of a moving body that consumes energy and moves by setting means;
Determining a movement restraint condition for restraining movement when the moving body moves in the set section by a determining unit;
Based on the movement restraint condition, the calculation means consumes the energy consumed for the moving body to move in all the set sections , and the consumption when the fuel is consumed to generate the energy. The amount of fuel consumed, the amount of gas to be discharged when the gas is generated and discharged to the outside when the fuel is consumed, the tire when the moving body is equipped with a tire and the tire is rotated to move Calculating a movement pattern indicating the movement content of the moving body, which reduces at least one of the wear amount of
A moving body movement pattern calculation method comprising:
The application means of the calculation means applies a predetermined standard movement pattern indicating the movement content of the moving body in the set section,
The deformation means of the calculation means deforms the applied standard movement pattern based on the movement constraint condition,
As the standard movement pattern,
A first standard movement pattern composed of an acceleration pattern portion representing an acceleration state, a coasting pattern portion representing a coasting state, and a deceleration pattern portion representing a deceleration state;
A second standard movement pattern composed of an acceleration pattern portion representing an acceleration state, a constant speed pattern portion representing a constant speed state, and a deceleration pattern portion representing a deceleration state;
Is predetermined,
In the case where the first standard movement pattern is used as the standard pattern for the section, the calculation means uses the second standard movement pattern as the standard movement pattern when the predetermined maximum speed of the section is exceeded. A moving body movement pattern calculation method characterized by using the above .

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