JP6433345B2 - Vehicle control system, vehicle control method, and vehicle control program - Google Patents

Description

  The present invention relates to a vehicle control system, a vehicle control method, and a vehicle control program for planning a vehicle control plan.

  Conventionally, a technique for suppressing fuel consumption when traveling on a route is known. For example, Patent Document 1 discloses searching for a route with the lowest fuel consumption cost while determining an SOC control schedule that minimizes the fuel consumption cost for each link.

JP 2011-27472 A

As in the conventional technology, when a control plan is made based on a route, control cannot be performed as planned when the route and the road on which the vehicle actually travels are different. For example, when searching for a route, if the user does not specify the waypoint by coordinates, but specifies that the route is via a specific area (multiple roads or POIs may be included), the road in the specific area In some cases, a route including an unnecessary detour section is searched due to the one-way traffic. When such a route is searched, the user may not pass through the detour section. Therefore, in this case, the control plan made based on the route is an inappropriate plan.
The present invention has been made in view of the above problems, and an object of the present invention is to provide a technique capable of suppressing the creation of a useless control plan.

  In order to achieve the above object, a vehicle control system includes a planned travel route acquisition unit that acquires a planned travel route of a vehicle, a vehicle control unit that executes vehicle control based on the control plan, and the same section in the planned travel route. A duplication determination unit that determines whether or not an overlapping section that travels a plurality of times is included, and a detour section deleting unit that deletes the detour section that caused the overlapping section from the planned travel route when the planned travel route includes an overlapping section And a control plan drafting means for drafting a control plan for vehicle control in the vehicle based on the planned travel route after the detour section is deleted.

  In order to achieve the above object, the vehicle control method includes a planned travel route acquisition step for acquiring a planned travel route of the vehicle, and whether or not the planned travel route includes an overlapping section that travels the same section multiple times. Determining the overlap determination step and when the planned travel route includes an overlap section, the detour section deleting step for deleting the detour section that caused the overlap section from the planned travel route, and the planned travel route after the detour section is deleted And a vehicle control process for executing vehicle control based on the control plan, and a vehicle control process for executing vehicle control based on the control plan.

  Further, in order to achieve the above object, the vehicle control program includes a planned travel route acquisition function for acquiring a planned travel route of the vehicle, and whether or not the planned travel route includes an overlapping section that travels the same section a plurality of times. Duplicate determination function to determine, and when the planned travel route includes an overlap section, the detour section deletion function that deletes the detour section that caused the overlap section from the planned travel route, and the planned travel path after the detour section is deleted The computer realizes a control plan planning function for formulating a control plan for vehicle control based on the control and a vehicle control function for executing vehicle control based on the control plan.

  That is, the vehicle control system, method, and program delete the detour section that caused the overlap section from the planned travel path when the planned travel path includes an overlapping section, and the planned travel path after the detour section is deleted Based on the above, a control plan for vehicle control in the vehicle is drawn up. Here, the detour section in which the overlapping section is generated is a section that returns to the overlapping section through the detour section starting from the overlapping section. Such a route including a detour section is often a redundant route for the user, and few users need to travel in the detour section. Thus, the detour section deleting means deletes the detour section from the planned travel route, so that a route excluding a section that is expected not to travel by many users can be regarded as the planned travel route. Therefore, it is possible for the control plan drafting means to draft a control plan based on the planned travel route after the detour section is deleted, so that a wasteful control plan can be prevented from being drafted.

It is a block diagram which shows a vehicle control system. It is a flowchart which shows a vehicle control process. (3A) to (3C) are diagrams illustrating planned travel routes.

Here, embodiments of the present invention will be described in the following order.
(1) Configuration of vehicle control system:
(2) Vehicle control processing:
(3) Other embodiments:

(1) Configuration of vehicle control system:
FIG. 1 is a block diagram showing a configuration of a vehicle control system mounted on a vehicle. In the present embodiment, the vehicle control system is realized by the navigation system 10. The navigation system 10 includes a control unit 20 including a CPU, a RAM, a ROM, and the like, and a storage medium 30, and the control unit 20 can execute a program stored in the storage medium 30 and the ROM. In this embodiment, a navigation program (not shown) can be executed as this program. The navigation program can cause the control unit 20 to execute a function of searching for a planned travel route to the destination and guiding the user to move along the planned travel route.

  The storage medium 30 stores map information 30a in advance. The map information 30a includes node data indicating the position of a node set on a road on which the vehicle is traveling, shape interpolation point data indicating the position of a shape interpolation point for specifying the shape of the road between the nodes, the nodes Including link data indicating the connection of roads, road load data indicating the frictional resistance and gradient of the road, and data indicating the features existing on the road and its surroundings. It is used for guidance and acquisition of travel load.

  In the present embodiment, the navigation system 10 makes a control plan for controlling the SOC of the battery so as to suppress fuel consumption in the vehicle, and controls the drive control ECU (described later) to control the vehicle according to the control plan. The control unit 20 can execute processing for giving an instruction. The navigation program includes a vehicle control program 21 for making the control plan and instructing vehicle control.

  The vehicle is provided with the following units (40 to 49) in order to cooperate with the navigation system 10 or execute vehicle control based on the control plan. The GPS receiver 40 receives radio waves from a GPS satellite and outputs a signal indicating a signal for calculating the current location of the vehicle via an interface (not shown). The control unit 20 acquires this signal and acquires the current location of the vehicle. The vehicle speed sensor 41 outputs a signal corresponding to the rotational speed of the wheels provided in the vehicle. The control unit 20 acquires this signal via an interface (not shown) and acquires the vehicle speed. The gyro sensor 42 detects angular acceleration for turning in the horizontal plane of the vehicle, and outputs a signal corresponding to the direction of the vehicle. The control unit 20 acquires this signal and acquires the traveling direction of the vehicle. The vehicle speed sensor 41, the gyro sensor 42, and the like are used to specify the travel locus of the vehicle. In the present embodiment, the current location is specified based on the departure location and the travel locus of the vehicle, and the departure location and the travel locus are determined. Based on the output signal of the GPS receiver 40, the current location of the vehicle specified based on the above is corrected.

  The communication unit 43 includes a circuit that communicates with a traffic jam information management system (not shown) outside the vehicle, and the control unit 20 communicates with the traffic jam information management system via the communication unit 43 to perform any desired operation. It is possible to acquire the degree of congestion of the road section indicated by the link. In the present embodiment, the degree of traffic jam may be an index for evaluating the level of traffic jam, and is information indicating the level of traffic jam in stages. In the present embodiment, the degree of traffic congestion is assumed to be “traffic jam” where traffic jam occurs and “vacant” where traffic jam does not occur.

  The vehicle according to the present embodiment is a hybrid vehicle that includes an internal combustion engine 44 that uses the fuel stored in the fuel tank 47 as a power source and a motor 45 that uses the electric power stored in the battery 46 as a power source. is there. Note that the vehicle in the present embodiment may be a plug-in hybrid vehicle that can be charged with a power plug, or a hybrid vehicle that cannot be charged with a power plug. The internal combustion engine 44 and the motor 45 are connected to a power transmission mechanism (not shown), and the vehicle is driven by converting the rotational driving force into the driving force of the vehicle by the power transmission mechanism. The vehicle can be driven by either or both of the internal combustion engine 44 and the motor 45. Further, the motor 45 can be rotated in the direction opposite to the rotation direction when the vehicle is traveling, and the regenerative power generated by this rotation is charged in the battery 46.

  The internal combustion engine 44 and the motor 45 are controlled by a drive control ECU 48. The drive control ECU 48 can output a control signal to the internal combustion engine 44 and the motor 45, and outputs a control signal to the internal combustion engine 44 and the motor 45 to output either the internal combustion engine 44 or the motor 45. Both are controlled to generate a rotational driving force. Therefore, in the present embodiment, driving and stopping of the internal combustion engine 44, charging by the motor 45, and driving of the motor 45 by discharging of the battery 46 are selected by a control signal output from the drive control ECU 48. Further, the drive control ECU 48 can acquire SOC [%] (which may be SOC: State Of Charge, remaining power amount, etc.) from the battery 46 and notify the control unit 20 of it.

  In the present embodiment, the drive control ECU 48 is configured to be able to perform control for suppressing fuel consumption. Various types of control can be employed as the control. For example, a configuration for controlling the SOC of the battery 46 in order to achieve a control target can be employed. Various targets can be adopted as the control target, for example, a control target for suppressing fuel consumption during the travel to the destination, a control target for minimizing the fuel consumed to the destination, and the battery at the destination. Various configurations such as a control target in which the SOC is within a predetermined range can be adopted. In the present embodiment, a control target that suppresses fuel consumption in the travel process to the destination is employed.

  In order to realize the control target, in the present embodiment, the control for traffic jam is performed by “charging the battery 46 with regenerative energy before the traffic jam and performing EV running (running without using the internal combustion engine) in the traffic jam”. The control for the gradient can be executed, "Energy that can be charged to the battery 46 as regenerative energy in the downward gradient is consumed before reaching the downward gradient". That is, the control unit 20 prepares a control plan including the traffic jam control and the gradient control in advance, and gives instructions to start and end the above-described traffic jam control, gradient control, and the like at the timing determined by the control plan. It outputs to drive control ECU48.

  As a result, drive control ECU48 performs control of SOC. For example, in the case of traffic jam control, the drive control ECU 48 controls the motor 45 and the internal combustion engine 44 at the charging control start timing before the traffic jam section to recover the regenerative energy so that the SOC of the battery 46 increases by a predetermined amount. The vehicle is driven while the charge control is finished at the charge control end timing. Further, the drive control ECU 48 controls the motor 45 and the internal combustion engine 44 at the start timing of the traffic jam section and uses the driving force of the motor 45 (without using the driving force of the internal combustion engine 44). The EV travel is ended at the end timing of the traffic jam section.

  In the case of gradient control, the drive control ECU 48 controls the motor 45 and the internal combustion engine 44 to drive the vehicle so that the SOC of the battery 46 is smaller than the predetermined SOC by a predetermined amount at the discharge control start timing before the gradient section. Then, the discharge control ends at the discharge control end timing. In addition, the drive control ECU 48 controls the motor 45 and the internal combustion engine 44 at the start timing of the gradient section, and travels the vehicle in a state in which regenerative energy is recovered using the drive force of the internal combustion engine 44 as necessary. Then, at the end timing of the gradient section, the regenerative energy recovery control is ended.

  Of course, various other types of control can be adopted as the vehicle control, such as “HV traveling when the traveling load is high (travel using a combination of an internal combustion engine and a motor), and EV traveling when the traveling load is low. To increase the distance until the SOC of the battery 46 reaches the lower limit as long as possible. In any case, if the drive control ECU 48 controls the internal combustion engine 44 and the motor 45 and appropriately charges and discharges in the course of traveling along the planned travel route, the control for approaching the control target can be executed. The control is executed according to a control plan that is planned in advance.

  The user I / F unit 49 is an interface unit for providing various information to the user or inputting a user instruction, and in the present embodiment, a display unit including a touch panel display (not shown) and a speaker for outputting sound. It has. The control unit 20 outputs a control signal to the user I / F unit 49, displays an arbitrary image on the display unit, and outputs an arbitrary sound from the speaker. Further, the control unit 20 specifies the user's instruction content based on the output signal of the user I / F unit 49.

  In the present embodiment, the user can instruct search conditions for the planned travel route to the control unit 20 by operating the input unit of the user I / F unit 49. The planned travel route is a route that should be traveled to reach the destination from the current position (or a starting position), and the route is defined by a section (link). In the present embodiment, the user can search for a scheduled travel route by specifying various conditions in addition to the destination. That is, the control unit 20 acquires a search condition such as a destination input by the user through the user I / F unit 49 by the processing of the navigation program, and based on the search condition and the map information 30a, the control unit 20 acquires the target condition from the current position. Search for a route to the ground.

  In the present embodiment, the user can specify a waypoint or a viaway as a search condition, and can designate a waypoint or a viaway by touch. That is, the control unit 20 causes the user I / F unit 49 to display a map by the processing of the navigation program. In this state, when the user touches the map on the touch panel display, the control unit 20 acquires a point or a road existing at the touched position as a waypoint or a viaway based on the map information 30a.

In such a configuration, a redundant detour section is likely to occur due to the difficulty of touching an accurate position. In other words, in the designation by touch, the range according to the area of the touched finger is designated on the map, so if there are multiple points or multiple roads in the near area on the map, the point that is not intended by the user And roads can be specified. In this case, there is a case where a route or the like for returning after making a U-turn immediately after reaching a designated point may be designated. In FIG. 3A, a road section (links L _{1 to} L ₉ ) is indicated by a thin solid line with a black circle as an end point, and a planned traveling route is indicated by a thick solid line arrow. In the map showing these roads, the user touches the point Pi intentionally. However, when the point Pj is specified instead of the point Pi due to factors such as a large finger area, a route via the point Pj is determined. Explored. Therefore, a route including a redundant detour section that makes a U-turn and returns immediately after reaching the point Pj may be searched as a route that satisfies the search condition such as the cost is minimized via the point Pj. is there.

In addition, when the designated road is one-way in the direction opposite to the direction of the route, a route that returns to the original route after passing through a detour section that makes one round using the road may be searched. In FIG. 3B, the road section (links L _{11 to} L ₂₂ ) is indicated by a thin solid line with a black circle as an end point, and the planned travel route is indicated by a thick solid line arrow. In this example, the link links L _{18 to} L ₂₂ are one-way roads in the direction of the dashed arrows. In a map showing these roads, the user has been touched with the intention link L _13, when the link L ₂₀ rather than the link L ₁₃ by a factor of the area of the finger is wide or the like is designated, the link L ₂₀ The route that goes through is searched. Therefore, due to the link L ₂₀ is a one-way dashed arrow direction, as a path via the link L _20, satisfies the search condition, such as the cost is minimized, the link L _13, L _17, L sometimes path including redundant bypass section for one rotation increases by passing through _20, L ₁₆ is searched.

  3A and 3B both include redundant detour sections, and there is a high possibility that such detour sections are not selected by the user. Therefore, if a control plan for vehicle control is drawn up based on the planned travel route including the detour section, it becomes a useless control plan (even if vehicle control is performed according to the control plan, appropriate control is not possible). High nature. Therefore, the vehicle control program 21 according to the present embodiment has a function of causing the control unit 20 to execute a function of deleting redundant detour sections.

  In order to execute a control plan and vehicle control while performing such deletion, the vehicle control program 21 includes a planned travel route acquisition unit 21a, a duplication determination unit 21b, a detour section deletion unit 21c, a control plan planning unit 21d, and a vehicle. And a control unit 21e.

  The planned travel route acquisition unit 21a is a program module that causes the control unit 20 to realize the function of acquiring the planned travel route of the vehicle. That is, the control unit 20 searches for a route according to a search condition designated by the user by the processing of the navigation program, and stores information indicating the route in the RAM. Therefore, the control unit 20 acquires the planned travel route with reference to the RAM by the processing of the planned travel route acquisition unit 21a.

  The overlap determination unit 21b is a program module that causes the control unit 20 to realize a function of determining whether or not an overlapped section that travels the same section a plurality of times is included in the planned travel route. That is, the control unit 20 refers to the planned travel route acquired by the processing of the planned travel route acquisition unit 21a, and specifies the passing order of each road section constituting the planned travel route. And the control part 20 determines with an overlapping area being included, when the passage order of a road is specified so that it may pass the same road area twice at different timing.

  The detour section deleting unit 21c is a program module that causes the control unit 20 to implement a function of deleting a detour section that causes an overlapping section from the planned travel route when the planned travel route includes an overlapping section. That is, when there is an overlapping section on the planned travel route, the control unit 20 specifies the section as a bypass section when there is a section that starts from the overlapping section and returns to the overlapping section through an arbitrary section. To do. Then, the control unit 20 deletes the detour section from the planned travel route.

  The control plan planning unit 21d is a program module that causes the control unit 20 to realize a function of planning a vehicle control control plan for the vehicle based on the planned travel route. In the present embodiment, the control unit 20 travels along the planned travel route. A travel load necessary for the operation is acquired, and a control plan for the SOC of the battery 46 is made based on the travel load. Specifically, the control unit 20 refers to the map information 30a, and draws up a control plan by paying attention to the traffic load in the traffic jam section and the downward slope section in the planned travel route. For this purpose, the control unit 20 acquires a travel load necessary for traveling on each road section constituting the planned travel route. The travel load can be calculated by various methods. In the present embodiment, the control unit 20 refers to the map information 30a and acquires parameters (friction coefficient and gradient) for acquiring the travel load for each road section. To do. Also, parameters (such as vehicle weight, air resistance, acceleration resistance, front projection area, etc.) for acquiring a travel load based on vehicle specifications are acquired. Further, the control unit 20 specifies the load for traveling at each position by substituting each parameter into a formula specified in advance to calculate the traveling load, and integrates the load over the entire length in each road section. To obtain the running load.

  And the control part 20 draws up the control plan for suppressing the fuel consumption in a traffic congestion area based on the said driving | running | working area, and recovering | regenerating regenerative energy effectively in a gradient area. Specifically, the control unit 20 outputs a traffic congestion degree transmission request for each road section to the traffic jam information management system via the communication unit 43. As a result, the traffic jam information management system outputs information indicating the traffic jam level of each requested road segment, and therefore the control unit 20 acquires information indicating the traffic jam level of each road segment via the communication unit 43. Further, the control unit 20 sets the road section where the degree of traffic congestion is “congested” as a traffic congestion section, and based on the travel load of the traffic congestion section, the energy necessary for traveling in the traffic congestion section at the average vehicle speed at the time of the traffic congestion Is calculated.

  Further, the control unit 20 specifies a section in which the energy can be charged before the traffic jam section based on the road load of the road section, and performs the traffic jam control on the start and end timing of the section. Charging control start timing (charging control start position), and charging control end timing (charging control end position) for ending the control. In addition, the control unit 20 specifies the start position and the end position of the traffic jam section as the EV travel control start timing and control end timing.

  Furthermore, the control unit 20 refers to the map information 30a, identifies the gradient of each road section that constitutes the planned travel route, and identifies a section including a descending slope with an inclination angle larger than a predetermined inclination angle as the descending slope section. . The control unit 20 calculates the regenerative energy that can be recovered when the vehicle travels in the downward gradient section at the average vehicle speed in the downward gradient section, based on the traveling load in the downward gradient section. Further, the control unit 20 specifies a section in which the energy corresponding to the regenerative energy can be discharged before the descending slope section based on the road load of the road section, and performs discharge control on the start and end timing of the section. Discharge control start timing (discharge control start position), and discharge control end timing (discharge control end position) for ending the control. Further, the control unit 20 specifies the start position and the end position of the downward gradient section as the control start timing and control end timing of the regeneration energy recovery control.

  When the timing of each control is specified as described above, the control unit 20 stores information indicating each timing (position) in the RAM as information indicating a control plan. Of course, the above-described control plan formulation method is merely an example, and the control unit 20 formulates a control plan by specifying the SOC control method in each road segment based on the travel load of the road segment constituting the planned travel route. You may do it. In any case, since the travel load is specified based on the length of the road section, when a control plan is drawn up based on the travel load, if a part of the planned travel route is omitted, the control timing is It can be inappropriate. Therefore, in the present embodiment, the control unit 20 deletes the bypass section if a redundant bypass section has occurred when making the control plan as described above based on the planned travel route. A control plan is made based on the planned travel route after the section is deleted.

  The vehicle control unit 21e is a program module that causes the control unit 20 to realize a function of executing vehicle control based on a control plan. That is, the control unit 20 acquires a control plan (information indicating the start and end timing of each control) formulated by the control plan planning unit 21d. Further, the control unit 20 specifies the current position of the vehicle based on the output signals of the GPS receiving unit 40, the vehicle speed sensor 41, and the gyro sensor 42, and the current position of the vehicle matches the timing defined in the control plan. In this case, an instruction indicating the control to be executed at the timing or the control to be terminated is output to the drive control ECU 48. In this case, the drive control ECU 48 executes or ends the control instructed by the control unit 20. Therefore, according to the present embodiment, the SOC of the battery 46 provided in the vehicle is controlled according to the control plan.

  In the present embodiment as described above, the detour section deleted from the scheduled travel route is a section in which the detour section in which the overlapping section is generated returns to the overlapping section through the detour section starting from the overlapping section. A route including such a bypass section is often a redundant route for the user, and there are few users who need to travel in the bypass section. Therefore, when the control unit 20 deletes the detour section from the planned travel route, it is possible to regard a route that excludes a section in which many users are not expected to travel as the planned travel route. And in this embodiment, since a control plan is drawn up based on the planned travel route after the detour section is deleted, it is possible to prevent a useless control plan from being drawn up. In addition, the control unit 20 can suppress execution of vehicle control with inappropriate control start and end timing.

(2) Vehicle control processing:
Next, the vehicle control process which the control part 20 implements in the above structure is demonstrated. FIG. 2 is a flowchart showing the vehicle control process. The vehicle control process is executed every predetermined period (for example, 100 ms) after the control unit 20 acquires the planned travel route by the process of the navigation program. In the vehicle control process, the control unit 20 acquires the planned travel route by the process of the planned travel route acquisition unit 21a (step S100). That is, the control unit 20 acquires the scheduled travel route recorded in the RAM. In the present embodiment, when the route is re-searched after the start of the travel along the planned travel route, the re-searched route is recorded in the RAM as the planned travel route. Therefore, even when the re-search is performed, the control unit 20 acquires the planned travel route after the re-search in step S100.

Next, the control unit 20 determines whether or not an overlap section is included in the planned travel route by the process of the overlap determination unit 21b (step S105). That is, the control unit 20 refers to the planned travel route acquired in step S100, and overlaps with the planned travel route when the passage order of the roads is specified so as to pass the same road section twice at different timings. It is determined that a section is included. For example, in the example illustrated in FIG. 3A, if the planned travel route is followed, the link L ₅ is passed twice at different timings, so the control unit 20 determines that the planned travel route includes the overlapping section L ₅ . In the example shown in FIG. 3B, if the planned travel route is followed, the link L ₁₃ is passed twice at different timings, so the control unit 20 determines that the planned travel route includes the overlapping section L ₁₃ .

  In Step S105, when it is determined that the overlapped section is included in the planned travel route, the control unit 20 determines whether or not an exceptional condition is satisfied by the process of the detour section deleting unit 21c (Step S110). That is, even when a detour section is included in the planned travel route, if it is unavoidable that a detour section is generated, the user is likely to select the detour section. Therefore, in such a case, as an exception, the control unit 20 does not delete the bypass section. In order to specify such an exception, in this embodiment, an exception condition for specifying the exception is defined in advance. Specifically, a condition that “there is a travel restriction that prohibits traveling in a direction different from the overlapping section from the approach path that first enters the overlapping section” is defined as an exception condition.

For example, in the example shown in FIG. 3A, the travel regulations prohibit traveling in the straight direction from the link L ₂ in the link L ₃ is present, running from the link L ₅ in the left direction toward the link L ₃ Assume that there is a situation where there is no travel restriction that prohibits driving. In such a case, since it is not possible to go straight from the link L ₂ to the link L ₃ , it is unavoidable even if there is a detour section for passing through the link L _{5 and} making a U-turn to reach the link L _3. . Therefore, in the present embodiment, the control unit 20 identifies “occurrence of such a situation,” in order to specify “there is a travel restriction that prohibits traveling in the direction different from the overlapping section from the approach path that first enters the overlapping section”. Is defined as an exception condition.

Accordingly, in step S110, the control unit 20 refers to the order of travel of the planned travel route, and from the approach path (link L _{2 in the} example shown in FIG. 3A) that enters the overlap section first, in a direction different from the overlap section. If there is a travel restriction that prohibits the travel (travel to the link L _{3 in the} example shown in FIG. 3A), it is determined that the exceptional condition is satisfied.

  If it is not determined in step S110 that the exceptional condition is satisfied, the control unit 20 deletes the bypass section by the process of the bypass section deletion unit 21c (step S115). That is, the control unit 20 specifies the bypass section that has caused the overlapping section specified in step S105. At this time, the control unit 20 defines the bypass section so that the planned travel route becomes a continuous route even if the bypass section is deleted. Specifically, when the traveling direction of the vehicle in the overlapping section is the same direction, the control unit 20 estimates that a loop having the overlapping section as a starting point and an ending point is formed. And the control part 20 makes the path | route comprised by the path | route from the area immediately after an overlap area to the area immediately before returning to an overlap area, and one of the overlap areas a detour area, and from the driving planned route recorded on RAM. delete.

For example, in the example shown in FIG. 3B, the control unit 20, the section L ₁₆ until the route section L _17, L _20, L ₁₆ just before it returns from the interval L ₁₇ immediately after the overlap period L ₁₃ overlapping interval L ₁₃ Identifies it. Furthermore, the control unit 20 sets a route (sections L ₁₇ , L ₂₀ , L ₁₆ , L ₁₃ ) constituted by the sections L ₁₇ , L ₂₀ , L ₁₆ and the overlapping section L ₁₃ as a bypass section, and a planned travel route Delete from. In this case, the planned travel route after the deletion is a route from which the loop is deleted, as shown by a thick solid line in FIG. 3C, and a redundant detour section can be deleted.

Furthermore, when the traveling direction of the vehicle in the overlapping section is the reverse direction, the control unit 20 estimates that a U-turn route having the overlapping section as a starting point and an ending point is formed. Then, the control unit 20 sets the route from the overlapping section to the overlapping section as a detour section, and deletes it from the planned travel route. For example, in the example shown in FIG. 3A, since the U-turn path is configured only by the overlapping section L ₅ , the control unit 20 specifies the round trip path on the overlapping section L ₅ as a bypass section and deletes it. As a result, the scheduled travel route after the deletion is a route that passes the links L ₁ , L ₂ , L ₃ , and L ₄ shown in FIG. 3A. As a result, the control unit 20 can delete redundant detour sections.

  If it is not determined in step S105 that the planned travel route includes an overlapping section, or if it is determined in step S110 that an exceptional condition is satisfied, the control unit 20 skips step S115. That is, when an overlap section is not included in the planned travel route, deletion is not performed from the planned travel route. In addition, when an exceptional condition is satisfied, even if there is a detour section that causes an overlapping section, it is not deleted from the travel schedule. That is, when a detour section exists on the planned travel route for an unavoidable reason, the control unit 20 does not delete the detour section that causes the overlapping section from the travel schedule. As a result, the control unit 20 can set the route that is likely to be selected by the user as the planned travel route.

  Next, the control unit 20 acquires traffic jam information on the planned travel route by the process of the control plan planning unit 21d (step S120). That is, the control unit 20 acquires the traffic jam information of the road sections constituting the planned travel route from the traffic jam information management system via the communication unit 43. Next, the control unit 20 acquires gradient information of the planned travel route by the process of the control plan planning unit 21d (step S125). That is, the control unit 20 refers to the map information 30a, and acquires gradient information indicating the inclination angle and the inclination direction (up or down) of the road section constituting the planned travel route.

  Next, the control unit 20 formulates a control plan by the process of the control plan planning unit 21d (step S130). That is, the control unit 20 specifies the start timing and the end timing of the control related to the traffic jam control based on the traffic jam information acquired in step S120. In addition, the control unit 20 specifies the start timing and end timing of control related to the gradient control based on the gradient information acquired in step S125. Furthermore, the control unit 20 stores information indicating each identified timing (position) in the RAM as a control plan.

  Next, the control part 20 implements control by the process of the vehicle control part 21e (step S135). That is, the control unit 20 specifies the current position of the vehicle based on the output signals of the GPS reception unit 40, the vehicle speed sensor 41, and the gyro sensor 42, and the current position of the vehicle matches the timing specified in the control plan. It is determined whether or not. When the current position matches the timing specified in the control plan, the control unit 20 outputs an instruction indicating the control to be executed at that timing or the control to be terminated to the drive control ECU 48.

(3) Other embodiments:
The above embodiment is an example for carrying out the present invention, and various embodiments can be adopted. For example, the navigation system 10 may be fixedly mounted on the vehicle, or may be a mode in which the portable navigation system 10 is brought into the vehicle and used.

  The planned travel route acquisition means only needs to be able to acquire the planned travel route of the vehicle, and it is sufficient that at least the planned travel route when traveling from the current location to the destination is acquired. Various conditions can be assumed as conditions for specifying the planned travel route. In addition to the conditions for specifying the starting point (may be the current location) and the destination, via points, via roads, via points A condition indicating an area or the like may be included.

  Various methods can also be used to specify conditions such as waypoints and wayways. For example, on the map displayed on the touch panel display, the user can specify the waypoints and wayways by touch. It is possible to adopt a configuration or the like. In such a configuration, a redundant detour section is likely to occur. For example, when a user touches the touch panel display with a finger, a range corresponding to the area of the touched finger is specified on the map, so there are a plurality of points and a plurality of roads in a near area on the map. If it exists, a point or road that is not intended by the user is designated. In this case, there is a case in which a route that returns after making a U-turn immediately after reaching a designated point may be designated. In addition, when the designated road is one-way in the direction opposite to the direction of the route, a route that returns to the original route after passing through a detour section that makes one round using the road may be searched. When such a route is searched, a redundant detour section is likely to occur.

  The overlap determination means only needs to be able to determine whether or not the planned travel route includes an overlap section that travels the same section multiple times. In other words, the duplication determination means refers to the scheduled travel route specified in the order in which the road to be passed is specified, and when the order of the road is specified so that the same road is passed twice at different timings. What is necessary is just to determine with an overlapping area included. The overlapping sections may be the same road, and the traveling directions may be the same or different.

  The detour section deleting means only needs to be able to delete the detour section that caused the overlapping section from the planned travel route when the planned travel route includes an overlapping section. In other words, when there are overlapping sections on the planned travel route, it is only necessary that the section that caused the overlap section on the planned travel route can be regarded as a bypass section and deleted. The detour section in which the overlapping section is generated may be defined so that the planned travel route becomes a continuous route even if the detour section is deleted.

  For example, when the traveling direction of the vehicle in the overlapping section is the same direction, it is estimated that a loop having the overlapping section as a starting point and an ending point is formed. Therefore, the detour section deletion means is configured to delete the route constituted by the route from the section immediately after the overlapping section to the section immediately before returning to the overlapping section and one of the overlapping sections as a bypass section, and delete it from the planned travel route. Then, redundant detour sections can be deleted. Further, the detour section can be deleted so that the planned travel route after the deletion becomes a continuous route.

  When the traveling direction of the vehicle in the overlapping section is the reverse direction, it is estimated that a U-turn route having the overlapping section as a starting point and an ending point is formed. Therefore, if the detour section deleting means sets the route from the overlapping section to the overlapping section as a detour section and deleting it from the planned travel route, the redundant detour section can be deleted. Further, the detour section can be deleted so that the planned travel route after the deletion becomes a continuous route.

  The control plan drafting means only needs to be able to draft a control plan for vehicle control in the vehicle based on the planned travel route after the detour section is deleted. That is, the control plan drafting means sets the start timing and end timing of the vehicle control and the content of the control as a control plan based on the planned travel route after the detour section is deleted, and the vehicle control means follows the control plan. What is necessary is just to perform vehicle control.

  The planning of the control plan can be executed by various methods. For example, a configuration in which a control target is determined in advance and the control plan is drafted so as to achieve the control target can be employed. The control target can be various targets, and can be defined by the state of the target that should be reached when the vehicle control is executed, for example. More specifically, in a state where the SOC of the battery at the destination is determined as a control target, it is possible to approach the control target by appropriately performing charging and discharging in the process of traveling along the planned travel route. Therefore, in this case, a control plan for controlling the charge / discharge timing on the planned travel route is established so that the SOC of the battery at the destination is a predetermined value or a predetermined range. Of course, in addition to this, a control plan for the SOC of the battery may be made according to a control target that minimizes the fuel consumed to the destination, and various other configurations can be adopted. .

  The vehicle control means only needs to be able to execute vehicle control based on the control plan. The vehicle control may be any control that is executed in accordance with a control plan that has been planned in advance, and any control can be assumed as long as this control is performed. For example, it may be charge / discharge control in a battery provided in the vehicle, or deceleration or acceleration control in the vehicle. If it is control of charging / discharging, a vehicle control means will be comprised so that SOC of the battery with which a vehicle is equipped is controlled. Further, the control plan drafting means is configured to acquire a travel load necessary for traveling on the planned travel route and to formulate an SOC control plan based on the travel load.

  The appropriate control timing of the battery SOC greatly depends on the planned travel route. For example, if the distance and gradient of the planned travel route, the situation of traffic congestion, and the like are different, the travel load is different and the control plan is also different. Accordingly, in a configuration in which the SOC of the battery is controlled, if a redundant detour section is deleted from the planned travel route, a control plan is created for a route that excludes a route that the user is unlikely to pass. It is possible to suppress the creation of a useless control plan.

  Furthermore, when it is unavoidable that a bypass section is generated, the user is likely to select a bypass section. In this case, as an exception, the bypass section deletion unit is configured not to delete the bypass section. May be. For example, when there is a travel restriction that prohibits traveling in the direction different from the overlapping section from the approach path that first enters the overlapping section, the detour section deleting means starts traveling the detour section that caused the overlapping section from traveling You may comprise so that it may not delete. In other words, if there is a travel restriction that prohibits traveling in the direction different from the overlap section from the approach path that first enters the overlap section, it is unavoidable that the detour section is unavoidably a planned travel route in order to comply with the travel restriction. Is done. Accordingly, in this case, the detour section deleting means is configured not to delete the detour section that caused the overlapping section from the travel schedule, so that the route that is likely to be selected by the user is set as the planned travel path. Is possible.

  Note that, as in the present invention, a method of deleting a detour section that caused an overlapping section from the planned travel route and creating a control plan for vehicle control in the vehicle based on the planned travel route after the deletion is performed by this process. It is also applicable as a method and program for performing the above. In addition, the vehicle control system, method, and program as described above may be realized as a single system or as a plurality of systems. Moreover, it may be realized using parts shared with each part provided in the vehicle, or may be realized in cooperation with each part not mounted on the vehicle, and includes various aspects. Further, some changes may be made as appropriate, such as a part of software and a part of hardware. Furthermore, the invention is also established as a recording medium for a program for controlling the vehicle control system. Of course, the software recording medium may be a magnetic recording medium, a magneto-optical recording medium, or any recording medium to be developed in the future.

  DESCRIPTION OF SYMBOLS 10 ... Navigation system, 20 ... Control part, 21 ... Vehicle control program, 21a ... Travel planned route acquisition part, 21b ... Duplication determination part, 21c ... Detour section deletion part, 21d ... Control plan planning part, 21e ... Vehicle control part, DESCRIPTION OF SYMBOLS 30 ... Storage medium, 30a ... Map information, 40 ... GPS receiving part, 41 ... Vehicle speed sensor, 42 ... Gyro sensor, 43 ... Communication part, 44 ... Internal combustion engine, 45 ... Motor, 46 ... Battery, 47 ... Fuel tank, 48 ... Drive control ECU, 49 ... User I / F section

Claims (7)

A planned travel route acquisition means for acquiring a planned travel route of the vehicle;
Overlap determination means for determining whether or not an overlap section that travels the same section multiple times is included in the planned travel route;
When the scheduled travel route includes the overlapping section, a bypass section deleting means for deleting the bypass section that caused the overlapping section from the planned travel route;
Control plan drafting means for drafting a control plan for vehicle control in the vehicle based on the planned travel route after the detour section is deleted;
Vehicle control means for executing vehicle control based on the control plan;
With
The detour section deleting means is
When the traveling direction of the vehicle in the overlapping section is the same direction,
A route constituted by a route from a section immediately after the overlapping section to a section immediately before returning to the overlapping section and one of the overlapping sections is set as the detour section, and is deleted from the scheduled traveling route,
Vehicle control system.   A planned travel route acquisition means for acquiring a planned travel route of the vehicle via a position touched by the user on the map on the display;
  Overlap determination means for determining whether or not an overlap section that travels the same section multiple times is included in the planned travel route;
  When the scheduled travel route includes the overlapping section, a bypass section deleting means for deleting the bypass section that caused the overlapping section from the planned travel route;
  Control plan drafting means for drafting a control plan for vehicle control in the vehicle based on the planned travel route after the detour section is deleted;
  Vehicle control means for executing vehicle control based on the control plan;
With
  The detour section deleting means is
    When the traveling direction of the vehicle in the overlapping section is the reverse direction,
    The route from the overlap section to the overlap section is the detour section, and is deleted from the planned travel route.
Vehicle control system.   The detour section deleting means is
    If there is a travel restriction that prohibits traveling in a direction different from the overlap section from the approach path that first enters the overlap section, the detour section that caused the overlap section is not deleted from the planned travel route. ,
The vehicle control system according to claim 1.   The control planning means is
    Obtaining a travel load required when traveling on the planned travel route, formulating the control plan for the SOC of the battery included in the vehicle based on the travel load,
  The vehicle control means includes
    Controlling the SOC of the battery based on the control plan;
The vehicle control system in any one of Claims 1-3.   By computer
  A scheduled driving route acquisition step of acquiring a planned driving route of the vehicle;
  A duplication determination step of determining whether or not an overlapping section in which the same section is traveled a plurality of times is included in the planned travel route;
  When the overlapped section is included in the planned travel route, a bypass section deletion step of deleting the bypass section that caused the overlapped section from the planned travel route;
  A control plan planning step of planning a control plan for vehicle control in the vehicle based on the planned travel route after the detour section is deleted;
  A vehicle control process for executing vehicle control based on the control plan;
And
  The detour section deletion step includes
    When the traveling direction of the vehicle in the overlapping section is the same direction,
    A route constituted by a route from a section immediately after the overlapping section to a section immediately before returning to the overlapping section and one of the overlapping sections is set as the detour section, and is deleted from the scheduled traveling route,
Vehicle control method.   A planned travel route acquisition function for acquiring a planned travel route of the vehicle;
  An overlap determination function for determining whether or not an overlap section that travels the same section multiple times is included in the planned travel route;
  When the overlapped section is included in the planned travel route, a detour interval deletion function for deleting the detour section that caused the overlapped section from the planned travel route;
  A control plan planning function for planning a control plan for vehicle control in the vehicle based on the planned travel route after the detour section is deleted;
  A vehicle control function for executing vehicle control based on the control plan;
Is realized on a computer,
  The detour section deletion function is
    When the traveling direction of the vehicle in the overlapping section is the same direction,
    A route from a section immediately after the overlapping section to a section immediately before returning to the overlapping section and one of the overlapping sections is defined as the detour section, and a function of deleting from the planned traveling route is realized.
Vehicle control program.   A planned travel route acquisition function for acquiring a planned travel route of the vehicle via a position touched by the user on the map on the display;
  An overlap determination function for determining whether or not an overlap section that travels the same section multiple times is included in the planned travel route;
  When the overlapped section is included in the planned travel route, a detour interval deletion function for deleting the detour section that caused the overlapped section from the planned travel route;
  A control plan planning function for planning a control plan for vehicle control in the vehicle based on the planned travel route after the detour section is deleted;
  A vehicle control function for executing vehicle control based on the control plan;
Is realized on a computer,
  The detour section deletion function is
    When the traveling direction of the vehicle in the overlapping section is the reverse direction,
    The route from the overlapping section to the overlapping section is set as the detour section, and the function of deleting from the planned traveling route is realized.
Vehicle control program.

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