Vehicle control system and method of performing autonomous retreat travel operation
A control device includes: a controller mounted on a vehicle having an autonomous driving function and configured to execute fail-safe control by a backup power supply when a main power supply fails. The controller is configured to: in the fail-safe control, when a remaining charge level of the backup power supply decreases to or below a first threshold set in advance, execute a first notification to notify in advance an inside of the vehicle that the vehicle is likely to stop due to a shortage of the remaining charge level of the backup power supply; and when the remaining charge level of the backup power supply decreases to or below a second threshold that is smaller than the first threshold, execute a second notification to notify an outside of the vehicle that the vehicle stops.
1 . A power supply control device for a power supply system of a vehicle that is capable of performing a retreat travel driving operation in which the vehicle, upon occurrence of an abnormality of the vehicle during an autonomous driving operation of the vehicle, autonomously travels to a safe place and then stops travelling, the power supply system of the vehicle including a main power supply for the autonomous driving operation and a backup power supply for the retreat travel driving operation, the power supply control device comprising:
a controller configured to execute the following operations:
(a) transmit a first instruction to an in-vehicle notification device to notify, when performing the retreat travel driving operation, that a remaining charge level of the backup power supply decreases to or below a first threshold;
(b) transmit a second instruction to an out-of-vehicle notification device to notify, when performing the retreat travel driving operation, that the vehicle will stop, when the remaining charge level of the backup power supply decreases to or below a second threshold that is lower than the first threshold; and
(c) control a battery switch to stop supplying electric power from the backup power supply to a traveling load and transmit a retreat travel end instruction to an autonomous driving control device of the vehicle to stop performance of the retreat travel driving operation when the remaining charge level of the backup power supply decreases to or below a third threshold that is lower than the second threshold.
2 . The power supply control device according to claim 1 , wherein
the controller is configured to transmit to the in-vehicle notification device a third instruction to notify that the vehicle will stop when the remaining charge level of the backup power supply decreases to or below the second threshold.
3 . The power supply control device according to claim 2 , wherein
the first instruction causes the in-vehicle notification device to output an advance notification indicating that the vehicle is likely to stop; and
the third instruction causes the in-vehicle notification device to output a confirmation notification indicating that the vehicle will stop.
4 . The power supply control device according to claim 1 , wherein
the controller is configured to transmit to the out-of-vehicle notification device a fourth instruction that causes the out-of-vehicle notification device to output a notification that the vehicle is likely to stop due to the shortage of the remaining charge level of the backup power supply when the remaining charge level of the backup power supply decreases to or below the first threshold.
5 . The power supply control device according to claim 2 , wherein
the controller is configured to transmit to the out-of-vehicle notification device a fourth instruction that causes the out-of-vehicle notification device to output a notification that the vehicle is likely to stop due to the shortage of the remaining charge level of the backup power supply when the remaining charge level of the backup power supply decreases to or below the first threshold.
6 . The power supply control device according to claim 1 , wherein
the controller is configured to transmit to the out-of-vehicle notification device a fifth instruction to notify that the vehicle is immovable due to a failure of the main power supply when the remaining charge level of the backup power supply becomes 0 and the vehicle is stopped.
7 . The power supply control device according to claim 2 , wherein
the controller is configured to transmit to the out-of-vehicle notification device a fifth instruction to notify that the vehicle is immovable due to a failure of the main power supply when the remaining charge level of the backup power supply becomes 0 and the vehicle is stopped.
8 . The power supply control device according to claim 4 , wherein
the controller is configured to transmit to the out-of-vehicle notification device a fifth instruction to notify that the vehicle is immovable due to a failure of the main power supply when the remaining charge level of the backup power supply becomes 0 and the vehicle is stopped.
9 . The power supply control device according to claim 1 , wherein
the controller is configured to execute the operations (a), (b) and (c) when congestion occurs on a traveling road of the vehicle.
10 . The power supply control device according to claim 2 , wherein
the controller is configured to execute the operations (a), (b) and (c) when congestion occurs on a traveling road of the vehicle.
11 . The power supply control device according to claim 4 , wherein
the controller is configured to execute the operations (a), (b) and (c) when congestion occurs on a traveling road of the vehicle.
12 . The power supply control device according to claim 6 , wherein
the controller is configured to execute the operations (a), (b) and (c) when congestion occurs on a traveling road of the vehicle.
13 . The power supply control device according to claim 1 , wherein
the controller is configured to execute the operations (a), (b) and (c) when an ambient temperature of the vehicle is equal to or lower than a temperature at which performance of the backup power supply deteriorates.
14 . The power supply control device according to claim 2 , wherein
the controller is configured to execute the operations (a), (b) and (c) when an ambient temperature of the vehicle is equal to or lower than a temperature at which performance of the backup power supply deteriorates.
15 . The power supply control device according to claim 4 , wherein
the controller is configured to execute the operations (a), (b) and (c) when an ambient temperature of the vehicle is equal to or lower than a temperature at which performance of the backup power supply deteriorates.
16 . The power supply control device according to claim 6 , wherein
the controller is configured to execute the operations (a), (b) and (c) when an ambient temperature of the vehicle is equal to or lower than a temperature at which performance of the backup power supply deteriorates.
17 . The power supply control device according to claim 9 , wherein
the controller is configured to execute the operations (a), (b) and (c) when an ambient temperature of the vehicle is equal to or lower than a temperature at which performance of the backup power supply deteriorates.
18 . A power supply control method for a power supply system of a vehicle that is capable of performing a retreat travel driving operation in which the vehicle, upon occurrence of an abnormality of the vehicle during an autonomous driving operation of the vehicle, autonomously travels to a safe place and then stops travelling, the power supply system of the vehicle including a main power supply for the autonomous driving operation and a backup power supply for the retreat travel driving operation, the power supply control method being executed by a controller mounted on the vehicle and comprising:
(a) transmitting a first instruction to an in-vehicle notification device to notify, when performing the retreat travel driving operation, that a remaining charge level of the backup power supply decreases to or below a first threshold;
(b) transmitting a second instruction to an out-of-vehicle notification device to notify, when performing the retreat travel driving operation, that the vehicle will stop, when the remaining charge level of the backup power supply decreases to or below a second threshold that is lower than the first threshold; and
(c) controlling a battery switch to stop supplying electric power from the backup power supply to a traveling load and transmitting a retreat travel end instruction to an autonomous driving control device of the vehicle to stop performance of the retreat travel driving operation when the remaining charge level of the backup power supply decreases to or below a third threshold that is lower than the second threshold.
19 . A control system of a vehicle, the control system comprising:
an autonomous driving control device;
a main power supply;
a backup power supply;
an in-vehicle notification device;
an out-of-vehicle notification device; and
a power supply control device, wherein
the autonomous driving control device is configured to control the vehicle to execute a retreat travel operation in which the vehicle autonomously travels to a safe place and stops travelling upon reaching the safe place, the retreat travel operation being executed in response to the autonomous driving control device receiving a notification indicating that fail-safe control is being executed due to an abnormality of the vehicle,
the autonomous driving control device is further configured to stop the vehicle in response to receiving an instruction to end the retreat travel operation before reaching the safe place during execution of the retreat travel operation, and
the power supply control device comprises:
a first system line configured to supply electric power from the main power supply to a first traveling load,
a second system line configured to supply electric power from the backup power supply to a second traveling load via a battery switch;
a connection device configured to selectively connect and disconnect the first system line and the second system line to/from each other; and
a controller configured to execute the fail-safe control by controlling the connection device to disconnect the first system line from the second system line and by controlling the battery switch to connect the backup power supply to the second traveling load when a voltage of the first system line decreases to or below a ground fault threshold, and to transmit to the autonomous driving control device the notification indicating that the fail-safe control is being executed, and
the controller is configured to execute the following operations:
(a) transmit to the in-vehicle notification device an instruction to notify an inside of the vehicle that the vehicle is likely to stop due to a shortage of a remaining charge level of the backup power supply when the remaining charge level of the backup power supply decreases to or below a first threshold before the vehicle reaches the safe place and stops,
(b) transmit to the out-of-vehicle notification device an instruction to notify an outside of the vehicle that the vehicle will stop when the remaining charge level of the backup power supply decreases to or below a second threshold that is lower than the first threshold before the vehicle reaches the safe place and stops, and
(c) stop supplying electric power to the second traveling load by controlling the battery switch to disconnect the backup power supply from the second travelling load and transmit the instruction to end the retreat travel operation to the autonomous driving control device when the remaining charge level of the backup power supply decreases to or below a third threshold that is lower than the second threshold.