JP4821879B2 - Traveling locus calculation device and traveling locus calculation method - Google Patents

Description

  The present invention relates to a travel locus calculation apparatus and a travel locus calculation method.

Improvement in fuel efficiency is one of the top priorities due to the recent high crude oil prices and the need for environmental improvement technologies for CO ₂ reduction and the like. Conventionally, it has been empirically known that free run (glide, coasting) is ideal in terms of fuel consumption in eco-run competitions and the like that compete for how many kilometers a circuit can travel with 1 liter of gasoline. Further, it has been found that, in a vehicle such as an HV (hybrid system) capable of stopping the engine during traveling, it is effective to stop the engine during traveling in order to improve fuel efficiency during traveling of the vehicle.

  The ultimate improvement in fuel consumption in automobiles is to run with an optimal speed pattern in the vehicle rather than the desire of the user (driver). Is out. In recent years, an optimization method for optimizing a travel locus and a gear ratio using an evaluation function such as fuel efficiency has been developed for the purpose of automatic travel control and travel assist of a vehicle (see Patent Documents 1 and 2). Here, the optimization method is generally based on the premise that a travel locus newly generated from the travel locus generated last time is continuously approaching the ideal solution. In other words, the optimization technique transforms A into B based on the premise that there should be an ultimate superior pattern C ahead of a relatively superior speed pattern B over a certain speed pattern A. It is a technique that repeats the process to reach C, which is the optimal solution. The precondition is that the best pattern is present in the extension of the better pattern than the present, and that no bad pattern exists between them.

  However, when trying to apply the optimization method to the evaluation of fuel consumption, the engine has the worst efficiency in the vicinity of low speed (for example, about 800 to 1500 engine speeds), and zero speed and medium speed or more are efficient. Because it has discontinuous characteristics, even if it tries to optimize the whole by repeatedly processing the evaluation function, a driving pattern that has a driving state (zero rotation) that stops the engine cannot be obtained, resulting in improved fuel efficiency Therefore, there is a problem that the speed pattern obtained by the optimization method to be performed is not necessarily a speed pattern with good fuel consumption. In other words, if the conventional optimization method is applied as it is, in the region where the engine speed decreases toward the stop state (zero rotation) from the engine speed with high engine efficiency (medium / high rotation) (near low rotation), On the other hand, the engine efficiency is reduced, the fuel consumption is deteriorated, and the speed pattern including low rotation is rejected, so it falls into the local minimum, and the ideal driving pattern for fuel consumption is reached, such as repeating acceleration and inertial driving. There was a problem.

  Therefore, conventionally, avoiding the local minimum problem caused by discontinuity in thermal efficiency between engine operation and stop by fixing the speed pattern including acceleration traveling and inertia traveling and giving up overall optimization as a constraint condition, The driving trajectory related to fuel efficiency was optimized. Here, the method of Patent Document 3 is a method of setting a restraint condition for restraining movement when the moving body travels in a section from the starting position to the reaching position, and improving the moving result with respect to fuel consumption and the like. For example, a low fuel consumption speed pattern is generated by setting a fixed speed pattern in a range of acceleration → steady travel → deceleration once and setting a constraint condition.

  In addition, in the methods of Patent Documents 4 and 5, a map relating to the speed and the inter-vehicle distance is stored in advance instead of the evaluation of the fuel consumption or the like by the evaluation function, and whether or not the inertial running or the like is performed in light of the stored map. This is a method for improving the fuel consumption characteristics by determining the above.

JP 2002-251597 A Japanese Patent Laid-Open No. 10-246325 JP 2006-327545 A JP 2007-187090 A JP 2007-291919 A

  However, the conventional optimization method has a problem that although the local optimization can be performed with respect to the fuel consumption and the like, the overall optimization cannot always be obtained.

  In particular, in the method of Patent Document 3, when an approximate travel plan such as acceleration and inertia is repeatedly performed, a low fuel consumption travel is provided in a partial portion, and a local fuel efficiency improvement is achieved. Although effective, the repeated pattern is not generated based on calculations that further improve the overall fuel consumption from departure to arrival in actual driving. That is, in an actual driving environment, it is necessary to obtain a continuous solution as shown in FIG. 17 of Patent Document 3. However, in the method of Patent Document 3, only the result of the fixed pattern is used, and a specific part is obtained. Since adjustment of acceleration and the like are not included, another device is required to obtain the overall optimum.

  Further, in the methods of Patent Documents 4 and 5, although it is possible to improve local fuel consumption using a map related to speed and inter-vehicle distance, it is not considered to perform overall optimization.

  The present invention has been made in view of the above-described problems, and avoids a local minimum problem based on discontinuity of engine characteristics without fixing a speed pattern, thereby enabling overall optimization of fuel consumption and the like. It is an object of the present invention to provide a travel locus calculation device and a travel locus calculation method.

  In order to achieve such an object, a travel locus calculation apparatus according to the present invention calculates a future travel locus of a vehicle. The travel locus calculation device includes at least a storage unit and a control unit. The storage unit includes road information. Road information storage means for storing, and the control unit predicts a driving state when the vehicle travels on a road based on the road information stored in the road information storage means And an evaluation function setting unit that divides the road into a plurality of road sections and sets an evaluation function for each road section based on the driving state predicted by the driving state prediction unit, and the evaluation function setting Travel trajectory calculating means for calculating a travel trajectory of the vehicle traveling on the road based on the evaluation function set for each road section by the means.

  The travel locus calculation apparatus according to the present invention is the travel locus calculation device described above, wherein the travel locus calculation means calculates the travel locus using a break position of the road section divided by the evaluation function setting means as a variable condition. It is characterized by calculating.

  According to the present invention, there is provided a travel trajectory calculation device according to the above-described travel trajectory calculation device, wherein the travel state prediction means is configured to cause the vehicle to move on the road based on the road information stored in the road information storage means. A speed pattern predicted when traveling is calculated, and the evaluation function setting means divides the road section into at least an acceleration section and a deceleration section based on the speed pattern calculated by the traveling state prediction means, The evaluation function for the acceleration section is set in the acceleration section, and the evaluation function for the deceleration section is set in the deceleration section.

  Further, the traveling locus calculation device of the present invention is the traveling locus computation device described above, wherein the evaluation function setting means uses the evaluation function for the acceleration section as a value near zero rotation when the engine speed is equal to or higher than medium rotation. And setting the evaluation function to be evaluated as desirable as compared with the case of.

  Further, the travel locus calculation device of the present invention is the travel locus computation device described above, wherein the evaluation function setting means is configured so that each evaluation function for the acceleration section has an optimum thermal efficiency point of 1 as the evaluation function. The ratio of the thermal efficiency of the points is calculated, the evaluation function is set so that an evaluation value is obtained by subtracting 1 from the whole, and the evaluation value in the vicinity of zero engine rotation is set to a numerical value greater than 0. Features.

  Further, the travel locus calculation apparatus according to the present invention is the travel locus computation device described above, wherein the evaluation function setting means uses a middle rotation or more when the engine speed is near zero rotation as the evaluation function for the deceleration section. And setting the evaluation function to be evaluated as desirable as compared with the case of.

  Further, the traveling locus calculation device of the present invention is the traveling locus computation device described above, wherein the evaluation function setting means has the rolling function when the evaluation function for the deceleration section is set to 0 based on rolling resistance. The evaluation function is set so that the evaluation value is a value that is proportional to the energy input / output loss in the hybrid system with respect to the acceleration / deceleration energy far from the deceleration of the resistance. It is characterized by a larger numerical value.

  According to the present invention, there is provided a travel trajectory calculation device according to the above-described travel trajectory calculation device, wherein the travel state prediction means is configured to cause the vehicle to move on the road based on the road information stored in the road information storage means. Friction circle usage rate predicted when traveling is calculated, and the evaluation function setting means uses the friction circle usage in the road section where the friction circle usage rate calculated by the running state prediction means is relatively high. The evaluation function different from the road section having a relatively low rate is set.

  Further, the travel locus calculation apparatus of the present invention is the travel locus calculation device described above, wherein the evaluation function setting means is configured such that when the friction circle usage rate calculated by the travel state prediction means is relatively high, The road where the running state is in an accelerated state is set with the evaluation function that evaluates that acceleration with an emphasis on thermal efficiency is desirable in combination with a hybrid system based on the engine rotation state, and the road in which the running state is in a decelerated state The evaluation function for evaluating that regeneration and deceleration by power assist are desirable based on the engine-off state is set in a section.

  The present invention is also a travel locus calculation method that is executed in a travel locus calculation apparatus that includes at least a storage unit and a control unit, and that calculates a future travel locus of a vehicle, wherein the storage unit stores road information. A road information storage unit that predicts a traveling state when the vehicle travels on a road based on the road information stored in the road information storage unit, which is executed by the control unit. An evaluation function setting step of dividing the road into a plurality of road sections and setting an evaluation function for each road section based on the driving state predicted in the driving state prediction step and the driving state prediction step; Based on the evaluation function set for each road section in the evaluation function setting step, a travel locus calculation step for calculating a travel locus of the vehicle traveling on the road; Characterized in that it contains.

  According to the present invention, it is possible to avoid the local minimum problem based on the discontinuity of the engine characteristics without fixing the speed pattern, and to achieve overall optimization with respect to fuel consumption and the like.

FIG. 1 is a block diagram showing an example of the configuration of this system including a vehicle motion control device to which the present invention is applied. FIG. 2 is a flowchart showing an example of basic processing of the vehicle motion control apparatus 100 in the present embodiment. FIG. 3 is a flowchart showing an example of processing of the vehicle motion control apparatus 100 according to the first embodiment. FIG. 4 is a diagram illustrating, as an example, a graph of an evaluation formula for an acceleration section. FIG. 5 is a diagram illustrating, as an example, a graph of an evaluation formula for a deceleration section. FIG. 6 is a flowchart illustrating an example of processing of the vehicle motion control apparatus 100 according to the second embodiment.

  DESCRIPTION OF EMBODIMENTS Embodiments of a travel locus calculation apparatus, a travel locus calculation method, and a program according to the present invention will be described below in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

[1. Constitution]
First, a description will be given with reference to FIG. 1 of the configuration of a traveling locus calculation device, a traveling locus calculation method, a vehicle motion control device for executing a program, and a system including the device according to the present invention. FIG. 1 is a block diagram showing an example of the configuration of the system provided with a vehicle motion control apparatus to which the present invention is applied, and conceptually shows only the portion related to the present invention in the configuration. This system generally includes a vehicle motion control device 100, a device (road shape information input device 11 to lane recognition sensor 17) for inputting various state quantities related to vehicles, roads, and the like, and an output destination of vehicle motion control values. The device (the steering control device 21 to the brake actuator 25) is configured to be communicably connected via an arbitrary communication path.

  In FIG. 1, a road shape information input device 11 is a device such as a navigation system that inputs a shape of a road through which a vehicle will pass in the future to the vehicle motion control device 100, and a road shape related to a road shape (width, gradient, etc.). Information is input to the vehicle motion control apparatus 100. For example, the road shape information input device 11 includes a GPS antenna, a processing device, and the like, and is a sensor that estimates the position of the host vehicle. The road shape information input device 11 is a GPS antenna that receives signals from GPS satellites. The GPS signal is received, the GPS signal is demodulated by the processing device, and the position of the host vehicle is calculated based on the demodulated position data of each GPS satellite. Then, the road shape information input device 11 reads the road shape information of the currently traveling road from a map database or the like using a navigation system that detects the current position of the host vehicle and guides the route to the destination, and sets the road shape. Information is transmitted to the vehicle motion control apparatus 100 as a navigation signal. In the case of a vehicle not equipped with a navigation system, at least road information such as a map database may be stored, and road shape information may be read from the position of the host vehicle. Information may be acquired.

  The handle operation amount sensor 12, the brake operation amount sensor 13, and the accelerator operation amount sensor 14 are sensors that detect the operation amounts of the handle, the brake, and the accelerator, respectively. The steering wheel operation amount sensor 12, the brake operation amount sensor 13, and the accelerator operation amount sensor 14 detect each operation amount and transmit the detected operation amount to the vehicle motion control device 100.

  The yaw rate sensor 15 is a sensor that detects the yaw rate generated in the host vehicle. The yaw rate sensor 15 detects the yaw rate and transmits the detected yaw rate to the vehicle motion control apparatus 100 as a yaw rate signal.

  The wheel speed sensor 16 is a sensor that is provided on each of the four wheels of the vehicle and detects the rotational speed of the wheel (the number of pulses corresponding to the rotation of the wheel). The wheel speed sensor 16 detects the number of rotation pulses of the wheel every predetermined time, and transmits the detected number of wheel rotation pulses to the vehicle motion control device 100 as a wheel speed signal. The vehicle motion control device 100 calculates the wheel speed from the rotation speed of each wheel, and calculates the vehicle body speed (vehicle speed) from the wheel speed of each wheel.

  The lane recognition sensor 17 includes a camera and an image processing device, and is a sensor that detects a pair of white lines (lanes). The lane recognition sensor 17 images a road ahead of the host vehicle with a camera, and recognizes a pair of white lines indicating a lane in which the vehicle is traveling from the captured image with an image processing device. Then, the lane width from the pair of recognized white lines, the line passing through the center of the pair of white lines (that is, the lane center line), the radius of the lane center (curve radius R), and the curve radius R to the curve curvature γ (= 1 / R), the direction of the vehicle relative to the lane (yaw angle), the position of the vehicle center relative to the center of the lane (offset), etc. are calculated. The lane recognition sensor 17 transmits the information of the recognized pair of white lines and the calculated information to the vehicle motion control device 100 as white line detection signals.

  In FIG. 1, a vehicle motion control device 100 is generally a device such as an ECU (Engine Control Unit) configured to include a control unit 102, a storage unit 106, an interface (not shown), and the like. Here, the control unit 102 is a CPU or the like that comprehensively controls the entire vehicle motion control apparatus 100. The storage unit 106 is a device such as a ROM (Read Only Memory) or a RAM (Random Access Memory) that stores various databases and tables. Each unit of the vehicle motion control device 100 is connected to be communicable via an arbitrary communication path.

  Various databases and tables (road shape information file 106a) stored in the storage unit 106 are storage means such as a fixed disk device. For example, the storage unit 106 stores various programs, tables, files, databases, and the like used for various processes.

  Among these components of the storage unit 106, the road shape information file 106a is a road information storage unit that stores road information such as road shape information. Here, the road shape information is information that defines the shape of the road on which the vehicle will travel in the future. For example, the shape of the road in the route from the position of the host vehicle received from the road shape information input device 11 to the target point, etc. Storing. Here, the road information may include information (information such as lane width, center line, curve radius R, curve curvature γ, etc.) based on the white line detection signal received from the lane recognition sensor 17.

  In FIG. 1, the control unit 102 includes a control program such as an OS (Operating System), a program that defines various processing procedures, and an internal memory for storing necessary data. Thus, information processing for executing various processes is performed. The control unit 102 is functionally conceptually configured to include a travel state prediction unit 102a, an evaluation function setting unit 102d, a travel locus optimization unit 102e, and a vehicle motion control unit 102f.

  Among these, the traveling state prediction unit 102a predicts the traveling state (state quantity) when the vehicle travels on the road based on road information such as road shape information stored in the road shape information file 106a. It is a prediction means. Examples of the state quantity representing the running state of the vehicle include speed (vehicle speed), acceleration, engine speed, torque, horsepower, friction circle usage rate, and the like. Here, as shown in FIG. 1, the traveling state prediction unit 102a includes a speed pattern calculation unit 102b and a friction circle usage rate calculation unit 102c. The speed pattern calculation unit 102b is a speed pattern calculation unit that calculates a speed pattern predicted when the vehicle travels on the road based on the road shape information stored in the road shape information file 106a. Here, the speed pattern is not limited to a pattern relating to the vehicle speed (vehicle speed), and may be a pattern such as acceleration or deceleration relating to acceleration, and values such as engine speed, torque, horsepower, driving force, and increase / decrease, etc. The pattern of Further, the friction circle usage rate calculation unit 102c calculates a friction circle usage rate that is calculated when a vehicle travels on the road based on the road shape information stored in the road shape information file 106a. It is a calculation means.

  The evaluation function setting unit 102d divides the road into a plurality of road sections based on the driving state (state quantity) predicted by the driving state prediction unit 102a, and sets an evaluation function for each road section. Means.

  Here, the evaluation function setting unit 102d divides the road section into at least an acceleration section and a deceleration section based on the speed pattern calculated by the speed pattern calculation section 102b of the traveling state prediction section 102a, and uses the acceleration section as an acceleration section. The evaluation function for the deceleration section may be set in the deceleration section. For example, when the speed pattern is defined by the vehicle speed, as an example, an acceleration state section is set as an acceleration section, and a deceleration state section is set as a deceleration section. When the speed pattern is defined by acceleration, as an example, the acceleration section may be set as an acceleration section when the acceleration is greater than 0, and the deceleration section may be set when the acceleration is 0 or less. Further, when the speed pattern is defined by the engine speed, as an example, when the rotational speed is larger than a threshold value (for example, zero rotation or low speed), the acceleration section is set, and when the rotational speed is less than the threshold value It may be set as a deceleration zone. In addition, when the speed pattern is defined by torque, horsepower, driving force, or the like, an acceleration zone and a deceleration zone are set based on preset threshold values. The deceleration section may include a coasting section (coasting section), a constant speed section (steady traveling section), and the like, and conversely, the acceleration section may include a steady traveling section. . Moreover, it is not restricted to this, A coasting area, a steady running area, etc. may be set separately from an acceleration area and a deceleration area.

  Here, the evaluation function for the acceleration section is, for example, an evaluation function that evaluates that the engine rotation state with good thermal efficiency is desirable. An evaluation function that evaluates as desirable. More specifically, the evaluation function for the acceleration section is an evaluation function in which the ratio of the thermal efficiency at each point when the best point of the thermal efficiency of the engine is set to 1 is obtained by subtracting 1 from the whole. Yes, the evaluation value is larger than 0 when the engine speed is near zero. Further, the evaluation function for the deceleration zone is an evaluation function that evaluates that the engine off state is desirable as an example. For example, it is evaluated that the case where the engine speed is near zero rotation is preferable compared to the case where the engine speed is around zero or more. Is an evaluation function. More specifically, the evaluation function for the deceleration section is proportional to the energy input / output loss in the hybrid system with respect to the acceleration / deceleration energy far from the rolling resistance deceleration when the rolling resistance is set to 0. The evaluated function is an evaluation function that becomes an evaluation value, and is a value larger than 0 when the engine speed is equal to or higher than the middle speed.

  In addition, the evaluation function setting unit 102d determines that the running state is higher when the friction circle usage rate is relatively high based on the friction circle usage rate calculated by the friction circle usage rate calculation unit 102c of the running state prediction unit 102a. An evaluation function emphasizing thermal efficiency may be set in the road section that is in an acceleration state in combination with the hybrid system based on the engine rotation state.

  The travel locus optimization unit 102e is a travel locus calculation unit that calculates a travel locus of a vehicle traveling on the road based on the evaluation function set for each road section by the evaluation function setting unit 102d. Note that the travel locus may include not only information related to coordinate positions where the vehicle will travel in the future, but also information on speed patterns. Here, the travel locus optimizing unit 102e may use the break position of the road section divided by the evaluation function setting unit 102d as a variable condition in the optimization process. For example, the traveling locus optimization unit 102e changes the speed pattern of the generated traveling locus from the speed pattern calculated by the speed pattern calculation unit 102b while performing the optimization process iterative process, and the evaluation function setting unit 102d When the threshold for setting the road section is exceeded or below, the length of the road section may be changed accordingly. That is, the travel locus optimization unit 102e may reset the road sections associated with the respective evaluation functions according to the changed speed pattern or the like during the travel locus optimization process. In addition, as another example for setting the delimiter position as a variable condition, the speed pattern is a priority that is read from the driving operation of the driver (for example, whether priority is given to fuel consumption or early arrival time to the destination) It can also be changed according to the matter. That is, the speed pattern may be changed by the driving operation of the driver, and the evaluation function and the road section may be reset accordingly.

  Further, the vehicle motion control unit 102f outputs a vehicle motion control value to the steering control device 21, the acceleration / deceleration control device 23, and the like based on the travel locus calculated by the travel locus optimization unit 102e. It is.

  As shown in FIG. 1, the steering control device 21 is a control device that transmits a steering control signal to the steering actuator 22 based on the vehicle motion control value received from the vehicle motion control device 100.

  The steering actuator 22 is, for example, an actuator for transmitting a rotational driving force by a motor to a steering mechanism (rack, pinion, column, etc.) via a speed reduction mechanism and applying a steering torque to the steering mechanism. When the steering actuator 22 receives the steering control signal from the steering control device 21, the motor rotates to generate steering torque in accordance with the steering control signal.

  The acceleration / deceleration control device 23 is a control device that transmits an engine control signal, a brake control signal, and the like to the engine 24 and the brake actuator 25 based on the vehicle motion control value received from the vehicle motion control device 100.

  The engine 24 is one of the drive sources, and is configured to be able to adjust the opening degree of the throttle valve and to control the on / off of the engine. In the engine 24, when an engine control signal is received from the acceleration / deceleration control device 23, the actuator operates in accordance with the engine control signal to adjust the throttle valve opening and control the on / off of the engine. In addition, when this Embodiment is applied to a hybrid vehicle, you may generate a part of driving force with a motor. Further, when the engine control signal specifies engine off (zero rotation), the engine output shaft and the wheel may be disconnected so as to be in a neutral state.

  The brake actuator 25 is an actuator that adjusts the brake hydraulic pressure of the wheel cylinder of each wheel. When the brake actuator 25 receives a brake control signal from the acceleration / deceleration control device 23, the brake actuator 25 operates according to the brake control signal to adjust the brake hydraulic pressure of the wheel cylinder. In addition, when applying this Embodiment to a hybrid vehicle, you may use a regenerative brake as a brake.

[2. processing]
Next, an example of the processing of the system according to the present embodiment configured as described above will be described in detail with reference to FIGS.

[Basic processing]
First, details of the basic processing of the vehicle motion control device 100 in the present embodiment will be described with reference to FIG. FIG. 2 is a flowchart showing an example of basic processing of the vehicle motion control apparatus 100 in the present embodiment.

  When generating a speed pattern for automatic driving that performs ideal fuel-efficient driving, it is not possible to derive an optimal speed pattern analytically considering various non-linear information such as gradient. Need to be derived. However, in a hybrid vehicle, it is difficult to introduce the optimization with the engine stopped state (zero rotation) as it is, because of low fuel consumption, because it easily falls into a local minimum. For this reason, in this embodiment, a device is devised to generate and optimize a running pattern that repeats acceleration running and inertia running. That is, in the present embodiment, the driving state such as the speed pattern is calculated once without considering the overall optimization, and the optimization process is performed by applying a separate evaluation function to each road section according to the driving state. Thus, while introducing a traveling pattern that repeats acceleration traveling and inertial traveling, a speed pattern (traveling locus) that further improves the fuel efficiency improvement effect is calculated.

  As shown in FIG. 2, first, the traveling state prediction unit 102a predicts a traveling state (state amount) when the vehicle travels on the road based on the road shape information stored in the road shape information file 106a. (Step SA-1). Here, the driving state prediction unit 102a may calculate a speed pattern predicted when the vehicle travels on the road based on the road shape information by the processing of the speed pattern calculation unit 102b. A friction circle usage rate predicted when a vehicle travels on a road may be calculated by the processing of the rate calculation unit 102c.

  Then, the evaluation function setting unit 102d divides the road into a plurality of road sections based on the state quantities (speed pattern, friction circle usage rate, etc.) predicted by the traveling state prediction unit 102a (step SA-2). Here, the evaluation function setting unit 102d may divide the road into an acceleration zone and a deceleration zone based on the speed pattern calculated by the speed pattern calculation unit 102b of the traveling state prediction unit 102a.

  Then, the evaluation function setting unit 102d sets an evaluation function for each divided road section (step SA-3). For example, the evaluation function setting unit 102d sets an evaluation function that evaluates that the case where the engine speed is equal to or higher than the middle rotation is more preferable than the case near zero rotation in the acceleration section, and sets the engine speed in the deceleration section. An evaluation function is set that evaluates the case where is near zero rotation as compared with the case where the rotation is more than medium rotation. That is, the evaluation function setting unit 102d sets, as an acceleration function for the acceleration section, a function that protrudes downward with the evaluation value near the middle rotation having the best thermal efficiency being minimized, and the evaluation function for the deceleration section is An evaluation function is set so that the evaluation value near zero rotation of only rolling resistance is minimized and convex downward.

  Then, the traveling locus optimization unit 102e optimizes the traveling locus of the vehicle traveling on the road based on the evaluation function set for each road section by the evaluation function setting unit 102d (step SA-4). Here, the traveling locus optimization unit 102e may use the road segment break position as a variable condition in the optimization. That is, the traveling locus optimization unit 102e changes the speed pattern of the generated traveling locus from the speed pattern calculated by the speed pattern calculation unit 102b while performing the optimization process iterative process, and the evaluation function setting unit 102d When the threshold for setting the road section is exceeded or below, the length of the road section may be changed accordingly.

  Thus, the basic process of the vehicle motion control device 100 is completed. As a result, it is possible to obtain an overall optimum of low fuel consumption including engine operation / stopping while avoiding a local minimum due to discontinuity in the thermal efficiency of the engine. The travel locus calculated as described above becomes a vehicle motion control value and is output to the steering control device 21, the acceleration / deceleration control device 23, and the like by the vehicle motion control unit 102f, and is used for driving control of the vehicle. In other words, the vehicle motion control device 100 is configured so that the vehicle travels in accordance with the obtained optimum travel locus at regular time intervals, the actual travel state and the actual vehicle state (the position of the host vehicle, each operation by the road shape information input device 11). The steering control device 21 is based on deviations from the amount sensor (operation amount by the steering wheel operation amount sensor 12 to accelerator operation amount sensor 14), yaw rate by the yaw rate sensor 15 input, vehicle speed by the wheel speed sensor 16 input, and the like. The engine control signal or the brake control signal is transmitted to the steering control signal and the acceleration / deceleration control device 23.

[2-1. Processing of Embodiment 1]
Next, details of the processing of the vehicle motion control apparatus 100 according to the first embodiment will be described with reference to FIGS. FIG. 3 is a flowchart showing an example of processing of the vehicle motion control apparatus 100 according to the first embodiment.

  In the first embodiment, the vehicle motion control device 100 responds to input (running conditions) from devices (such as the road shape information input device 11 and the lane recognition sensor 17) that detect various state quantities relating to vehicles, roads, and the like. Then, a speed pattern is generated without considering the overall optimization, and the speed pattern taking into account the overall optimization is recalculated using different evaluation formulas for the acceleration zone and the deceleration zone, and an optimized travel locus A vehicle travel control value based on (speed pattern) is output.

  As shown in FIG. 3, first, the vehicle motion control device 100 controls the user (driver or the like) to set a destination via the road shape information input device 11, and the processing by the road shape information input device 11 is performed. A route search is performed to obtain a travel route and store it in the road shape information file 106a (step SB-1).

  Then, the vehicle motion control device 100 acquires gradient information such as gradient change information on the travel route by a navigation system such as the road shape information input device 11 and functions such as telematics and communication, and stores it in the road shape information file 106a. Store (step SB-2).

  Then, the vehicle motion control apparatus 100 performs a simulation according to the travel route by using the logic that does not consider the overall optimization (optimal only on the spot or in the vicinity thereof) by the processing of the speed pattern calculation unit 102b, and provisionally on the travel route. A typical speed pattern is generated (step SB-3).

  As an example, this logic that does not consider the overall optimization uses a technique for generating a wavy running or a jagged running, and after reaching the target lower limit vehicle speed, the acceleration that accelerates to the target upper limit vehicle speed using the driving force of the engine 24 This is logic for generating a wave-like traveling pattern that alternately repeats traveling and inertial traveling in which transmission of the driving force of the engine to the drive wheels after reaching the target upper limit vehicle speed is cut off and the vehicle travels inertially to the target lower limit vehicle speed. As the target upper limit vehicle speed, for example, the vehicle speed when the driver's accelerator is off may be set, and the vehicle speed difference between the target upper limit vehicle speed and the target lower limit vehicle speed may be a predetermined value, and is adjusted in consideration of the road surface gradient. May be. In addition, when the period from the start of one acceleration traveling to the end of inertial traveling is shorter than the reference value, the cycle may be corrected to be longer to generate a wavy traveling pattern. For example, it is possible to correct the acceleration section longer by reducing the acceleration during acceleration traveling, and it is also possible to correct the coasting section longer by adding a driving force by electric power assist during inertia traveling. Further, the period may be corrected to be longer by adding a steady travel section between the acceleration section and the coasting section. Note that the above-described logic for generating the wavy running is an example, and this embodiment has a thermal efficiency characteristic (a low rotation region with low thermal efficiency between zero rotation and medium rotation) as long as a power generation device called an engine is used. It can be applied in a wide range when aiming for ultimate low fuel consumption from discontinuous characteristics.

  Subsequently, the vehicle motion control apparatus 100 determines that the acceleration is in a section where the acceleration is greater than or equal to a predetermined value (for example, 0G) based on the travel pattern generated by the processing of the evaluation function setting unit 102d (step SB-4, Yes). Is set (step SB-5), the acceleration is less than a predetermined value (for example, 0G) (step SB-4, No), and the deceleration zone is set (step SB-6).

  Then, the vehicle motion control apparatus 100 determines that there is an acceleration section where the maximum acceleration is less than a predetermined value (for example, 0.1 G) after the deceleration section by the processing of the evaluation function setting unit 102d (step SB-7, Yes). One deceleration zone is set together with the preceding and following deceleration zones (step SB-8). This process is performed because there is a concern that switching between the acceleration section and the deceleration section frequently occurs in the vicinity of the steady running, and the evaluation function setting unit 102d performs power assist limit (for example, 0.1 G) in the hybrid system. Up to, merge the sections with hysteresis.

  Then, the vehicle motion control device 100 sets an evaluation formula that determines that the engine speed is preferably medium rotation or higher (compared to 0 rotation) in the acceleration section by the processing of the evaluation function setting unit 102d (step SB-). 9). More specifically, the thermal efficiency ratio of each point (numerical value of 1 or more) when the best point of the thermal efficiency of the engine 24 (best point: for example, about half of the maximum horsepower and about 40 km / h) is 1. And subtracting 1 from all is set as the evaluation formula. In this case, the point with the best thermal efficiency is 0, and the ratio of the other points with poor thermal efficiency is the evaluation value. Here, preferably, the thermal efficiency of the engine 24 may be a hybrid system thermal efficiency obtained by multiplying the conversion efficiency of the mission (MG1 + MG2) (for example, 80% loss with respect to the conversion target energy).

  On the other hand, the vehicle motion control apparatus 100 sets the evaluation value when the engine speed is zero to a constant value greater than 0 (for example, 10) with respect to the above-described acceleration section evaluation formula by the processing of the evaluation function setting unit 102d. (Step SB-11). In other words, since zero rotation is one of the points with good thermal efficiency in the evaluation formula, 0 (same as the best point) should be adopted, but zero rotation is selected once during the optimization process. Since it will not be able to return to the desired medium speed (falling into the local minimum), a relatively bad value is set regardless of the actual engine efficiency. Here, FIG. 4 is a diagram showing, as an example, a graph of the evaluation formula for the acceleration section set as described above. As shown in FIG. 4, the evaluation formula for the acceleration section is a function in which the evaluation value at the best point with the best thermal efficiency of the engine is 0, and the evaluation value near zero rotation is a predetermined value greater than 0.

  Moreover, the vehicle motion control apparatus 100 sets an evaluation formula that evaluates that zero rotation is desirable (compared to medium rotation or more) in the deceleration zone by the processing of the evaluation function setting unit 102d (step SB-11). More specifically, the hybrid is applied to acceleration / deceleration energy away from the rolling resistance deceleration (in this example, -0.03 G) with 0 as a reference for the rolling resistance (for example, deceleration of -0.03 G). A numerical value that is proportional to the loss (for example, 36%) of MG2 input / output and battery input / output in the system is set as an evaluation formula.

  Then, the vehicle motion control device 100 performs correction according to the state of charge of the battery in the evaluation formula for the deceleration zone by the processing of the evaluation function setting unit 102d (step SB-12). That is, power acceleration (for example, +0.1 G) in a fully charged state (a state in which the battery cannot be charged in consideration of durability, etc.) or regeneration (for example, a deceleration of −0.1 G) in an empty state of the battery ), The loss is reduced (for example, 20%) in order to avoid an adverse event that leads to energy disposal (regeneration is impossible due to full charge, power acceleration is not possible due to insufficient battery power).

  On the other hand, the vehicle motion control apparatus 100 sets the evaluation value when the engine speed is equal to or higher than a certain value (for example, 10) for the above-described deceleration section evaluation formula by the processing of the evaluation function setting unit 102d. (Step SB-13). In other words, near the best point of the thermal efficiency of medium rotation in the evaluation formula, a value close to 0 should be adopted (similar to the case of the acceleration section), but mid rotation or more is selected once during the optimization process. If it is done (falling into the local minimum), it will not be possible to return to the desired zero rotation, so a relatively bad value is set regardless of the actual engine efficiency. Here, FIG. 5 is a diagram illustrating, as an example, a graph of the evaluation formula for the deceleration section set as described above. As shown in FIG. 5, the evaluation formula for the deceleration zone is a function in which the evaluation value of traveling by rolling resistance is 0, and the evaluation value of medium rotation or higher with good engine thermal efficiency is greater than 0.

  Then, the vehicle motion control device 100 sets an evaluation formula related to the passage time in addition to the above-described evaluation formula related to fuel consumption by the processing of the evaluation function setting unit 102d (step SB-14). This is because if an evaluation formula for only fuel consumption is used, the average speed of a hybrid vehicle such as THS (Toyota Hybrid System) is likely to be about 20 km / h. Since there is a case that does not meet the hope, an evaluation formula for increasing the average speed in a form that does not significantly reduce the fuel consumption by appropriate weighting or the like is set.

  Then, the vehicle motion control device 100 performs an optimization process (for example, SCGRA (Sequential Conjugate Gradient-Restoration) using the process of the travel locus optimization unit 102e as a variable condition with a section position fixed in a normal optimization technique as a variable condition. (Algorithm) etc.) (step SB-15).

  This completes the processing of the first embodiment. Accordingly, it is possible to obtain a speed pattern (running locus) that further improves fuel efficiency while introducing a speed pattern that stops the engine with higher fuel efficiency.

[2-2. Processing of Embodiment 2]
Next, details of the processing of the vehicle motion control apparatus 100 according to the second embodiment will be described with reference to FIG. FIG. 3 is a flowchart illustrating an example of processing of the vehicle motion control apparatus 100 according to the second embodiment.

  In the first embodiment described above, it is possible to obtain an optimum result only by the front-rear direction control by acceleration / deceleration and speed pattern generation on a straight road. However, there are cases where the speed pattern is unstable (the speed is too high to bend) for the road alignment that should take the friction circle into account in running stability. For this reason, in the second embodiment, the method of using the speed limit for each curve in an easy manner considers the case where the optimal speed pattern and the driving trajectory are not obtained because the driving trajectory and the optimal distribution of the regenerative force are not appropriate. Process. That is, in the second embodiment, the vehicle motion control device 100 calculates the speed pattern using different evaluation formulas when the friction circle usage rate is relatively high and when the friction circle usage rate is relatively low, and the friction circle usage rate is calculated. If the frictional circle usage rate is relatively high, use the evaluation formula shown in the first embodiment when the engine is relatively low. Introducing the evaluation formula. In other words, when the friction circle usage rate is obtained again from the speed pattern calculated according to the first embodiment, it becomes a dangerous friction circle usage region (eg, 70%), which is different from the first embodiment. Set the evaluation formula in logic.

  As shown in FIG. 6, first, the vehicle motion control device 100 is based on the road shape information stored in the road shape information file 106a by the logic that takes the friction circle into account by the processing of the friction circle usage rate calculation unit 102c. Then, the friction circle usage rate is calculated, and the road section is temporarily estimated based on the speed pattern (step SC-1).

  As an example, the logic considering the friction circle uses a technique for generating an ideal trajectory and a speed pattern. In a vehicle having a hybrid drive system, a constraint including a friction circle limit and a road boundary condition is used. Evaluation function related to fuel efficiency (for example, evaluation of dispersion of speed, evaluation of total brake deceleration heat dissipation, evaluation of power balance when the power balance in the hybrid system is positive, This technology applies a technique for deriving a travel locus by performing a convergence calculation using a fuel efficiency evaluation function such as an evaluation of a thermal efficiency usage rate of an engine output thermal efficiency during acceleration. The logic principle considering this friction circle is as follows.

  When decelerating by regenerative alone considering fuel efficiency, there is a margin for deceleration by the hydraulic brake during deceleration compared to decelerating by the deceleration capability of the entire vehicle (deceleration by regenerative braking + deceleration by hydraulic brake) There is a margin in the longitudinal force. Therefore, when it is assumed that deceleration is performed only by regeneration in consideration of the frictional circle limit due to lateral force and longitudinal force, the margin of longitudinal force can be distributed to lateral force during deceleration on a curved road. Therefore, in the logic that takes this friction circle into consideration, on a curved road, the margin is used to make the running curve longer when decelerating, and there is no margin when accelerating, so a running locus close to a straight line is generated. Specifically, considering the friction circle, the clipping point is moved to the curve entrance side, the minimum speed point is set to the curve exit side, and they are combined with a smooth curve (for example, a Croyde curve) to drive Generate a trajectory. Also, the first half of the curve up to the minimum speed point is set as the deceleration zone, and the second half of the curve from the minimum point is set as the acceleration zone. As a result, in the generation of the travel pattern, the travel pattern (travel locus) taking into account the travel stability and fuel consumption of the vehicle in consideration of the usage rate of the friction circle considering the longitudinal force due to acceleration / deceleration and the lateral force due to curve travel. ) Can be calculated. The above-described logic considering the friction circle is an example, and the present invention is not limited to this as long as it is a technology that generates a low fuel consumption travel pattern within the friction circle limit.

  Then, the vehicle motion control device 100 performs processing by the evaluation function setting unit 102d so that the lateral force is not required (for example, lateral G is within 0.1G) (step SC-2, No), lateral force Is necessary (step SC-2, Yes), but the friction circle usage rate is relatively low (No at step SC-3), the road in the process of the first embodiment (for example, the process of SB-3-14) A section and an evaluation formula are set (step SC-4).

  In addition, the vehicle motion control apparatus 100 requires a lateral force (step SC-2, Yes) by the process of the evaluation function setting unit 102d, and has a relatively high friction circle usage rate (for example, 50% or more). (Step SC-3, Yes) As a result of recalculating the friction circle usage rate after the processing of Step SC-4, in a section where the friction circle usage ratio is relatively high (Step SC-5, Yes), a deceleration section (for example, The first half of the curve) is based on the engine off (zero rotation, rolling resistance deceleration), and an evaluation formula is set so that the vehicle is decelerated by regeneration and power assist. The engine rotation state is set in the acceleration section (for example, the second half of the curve). Basically, an evaluation formula is set so as to achieve acceleration with an emphasis on thermal efficiency in combination with the hybrid system (step SC-6).

  Then, the vehicle motion control device 100 performs the above steps SC-2 to SC6 in all the sections (step SC-7), and similarly to the processing in step SB-15, the position of the break between the deceleration section and the acceleration section is determined. The constraint condition is invalidated (that is, as a variable condition), and an optimization process (for example, SCGRA) is performed so that the section length can be increased or decreased (step SC-8).

  Thus, the process of the second embodiment is completed. As a result, it is possible to generate an optimum speed pattern (traveling locus) excellent in traveling stability even on a curved road, and ideal traveling control that can achieve both traveling stability and low fuel consumption is possible.

[3. Summary of this embodiment and other embodiments]
According to the present embodiment, based on the road shape information stored in the road shape information file, the running state (state quantity) when the vehicle runs on the road is predicted, and the predicted running state (state quantity) ), The road is divided into a plurality of road sections, an evaluation function is set for each road section, and a travel locus of a vehicle traveling on the road is calculated based on the evaluation function set for each road section. Therefore, it is possible to avoid the local minimum problem based on the discontinuity of the engine characteristics without fixing the speed pattern, and to optimize the overall fuel consumption.

  Further, according to the present invention, since the travel locus is calculated using the dividing position of the divided road section as a variable condition, local optimization in the road section can be performed using the set road section as a variable condition without using the constraint condition. Rather than optimizing over the entire travel route.

  Further, according to the present embodiment, based on the road shape information stored in the road shape information file, the predicted speed pattern when the vehicle travels on the road is calculated, and based on the calculated speed pattern. Since the road section is divided into at least an acceleration section and a deceleration section, an evaluation function for the acceleration section is set for the acceleration section, and an evaluation function for the deceleration section is set for the deceleration section. It is possible to set an appropriate evaluation function to achieve overall optimization related to the evaluation of fuel consumption.

  Further, according to the present embodiment, in the acceleration section, the evaluation function that evaluates the case where the engine speed is equal to or higher than the middle speed is more preferable than the case where the engine speed is near zero, more specifically, the thermal efficiency of the engine. The ratio of the thermal efficiency at each point when the best point is set to 1 is obtained, and an evaluation function is set so that an evaluation value is obtained by subtracting 1 from the whole, and the evaluation value near zero rotation is greater than 0 Because it is a numerical value, even if the engine has a discontinuous characteristic that the thermal efficiency of the engine is zero and the efficiency is higher than the middle speed, the evaluation section evaluates the acceleration that evaluates the acceleration of the middle speed or higher with high thermal efficiency. Therefore, it is possible to appropriately avoid the local minimum problem caused by the discontinuity of the engine characteristics and to achieve the overall optimization.

  Further, according to the present embodiment, in the deceleration section, the evaluation function that evaluates that the case where the engine speed is near zero rotation is more desirable than the case where the engine speed is equal to or higher than the middle rotation, more specifically, the rolling resistance as a reference. Is set to 0, an evaluation function is set in which the numerical value that is proportional to the loss of energy input / output in the hybrid system is set to the acceleration / deceleration energy far from the deceleration of the rolling resistance, and the engine speed is Since the case of medium rotation or higher is set to a value larger than 0, even if the engine has a discontinuous characteristic that the thermal efficiency is zero rotation and the efficiency of medium rotation or higher, deceleration by zero rotation is evaluated in the deceleration zone. Such an evaluation function can be set, and it is possible to appropriately avoid the local minimum problem caused by the discontinuity of engine characteristics and to achieve overall optimization.

  Further, according to the present embodiment, based on the road shape information stored in the road shape information file, the friction circle usage rate predicted when the vehicle travels on the road is calculated, and the calculated friction circle Evaluation function that is different from road sections with relatively low friction circle usage rate in road sections with relatively high utilization, more specifically, acceleration sections with thermal efficiency based on engine rotation conditions and thermal efficiency An evaluation function that evaluates acceleration with an emphasis on the engine is set as desired, and a value function that evaluates deceleration with regeneration and power assist based on the engine off state is set in the deceleration zone. It is possible to calculate an optimum travel locus with respect to fuel consumption while taking into account the travel stability of the vehicle.

  Although the embodiments of the present invention have been described so far, the present invention is not limited to the above-described embodiments, but can be applied to various different embodiments within the scope of the technical idea described in the claims. It may be implemented.

  In particular, in the above-described embodiment, there is a case where an example in which the traveling locus calculation device of the present invention is mounted on a vehicle and configured as a traveling control device and automatic driving control is performed based on the calculated ideal traveling locus may be described. However, the present invention can also be applied to a vehicle that performs various types of driving assistance using an optimal locus for manual driving. In other words, although it is desirable to perform automatic driving control in the end, it is difficult to ignore the intentions and wishes of the user (driver) in the current transition period. A technique based on a compromise between the (trajectory) and the user's operation may be employed.

  In the above-described embodiment, there is a case where the present invention is applied to a hybrid system (hybrid vehicle) in which an internal combustion engine and a motor are combined as a drive source. However, the present invention is not limited to this case. The present invention can be similarly applied to a system capable of stopping an internal combustion engine such as an engine during traveling. In addition, in the case of a heat engine that consumes less fuel in an idling state, it may be executed by simply interrupting transmission of the driving force of the heat engine to the wheels without stopping the heat engine during coasting (coasting). Good. More specifically, the present invention can be applied to any vehicle that can control the automatic transmission to the neutral state during traveling. In order to achieve optimal speed pattern generation, considering the realization of a hybrid vehicle with a plug-in, it is desirable to find the overall optimum for one trip (from the charging location to the next charging location) When considering the reality in which various nonlinear conditions are given in combination in obtaining the overall optimum, it is difficult to analytically obtain a velocity pattern uniquely by some mathematical formula, so it has already been achieved by VSC (Vehicle Safety Communication) or the like. You may utilize the optimization technology currently made into a part commercial vehicle.

  In the above-described embodiment, an example in which the traveling locus calculation device of the present invention is mounted on a vehicle and used online is shown as an example. However, the configuration of the present invention is not limited to this and is not mounted on a vehicle. You may comprise so that the driving | running | working locus | trajectory optimal for a fuel consumption may be calculated offline.

  Moreover, regarding the vehicle motion control apparatus 100, each illustrated component is functionally conceptual, and does not necessarily need to be physically configured as illustrated. In particular, the vehicle motion control device 100 may be configured by a plurality of ECUs without being configured by a single ECU. Conversely, the functions of the steering control device 21 and the acceleration / deceleration control device 23 are The vehicle motion control apparatus 100 may be configured to be realized.

  In addition to the above-described embodiments, the present invention may be implemented in various different embodiments within the scope of the technical idea described in the claims. For example, among the processes described in the embodiments, all or part of the processes described as being automatically performed can be manually performed, or the processes described as being performed manually can be performed. All or a part can be automatically performed by a known method. Further, the processing procedure, control procedure, specific name, information including registration data and parameters of each processing shown in this specification and the drawings can be arbitrarily changed unless otherwise specified. Further, the specific form of distribution / integration of the devices is not limited to that shown in the figure, and all or a part thereof may be functionally or physically in arbitrary units according to various additions or according to functional loads. It can be configured to be distributed and integrated. Moreover, although the case where the vehicle motion control device 100 performs processing in a stand-alone form has been described as an example in the above-described embodiment, the vehicle motion control device 100 is configured as a separate housing from the vehicle motion control device 100. The information processing may be performed in response to a request from the ECU, and the processing result may be returned to the ECU.

  In addition, the present invention is configured by a program for realizing each means of the vehicle motion control device 100 by causing the computer to read the program, or a program for executing each step of the traveling locus calculation method by causing the computer to read the means. Alternatively, the program can be stored in a computer-readable recording medium. Here, the “recording medium” includes any portable physical medium such as a flexible disk, a magneto-optical disk, a ROM, an EPROM, an EEPROM, a CD-ROM, an MO, and a DVD. The “program” is a data processing method described in an arbitrary language or description method, and may be in any format such as source code or binary code. The “program” is not necessarily limited to a single configuration, but is distributed in the form of a plurality of modules and libraries, or in cooperation with a separate program represented by an OS (Operating System). Including those that achieve the function. Note that a well-known configuration and procedure can be used for a specific configuration for reading a recording medium, a reading procedure, an installation procedure after reading, and the like in each device described in the embodiment.

  As described above in detail, the travel locus calculation apparatus, the travel locus calculation method, and the program according to the present invention can be suitably implemented particularly in various fields typified by the automobile manufacturing industry, and are extremely useful in industry. is there.

11 Road shape information input device 12 Handle operation amount sensor 13 Brake operation amount sensor 14 Acceleration operation amount sensor 15 Yaw rate sensor 16 Wheel speed sensor 17 Lane recognition sensor 21 Steering control device 22 Steering actuator 23 Acceleration / deceleration control device 24 Engine 25 Brake actuator 100 Vehicle motion control device
102 Control unit
102a Traveling state prediction unit
102b Speed pattern calculation unit
102c Friction circle usage rate calculation unit
102d evaluation function setting unit
102e Traveling track optimization unit
102f Vehicle motion control unit
106 Storage unit
106a Road shape information file

Claims (9)

In a travel trajectory calculation device comprising at least a storage unit and a control unit for calculating a future travel trajectory of a vehicle,
The storage unit
Road information storage means for storing road information;
With
The controller is
Based on the road information stored in the road information storage means, a running state prediction means for predicting a running state when the vehicle travels on a road;
An evaluation function setting unit that divides the road into a plurality of road sections based on the driving state predicted by the driving state prediction unit, and sets an evaluation function for evaluating fuel consumption for each road section;
Based on the evaluation function set for each road section by the evaluation function setting means, a travel locus calculating means for calculating a travel locus of the vehicle traveling on the road;
Equipped with a,
The travel locus calculating means includes
Calculating the traveling locus using a variable section as a variable position of the road section divided by the evaluation function setting means;
A travel locus calculation device characterized by the above. The travel locus calculation apparatus according to claim 1 ,
The traveling state prediction means includes
Based on the road information stored in the road information storage means, calculates a predicted speed pattern when the vehicle travels on the road,
The evaluation function setting means includes
Based on the speed pattern calculated by the traveling state prediction means, the road section is divided into at least an acceleration section and a deceleration section, the evaluation function for the acceleration section is used for the acceleration section, and the deceleration section is used for the deceleration section. Setting the evaluation function of
A travel locus calculation device characterized by the above. In the traveling locus calculation device according to claim 2 ,
The evaluation function setting means includes
As the evaluation function for the acceleration section, setting the evaluation function that evaluates that the case where the engine speed is equal to or higher than the middle rotation is more desirable than the case where the engine speed is near zero rotation,
A travel locus calculation device characterized by the above. In the traveling locus calculation device according to claim 2 ,
The evaluation function setting means includes
As the evaluation function for the acceleration section, the ratio of the thermal efficiency at each point when the best point of the thermal efficiency of the engine is set to 1, and the evaluation function is set so that an evaluation value is obtained by subtracting 1 from the whole And the evaluation value when the engine speed is near zero rotation is set to a value larger than 0,
A travel locus calculation device characterized by the above. In the traveling locus calculation device according to claim 2 ,
The evaluation function setting means includes
As the evaluation function for the deceleration section, setting the evaluation function that evaluates the case where the engine speed is near zero rotation as compared with the case where the engine speed is higher than the middle rotation,
A travel locus calculation device characterized by the above. In the traveling locus calculation device according to claim 2 ,
The evaluation function setting means includes
A numerical value in which the energy input / output loss in the hybrid system is proportional to the acceleration / deceleration energy away from the deceleration of the rolling resistance when the evaluation function for the deceleration section is set to 0 based on the rolling resistance. Is set to an evaluation value, and when the engine speed is equal to or higher than the middle speed, a value larger than 0 is set.
A travel locus calculation device characterized by the above. In the traveling locus calculation device according to any one of claims 1 to 6 ,
The traveling state prediction means includes
Based on the road information stored in the road information storage means, calculates a friction circle usage rate predicted when the vehicle travels on the road,
The evaluation function setting means includes
Setting the evaluation function different from the road section having a relatively low friction circle usage rate in the road section having a relatively high friction circle usage rate calculated by the running state prediction unit;
A travel locus calculation device characterized by the above. The travel locus calculation apparatus according to claim 7 ,
The evaluation function setting means includes
When the friction circle usage rate calculated by the running state prediction means is relatively high,
In the road section where the running state becomes an acceleration state, the evaluation function that evaluates that acceleration with an emphasis on thermal efficiency is desirable in combination with a hybrid system based on the engine rotation state,
Setting the evaluation function that evaluates that deceleration by power regeneration and power assist is desirable based on the engine-off state in the road section where the traveling state is a deceleration state;
A travel locus calculation device characterized by the above. A travel trajectory calculation method executed in a travel trajectory calculation device including at least a storage unit and a control unit, which calculates a future travel trajectory of a vehicle,
The storage unit
Road information storage means for storing road information;
With
Executed by the control unit;
Based on the road information stored in the road information storage means, a running state prediction step for predicting a running state when the vehicle runs on a road;
An evaluation function setting step of dividing the road into a plurality of road sections based on the driving state predicted in the driving state prediction step, and setting an evaluation function for each road section;
A travel locus calculation step for calculating a travel locus of the vehicle traveling on the road based on the evaluation function set for evaluating fuel efficiency for each road section in the evaluation function setting step;
Only including,
The travel locus calculation step includes:
Calculating the travel locus using a variable section as a variable position of the road section divided in the evaluation function setting step;
A travel locus calculation method characterized by the above.

Images