技术领域Technical field
本发明涉及车辆电源系统。The present invention relates to vehicle power supply systems.
背景技术Background technique
近年来，提供对如下可持续的运输系统的使用的研发变得活跃，该可持续的运输系统照顾到交通参加者中处于脆弱立场的人们。为了实现该目标，正致力于通过与预防安全有关的研究开发更进一步改善交通的安全性、便利性的研究开发。此外，作为对预防安全做出贡献的技术之一，正致力于与自动驾驶有关的研究开发。In recent years, research and development has become active to provide access to sustainable transport systems that take care of those in vulnerable positions among transport participants. In order to achieve this goal, we are working on research and development to further improve traffic safety and convenience through research and development related to preventive safety. In addition, as one of the technologies that contribute to preventive safety, we are working on research and development related to autonomous driving.
在搭载了自动驾驶等为了确保交通的安全性而发挥功能的功能部的车辆中，要求使对这种功能部的电源供给稳定。例如，在专利文献1中公开了如下系统：针对为了自动驾驶而发挥功能的负载，能够从作为车辆电源的第1电源和第3电源供给电力，并且能够从可进行充放电的第2电源供给电力。In vehicles equipped with functional units that function to ensure traffic safety, such as autonomous driving, there is a demand for stable power supply to such functional units. For example, Patent Document 1 discloses a system in which electric power can be supplied to a load functioning for autonomous driving from a first power source and a third power source that are vehicle power sources, and a second power source capable of charging and discharging. electricity.
现有技术文献existing technical documents
专利文献patent documents
专利文献1：日本特开2021-142810号公报Patent Document 1: Japanese Patent Application Publication No. 2021-142810
发明内容Contents of the invention
发明要解决的问题Invent the problem to be solved
在专利文献1所公开的系统中，通过使针对负载的电力供给冗余，能够使为了确保安全性而发挥功能的负载可靠地进行动作。在这样的系统中，认为在假如无法从第2电源向负载进行电力供给的情况下，为了保证高安全性而不使负载进行动作。因此，存在如下问题：对用于确保安全性的功能部进行利用的机会可能减少。In the system disclosed in Patent Document 1, by making the power supply to the load redundant, it is possible to reliably operate the load that functions to ensure safety. In such a system, if power cannot be supplied from the second power supply to the load, it is considered that the load is not operated in order to ensure high safety. Therefore, there is a problem that the opportunity to utilize the functional portion for ensuring safety may decrease.
本申请为了解决上述问题，目的在于，在搭载了自动驾驶等为了确保交通的安全性而发挥功能的功能部的车辆中，抑制由电源供给引起的功能部的利用机会的减少。而且，还有助于可持续的运输系统的发展。In order to solve the above-mentioned problems, the purpose of this application is to suppress the reduction in utilization opportunities of the functional parts due to power supply in vehicles equipped with functional parts that function to ensure traffic safety, such as autonomous driving. Moreover, it also contributes to the development of sustainable transportation systems.
用于解决问题的手段means to solve problems
用于达成上述目的的一个方式是一种车辆电源系统，其搭载于能够通过自主驾驶模式而至少部分地进行自主驾驶的车辆，所述自主驾驶模式是允许至少免除驾驶者的转向操作而执行的模式，所述车辆电源系统具备：主电源系统，其具有主低压电源和通常负载；备用电源系统，其具有备用低压电源和紧急时重要负载，与所述主电源系统连接；以及高压电源部，其能够输出比所述备用电源系统的额定电压高的电压，其中，所述备用电源系统具有备用电源控制装置，该备用电源控制装置监视所述备用低压电源的状态，控制来自所述备用低压电源的电力的输入/输出，所述备用电源控制装置能够执行估计可供给电力的估计处理，该可供给电力表示能够从所述备用低压电源对所述紧急时重要负载供给的电量或功率，在所述车辆未以所述自主驾驶模式进行自主驾驶时，所述备用电源控制装置执行所述估计处理，在通过所述估计处理估计出的所述可供给电力为第1阈值以上的情况下，输出表示允许所述车辆以所述自主驾驶模式进行自主驾驶的信号，在所述车辆正在以所述自主驾驶模式进行自主驾驶时，所述备用电源控制装置执行所述估计处理，在通过所述估计处理估计出的所述可供给电力小于第2阈值的情况下，输出表示禁止所述车辆以所述自主驾驶模式进行自主驾驶的信号，当所述车辆正在以所述自主驾驶模式进行自主驾驶时，所述备用电源控制装置执行所述估计处理，在通过所述估计处理估计出的所述可供给电力为第3阈值以下的情况下，输出表示允许所述车辆继续所述自主驾驶模式、并且允许利用所述高压电源部产生的电力对所述备用低压电源进行充电的信号，所述第1阈值是与基于在所述车辆以所述自主驾驶模式进行自主驾驶的情况下使所述紧急时重要负载进行动作所需要的电量来决定的电量或功率有关的阈值。One means for achieving the above object is a vehicle power supply system mounted on a vehicle capable of at least partially autonomous driving through an autonomous driving mode that allows execution of at least a driver's steering operation. mode, the vehicle power supply system has: a main power supply system, which has a main low-voltage power supply and a normal load; a backup power supply system, which has a backup low-voltage power supply and an important load in an emergency, and is connected to the main power supply system; and a high-voltage power supply unit, It is capable of outputting a voltage higher than the rated voltage of the backup power supply system, wherein the backup power supply system has a backup power supply control device that monitors the status of the backup low-voltage power supply and controls the power source from the backup low-voltage power supply. The input/output of power, the backup power supply control device can perform an estimation process of estimating the power that can be supplied, and the power that can be supplied represents the amount of electricity or power that can be supplied from the backup low-voltage power supply to the emergency important load. When the vehicle is not driven autonomously in the autonomous driving mode, the backup power supply control device executes the estimation process, and when the available electric power estimated by the estimation process is equal to or greater than a first threshold, outputs A signal indicating that the vehicle is allowed to drive autonomously in the autonomous driving mode. When the vehicle is driving autonomously in the autonomous driving mode, the backup power supply control device executes the estimation process. When the estimated power supply is less than the second threshold, a signal indicating that the vehicle is prohibited from autonomous driving in the autonomous driving mode is output when the vehicle is performing autonomous driving in the autonomous driving mode. , the backup power supply control device executes the estimation process, and when the power supply estimated by the estimation process is equal to or less than a third threshold, outputs an output indicating that the vehicle is allowed to continue the autonomous driving mode, and A signal that allows the backup low-voltage power supply to be charged using the electric power generated by the high-voltage power supply unit, and the first threshold is based on the emergency operation when the vehicle performs autonomous driving in the autonomous driving mode. The power or power-related threshold is determined by the power required for important loads to operate.
发明的效果Effect of the invention
根据上述结构，在至少能够部分地进行自主驾驶的车辆中，即使备用低压电源的可供给电力降低了的情况下也能够继续自主驾驶。由此，能够抑制如下情况：由于对与自主驾驶有关的负载的电力供给而导致能够利用自主驾驶的机会减少。因此，车辆能够执行自主驾驶的机会、时间增多，所以能够实现商品性的提高。According to the above configuration, in a vehicle capable of at least partially autonomous driving, autonomous driving can be continued even if the power supply of the backup low-voltage power supply is reduced. This can suppress a situation in which the opportunity to take advantage of autonomous driving is reduced due to the supply of electric power to a load related to autonomous driving. Therefore, the opportunities and time during which the vehicle can perform autonomous driving are increased, thereby improving the marketability.
附图说明Description of drawings
图1是实施方式的车辆电源系统的概略结构图。FIG. 1 is a schematic structural diagram of the vehicle power supply system according to the embodiment.
图2是示出紧急时重要负载的结构例的图。FIG. 2 is a diagram showing a structural example of an important load in an emergency.
图3是示出车辆电源系统的动作的流程图。FIG. 3 is a flowchart showing the operation of the vehicle power supply system.
图4是示出车辆电源系统的动作的流程图。FIG. 4 is a flowchart showing the operation of the vehicle power supply system.
图5是示出车辆电源系统的动作的时序图。FIG. 5 is a timing chart showing the operation of the vehicle power supply system.
附图标记说明Explanation of reference signs
1：车辆电源系统，10：电源系统，11：主低压电源，12：通常负载，20：备用电源系统，21：备用电源单元，22：紧急时重要负载，23：备用低压电源，24：切换装置，25：备用电源控制装置，30：高压电源系统，31：高压电源，32：高压负载，36：高压电源部，40：降压装置，50：ECU，55：操作部，56：SSSW，241：开关模块，321：驱动单元，322：空调装置，CP：电容器，MG：旋转电机，PCU：动力控制单元，SW1：第1开关，SW2：第2开关，SW3：第3开关，V：车辆。1: Vehicle power supply system, 10: Power supply system, 11: Main low-voltage power supply, 12: Normal load, 20: Backup power supply system, 21: Backup power supply unit, 22: Important load in emergency, 23: Backup low-voltage power supply, 24: Switching Device, 25: Backup power control device, 30: High voltage power supply system, 31: High voltage power supply, 32: High voltage load, 36: High voltage power supply unit, 40: Voltage reduction device, 50: ECU, 55: Operation unit, 56: SSSW, 241: switch module, 321: drive unit, 322: air conditioning device, CP: capacitor, MG: rotating motor, PCU: power control unit, SW1: 1st switch, SW2: 2nd switch, SW3: 3rd switch, V: vehicle.
具体实施方式Detailed ways
以下，基于附图对本发明的车辆电源系统的一个实施方式进行说明。Hereinafter, one embodiment of the vehicle power supply system of the present invention will be described based on the drawings.
[1.车辆电源系统的结构][1. Structure of vehicle power supply system]
[1-1.车辆电源系统的整体结构][1-1. Overall structure of vehicle power supply system]
图1是车辆电源系统1的概略结构图。在图1中，实线表示电力线，虚线表示信号线。FIG. 1 is a schematic structural diagram of the vehicle power supply system 1 . In Figure 1, solid lines represent power lines and dotted lines represent signal lines.
本实施方式中的车辆V的车辆电源系统1具备主电源系统10、与主电源系统10连接的备用电源系统20、高压电源系统30、降压装置40。高压电源系统30经由降压装置40与主电源系统10及备用电源系统20连接。降压装置40对流过高压电源系统30的电力进行降压，向主电源系统10及/或备用电源系统20输出。降压装置40例如是DC/DC转换器。The vehicle power supply system 1 of the vehicle V in the present embodiment includes a main power supply system 10 , a backup power supply system 20 connected to the main power supply system 10 , a high-voltage power supply system 30 , and a voltage reducing device 40 . The high-voltage power supply system 30 is connected to the main power supply system 10 and the backup power supply system 20 via the voltage reducing device 40 . The voltage reducing device 40 reduces the voltage of the power flowing through the high voltage power supply system 30 and outputs the voltage to the main power supply system 10 and/or the backup power supply system 20 . The voltage reducing device 40 is, for example, a DC/DC converter.
在本实施方式中，作为一例，对车辆V是具备旋转电机MG作为行驶用的动力源的电动车辆的情况进行说明。旋转电机MG例如是3相马达，通过由未图示的逆变器单元供给的电力来产生驱动力，使车辆V行驶。车辆V具备驱动单元321，该驱动单元321具备后述的旋转电机MG。车辆V搭载向驱动单元321供给驱动用的电力的高压电源31。驱动单元321是接受高压电源31输出的高压电力的供给的负载，包含于后述的高压负载32。In this embodiment, a case where the vehicle V is an electric vehicle including the rotating electric machine MG as a driving power source will be described as an example. The rotating electric machine MG is, for example, a three-phase motor, and generates driving force using electric power supplied from an inverter unit (not shown) to cause the vehicle V to travel. The vehicle V includes a drive unit 321 including a rotating electrical machine MG described below. The vehicle V is equipped with a high-voltage power supply 31 that supplies drive power to the drive unit 321 . The drive unit 321 is a load that receives a supply of high-voltage power output from the high-voltage power supply 31 and is included in the high-voltage load 32 described below.
另外，车辆V也可以是搭载内燃机的车辆。内燃机也可以作为对车辆V进行驱动的动力源而发挥功能。或者，内燃机也可以作为对未图示的发电机进行驱动的动力源而发挥功能，并对后述的高压电源31进行充电。即，车辆V可以是不具备内燃机的电动车辆，也可以是具备内燃机和车辆驱动用的旋转电机MG的混合动力车辆，还可以是由内燃机驱动的车辆。车辆V例如是能够自主驾驶或者自动驾驶的车辆。在车辆V搭载内燃机的情况下，从高压电源31接受电力的供给的高压负载32例如包含起动马达。In addition, the vehicle V may be a vehicle equipped with an internal combustion engine. The internal combustion engine may also function as a power source for driving the vehicle V. Alternatively, the internal combustion engine may function as a power source for driving a generator (not shown) and charge a high-voltage power supply 31 described below. That is, the vehicle V may be an electric vehicle without an internal combustion engine, a hybrid vehicle including an internal combustion engine and a rotating electric machine MG for driving the vehicle, or a vehicle driven by an internal combustion engine. The vehicle V is, for example, a vehicle capable of autonomous driving or automatic driving. When the vehicle V is equipped with an internal combustion engine, the high-voltage load 32 receiving electric power from the high-voltage power supply 31 includes, for example, a starter motor.
[1-2.主电源系统的结构][1-2. Structure of main power supply system]
主电源系统10具有主低压电源11和通常负载12。The main power supply system 10 has a main low-voltage power supply 11 and a normal load 12 .
主低压电源11是电压比高压电源31低的电源。主低压电源11例如输出12[V]的直流电流。主低压电源11例如是能够进行充电和放电的二次电池。具体而言，作为主低压电源11，可举出铅电池、锂离子电池、锂聚合物电池、磷酸铁锂电池、金属氢化物电池、或其他电池。The main low-voltage power supply 11 is a power supply having a lower voltage than the high-voltage power supply 31 . The main low-voltage power supply 11 outputs a DC current of 12 [V], for example. The main low-voltage power supply 11 is, for example, a secondary battery capable of charging and discharging. Specifically, the main low-voltage power supply 11 may include a lead battery, a lithium ion battery, a lithium polymer battery, a lithium iron phosphate battery, a metal hydride battery, or other batteries.
主低压电源11设置于连接线L11。连接线L11的一端部连接于在连接线L10上形成的触点C11，另一端部连接于车辆电源系统1的具有基准电位的地线。主低压电源11的正极侧连接于连接线L11的触点C11侧，负极侧连接于连接线L11的地线侧。The main low-voltage power supply 11 is provided on the connection line L11. One end of the connection line L11 is connected to the contact point C11 formed on the connection line L10 , and the other end is connected to a ground line having a reference potential of the vehicle power supply system 1 . The positive side of the main low-voltage power supply 11 is connected to the contact C11 side of the connection line L11, and the negative side is connected to the ground side of the connection line L11.
通常负载12与连接线L10的一端部连接。通常负载12(图中为EL)是车辆V所搭载的电力负载。通常负载12可以是单个设备，也可以包含多个设备。在本实施方式中，通常负载12是负责与车辆V的行驶有关的功能的功能部。通常负载12例如包含负责与车辆V的行驶操作、停车操作或驾驶控制有关的功能的负载。通常负载12通过比高压负载32低的电压进行动作，因此，通过与高压负载32的对比而能够称为低压负载。此外，通常负载12也可以包含在车辆V中被称为所谓的辅机的设备。Normally, the load 12 is connected to one end of the connection line L10. The normal load 12 (EL in the figure) is an electric load mounted on the vehicle V. Typically the load 12 may be a single device or may include multiple devices. In the present embodiment, the normal load 12 is a functional unit responsible for functions related to the traveling of the vehicle V. The normal loads 12 include, for example, loads responsible for functions related to the driving operation, parking operation, or driving control of the vehicle V. The normal load 12 operates with a lower voltage than the high-voltage load 32 , and therefore can be called a low-voltage load in comparison with the high-voltage load 32 . In addition, the normal load 12 may also include equipment called so-called auxiliary equipment in the vehicle V.
具体而言，通常负载12包含能够执行车辆V的驾驶控制的ECU 50(ElectronicControl Unit：电子控制单元)。图1所示的ECU 50可以由一个ECU构成，也可以包含多个ECU。例如，通常负载12也可以包含车辆V所具备的多个ECU的一部分。此外，通常负载12也可以包含车辆V所搭载的、与ECU 50不同的未图示的控制单元。Specifically, the normal load 12 includes an ECU 50 (Electronic Control Unit: Electronic Control Unit) capable of executing driving control of the vehicle V. The ECU 50 shown in FIG. 1 may be composed of one ECU or may include multiple ECUs. For example, the normal load 12 may include some of the plurality of ECUs included in the vehicle V. In addition, the normal load 12 may include a not-shown control unit that is mounted on the vehicle V and is different from the ECU 50 .
此外，通常负载12也可以包含自动制动装置等用于车辆V的制动的辅机负载。通常负载12也可以包含自动转向装置等用于车辆V的转向的辅机负载。通常负载12也可以包含LiDAR(Light Detection And Ranging：光探测与测距)等用于取得车辆V的外界信息的辅机负载。通常负载12也可以包含雨刮装置、电动车窗装置、仪表盘等仪器类。In addition, the normal load 12 may include an auxiliary machine load used for braking the vehicle V, such as an automatic braking device. The normal load 12 may include an auxiliary load for steering the vehicle V such as an automatic steering device. Generally, the load 12 may also include auxiliary loads such as LiDAR (Light Detection And Ranging) for obtaining external information about the vehicle V. Generally, the load 12 may also include instruments such as wiper devices, power window devices, and instrument panels.
[1-3.备用电源系统的结构][1-3. Structure of backup power system]
备用电源系统20具有备用电源单元21、紧急时重要负载22。The backup power supply system 20 has a backup power supply unit 21 and an emergency important load 22 .
备用电源单元21具备备用低压电源23、切换装置24、对切换装置24进行控制的备用电源控制装置25。The backup power supply unit 21 includes a backup low-voltage power supply 23 , a switching device 24 , and a backup power supply control device 25 that controls the switching device 24 .
备用电源单元21具备第1外部连接端子T211、第2外部连接端子T212以及接地端子T213。连接线L10的另一端部与第1外部连接端子T211连接。接地端子T213与地线连接。The backup power supply unit 21 includes a first external connection terminal T211, a second external connection terminal T212, and a ground terminal T213. The other end of the connection line L10 is connected to the first external connection terminal T211. Ground terminal T213 is connected to the ground wire.
紧急时重要负载22(图中为EL)是车辆V搭载的电力负载。紧急时重要负载22可以是单个设备，也可以包含多个设备。紧急时重要负载22通过比高压负载32低的电压进行动作，因此，根据与高压负载32的对比而能够称为低压负载。The emergency important load 22 (EL in the figure) is an electric load mounted on the vehicle V. The critical load 22 in an emergency may be a single device or may include multiple devices. The emergency important load 22 operates with a lower voltage than the high-voltage load 32 , and therefore can be called a low-voltage load in comparison with the high-voltage load 32 .
紧急时重要负载22通过连接线L21而与备用电源单元21的第2外部连接端子T212连接。The emergency important load 22 is connected to the second external connection terminal T212 of the backup power supply unit 21 through the connection line L21.
切换装置24具备第1端子T241、第2端子T242以及第3端子T243。第1端子T241通过连接线L211而与备用电源单元21的第1外部连接端子T211连接。第2端子T242通过连接线L212而与备用电源单元21的第2外部连接端子T212连接。The switching device 24 includes a first terminal T241, a second terminal T242, and a third terminal T243. The first terminal T241 is connected to the first external connection terminal T211 of the backup power supply unit 21 through the connection line L211. The second terminal T242 is connected to the second external connection terminal T212 of the backup power supply unit 21 through the connection line L212.
切换装置24具备连接第1端子T241与第2端子T242的连接线L241。在连接线L241上设置有第1开关SW1。在本实施方式中，第1开关SW1是具有常开型(N.O.型)的触点的开关。即，第1开关SW1是如下触点：在未对第1开关SW1施加操作信号的情况下，维持断开状态，将连接线L241维持切断状态。第1开关SW1通过被施加操作信号而切换为接通状态，将第1端子T241与第2端子T242连接。The switching device 24 includes a connection line L241 that connects the first terminal T241 and the second terminal T242. The first switch SW1 is provided on the connection line L241. In the present embodiment, the first switch SW1 is a switch having a normally open type (N.O. type) contact. That is, the first switch SW1 is a contact that maintains the off state and maintains the connection line L241 in the disconnected state when no operation signal is applied to the first switch SW1. The first switch SW1 is switched to the on state by application of an operation signal, and connects the first terminal T241 and the second terminal T242.
例如，在第1开关SW1由通过电磁力进行开闭的电磁开关构成的情况下，第1开关SW1在未产生基于操作电流的电磁力的情况下维持断开状态，将连接线L241维持于切断状态。For example, when the first switch SW1 is an electromagnetic switch that is opened and closed by electromagnetic force, the first switch SW1 maintains an open state when no electromagnetic force is generated by the operating current, and maintains the connection line L241 in a disconnected state.
第1开关SW1可以是电磁接触器、电磁开闭器、继电器等电磁开关，也可以是半导体开关元件，还可以是具有开关功能的DC/DC转换器等电路。The first switch SW1 may be an electromagnetic switch such as an electromagnetic contactor, an electromagnetic switch, or a relay, a semiconductor switching element, or a circuit such as a DC/DC converter with a switching function.
切换装置24具备将连接线L241与第3端子T243连接的连接线L242。连接线L242的一端部通过连接线L241的形成于第1开关SW1与第2端子T242之间的触点C241而与连接线L241连接，另一端部与第3端子T243连接。The switching device 24 is provided with the connection line L242 which connects the connection line L241 and the 3rd terminal T243. One end of the connection line L242 is connected to the connection line L241 through the contact point C241 formed between the first switch SW1 and the second terminal T242 of the connection line L241, and the other end is connected to the third terminal T243.
在连接线L242上设置有第2开关SW2。第2开关SW2在接通状态下将连接线L242连接，在断开状态下将连接线L242切断。The second switch SW2 is provided on the connection line L242. The second switch SW2 connects the connection line L242 when in the on state, and disconnects the connection line L242 when in the off state.
第2开关SW2可以是电磁接触器、电磁开闭器、继电器等电磁开关，也可以是半导体开关元件，还可以是具有开关功能的DC/DC转换器等电路。在本实施方式中，第2开关SW2是DC/DC转换器。因此，如后面所述，第2开关SW2在接通状态下能够对从连接线L242向触点C241输出的电压进行升降压。即，本实施方式的第2开关SW2具有对连接线L242进行连接和切断的功能、以及对从连接线L242向触点C241输出的电压进行转换的功能。The second switch SW2 may be an electromagnetic switch such as an electromagnetic contactor, an electromagnetic switch, or a relay, a semiconductor switching element, or a circuit such as a DC/DC converter with a switching function. In this embodiment, the second switch SW2 is a DC/DC converter. Therefore, as will be described later, the second switch SW2 can step up and down the voltage output from the connection line L242 to the contact point C241 in the on state. That is, the second switch SW2 of this embodiment has the function of connecting and disconnecting the connection line L242 and the function of converting the voltage output from the connection line L242 to the contact point C241.
切换装置24具备与连接线L241并联连接的连接线L243。连接线L243的一端部与连接线L241的形成于第1端子T241与第1开关SW1之间的触点C242连接。连接线L243的另一端部与连接线L241的形成于触点C241与第2端子T242之间的触点C243连接。在连接线L243上设置有第3开关SW3。The switching device 24 includes a connection line L243 connected in parallel with the connection line L241. One end of the connection line L243 is connected to the contact point C242 of the connection line L241 formed between the first terminal T241 and the first switch SW1. The other end of the connection line L243 is connected to the contact point C243 of the connection line L241 formed between the contact point C241 and the second terminal T242. The third switch SW3 is provided on the connection line L243.
在本实施方式中，第3开关SW3是具有常关型(N.C.型)的触点的开关。即，第3开关SW3是如下触点：在未对第3开关SW3施加操作信号的情况下，维持接通状态。第3开关SW3通过被施加操作信号而切换为断开状态，使连接线L243成为切断状态。In the present embodiment, the third switch SW3 is a switch having a normally closed type (N.C. type) contact. That is, the third switch SW3 is a contact that maintains the on state when no operation signal is applied to the third switch SW3. When the operation signal is applied, the third switch SW3 is switched to the off state, causing the connection line L243 to be in the disconnected state.
例如，在第3开关SW3由通过电磁力进行开闭的电磁开关构成的情况下，第3开关SW3在未产生基于操作电流的电磁力的情况下维持接通状态，将连接线L243维持连接状态。For example, when the third switch SW3 is constituted by an electromagnetic switch that opens and closes by electromagnetic force, the third switch SW3 maintains the on state without generating the electromagnetic force based on the operating current, and maintains the connected state of the connection line L243 .
第3开关SW3可以是电磁接触器、电磁开闭器、继电器等电磁开关，也可以是半导体开关元件，还可以是具有开关功能的DC/DC转换器等电路。The third switch SW3 may be an electromagnetic switch such as an electromagnetic contactor, an electromagnetic switch, or a relay, a semiconductor switching element, or a circuit such as a DC/DC converter with a switching function.
在本实施方式中，第1开关SW1和第3开关SW3被模块化为开关模块241。开关模块241的具体结构不被限制，例如，开关模块241可以是1个半导体器件，也可以是包含多个器件的电路。In this embodiment, the first switch SW1 and the third switch SW3 are modularized into a switch module 241 . The specific structure of the switch module 241 is not limited. For example, the switch module 241 may be a semiconductor device or a circuit including multiple devices.
切换装置24具备将连接线L241与地线连接的连接线L244。连接线L244的一端部与连接线L241的形成于第1开关SW1与触点C241之间的触点C244连接。连接线L244的另一端部与地线连接。在连接线L244上设置有电容器CP。The switching device 24 is provided with the connection line L244 which connects the connection line L241 and the ground line. One end of the connection line L244 is connected to the contact point C244 of the connection line L241 formed between the first switch SW1 and the contact point C241. The other end of the connection line L244 is connected to the ground line. Capacitor CP is provided on connection line L244.
备用低压电源23是电压比高压电源31低的电源。备用低压电源23输出例如12[V]的直流电流。备用低压电源23例如是能够进行充电和放电的二次电池。具体而言，作为备用低压电源23，可举出铅电池、锂离子电池、锂聚合物电池、磷酸铁锂电池、金属氢化物电池、或其他电池。The backup low-voltage power supply 23 is a power supply having a lower voltage than the high-voltage power supply 31 . The backup low-voltage power supply 23 outputs a DC current of, for example, 12 [V]. The backup low-voltage power supply 23 is, for example, a secondary battery capable of charging and discharging. Specifically, examples of the backup low-voltage power supply 23 include lead batteries, lithium ion batteries, lithium polymer batteries, lithium iron phosphate batteries, metal hydride batteries, or other batteries.
备用低压电源23设置于连接线L213。连接线L213的一端部与切换装置24的第3端子T243连接。连接线L213的另一端部与地线连接。备用低压电源23以正极侧成为切换装置24的第3端子T243侧、且负极侧成为地线侧的方式设置于连接线L213。The backup low-voltage power supply 23 is provided on the connection line L213. One end of the connection line L213 is connected to the third terminal T243 of the switching device 24 . The other end of the connection line L213 is connected to the ground line. The backup low-voltage power supply 23 is provided on the connection line L213 so that the positive side becomes the third terminal T243 side of the switching device 24 and the negative side becomes the ground side.
当第2开关SW2为接通状态时，备用低压电源23从连接线L213通过切换装置24的连接线L242向备用电源系统20供给电力。从备用低压电源23输出的电力通过第2开关SW2被升压或降压至所期望的电压，供给到备用电源系统20。当第2开关SW2为断开状态时，切换装置24的连接线L242成为切断状态，因此，不从备用低压电源23向备用电源系统20供给电力。When the second switch SW2 is in the on state, the backup low-voltage power supply 23 supplies power to the backup power supply system 20 from the connection line L213 through the connection line L242 of the switching device 24 . The electric power output from the backup low-voltage power supply 23 is stepped up or down to a desired voltage through the second switch SW2, and is supplied to the backup power supply system 20. When the second switch SW2 is in the off state, the connection line L242 of the switching device 24 is in the disconnected state. Therefore, power is not supplied from the backup low-voltage power supply 23 to the backup power supply system 20 .
如上所述，在备用电源系统20中，在第1端子T241与第2端子T242之间并联连接有具有常开型的触点的第1开关SW1和具有常关型的触点的第3开关SW3。As described above, in the backup power supply system 20, the first switch SW1 having a normally open contact and the third switch having a normally closed contact are connected in parallel between the first terminal T241 and the second terminal T242. SW3.
在第1开关SW1和第3开关SW3中的至少一方是接通状态的情况下，备用电源系统20与主电源系统10连接。在该状态下，能够通过第1外部连接端子T211从备用低压电源23向主电源系统10供给电力，还能够从主低压电源11向紧急时重要负载22供给电力。When at least one of the first switch SW1 and the third switch SW3 is in the on state, the backup power supply system 20 is connected to the main power supply system 10 . In this state, power can be supplied from the backup low-voltage power supply 23 to the main power supply system 10 through the first external connection terminal T211, and power can also be supplied from the main low-voltage power supply 11 to the emergency important load 22.
另一方面，在第1开关SW1和第3开关SW3双方是断开状态的情况下，备用电源系统20与主电源系统10之间的连接被切断。On the other hand, when both the first switch SW1 and the third switch SW3 are in the off state, the connection between the backup power supply system 20 and the main power supply system 10 is cut off.
备用电源控制装置25(图中为BMS)通过信号线与第1开关SW1、第2开关SW2以及第3开关SW3连接。备用电源控制装置25按照ECU 50的控制，对第1开关SW1、第2开关SW2以及第3开关SW3的切换进行控制。备用电源控制装置25例如具备CPU(Central Processing Unit：中央处理单元)等处理器，通过处理器执行程序，从而通过软件与硬件的协作来控制备用电源系统20。该情况下，备用电源控制装置25可以具备存储程序、数据的存储部，存储部例如是ROM(Read Only Memory：只读存储器)。备用电源控制装置25也可以由被编程的硬件构成。The backup power supply control device 25 (BMS in the figure) is connected to the first switch SW1, the second switch SW2, and the third switch SW3 through signal lines. The backup power supply control device 25 controls switching of the first switch SW1, the second switch SW2, and the third switch SW3 in accordance with the control of the ECU 50. The backup power control device 25 is provided with a processor such as a CPU (Central Processing Unit), for example. The processor executes a program to control the backup power system 20 through the cooperation of software and hardware. In this case, the backup power supply control device 25 may include a storage unit that stores programs and data. The storage unit may be a ROM (Read Only Memory), for example. The backup power control device 25 may also be composed of programmed hardware.
备用电源控制装置25通过信号线对第1开关SW1、第2开关SW2以及第3开关SW3分别输出操作信号。备用电源控制装置25能够分别针对第1开关SW1、第2开关SW2以及第3开关SW3，对输出操作信号的状态和不输出操作信号的状态进行切换。The backup power supply control device 25 outputs operation signals to the first switch SW1, the second switch SW2, and the third switch SW3 through signal lines. The backup power supply control device 25 can switch between a state in which the operation signal is output and a state in which the operation signal is not outputted for each of the first switch SW1, the second switch SW2, and the third switch SW3.
第1开关SW1是常开型的开关。备用电源控制装置25通过对第1开关SW1输出操作信号而将第1开关SW1从断开状态切换为接通状态。第3开关SW3是常关型的开关。备用电源控制装置25通过对第3开关SW3输出操作信号，使第3开关SW3从接通状态切换为断开状态。The first switch SW1 is a normally open switch. The backup power supply control device 25 switches the first switch SW1 from the off state to the on state by outputting an operation signal to the first switch SW1. The third switch SW3 is a normally closed switch. The backup power supply control device 25 switches the third switch SW3 from the on state to the off state by outputting an operation signal to the third switch SW3.
备用电源控制装置25通过对第2开关SW2输出操作信号，使第2开关SW2在接通状态和断开状态中进行切换。此外，备用电源控制装置25通过对第2开关SW2输出操作信号，来控制第2开关SW2中的升压或降压。即，备用电源控制装置25对第2开关SW2的输出电压进行控制。The backup power supply control device 25 outputs an operation signal to the second switch SW2 to switch the second switch SW2 between the on state and the off state. In addition, the backup power supply control device 25 controls the voltage increase or decrease in the second switch SW2 by outputting an operation signal to the second switch SW2. That is, the backup power supply control device 25 controls the output voltage of the second switch SW2.
备用电源控制装置25例如从高压电源部36或备用低压电源23接受电力供给而进行动作。The backup power supply control device 25 receives power supply from, for example, the high-voltage power supply unit 36 or the backup low-voltage power supply 23 and operates.
备用电源控制装置25具有检测备用低压电源23的充电状态的功能。备用低压电源23的充电状态例如是SOC(State Of Charge：充电状态)。备用电源控制装置25例如通过检测备用低压电源23的两端电压，来检测备用低压电源23的电池余量。此外，备用电源控制装置25也可以通过对在备用低压电源23中输入/输出的电流进行计数，来检测备用低压电源23的电池余量。备用电源控制装置25例如也可以基于备用低压电源23的满充电容量(FCC：Full Charge Capacity)和表示实际的剩余容量的RM(Remaining Capacity)，来计算SOC。通过这些功能，备用电源控制装置25执行对可供给电力进行估计的估计处理，该可供给电力是备用低压电源23能够输出的电量(例如，以瓦时[Wh]为单位)或功率(例如，以瓦特[W]为单位)。估计处理是对表示备用低压电源23能够对紧急时重要负载22供给的电量或功率的可供给电力进行估计的处理，能够改称为可供给电力估计处理。The backup power supply control device 25 has a function of detecting the charging state of the backup low-voltage power supply 23 . The charge state of the backup low-voltage power supply 23 is, for example, SOC (State Of Charge). The backup power supply control device 25 detects the remaining battery capacity of the backup low-voltage power supply 23 by, for example, detecting the voltage across both ends of the backup low-voltage power supply 23 . In addition, the backup power supply control device 25 may detect the remaining battery level of the backup low-voltage power supply 23 by counting the current input/outputted to the backup low-voltage power supply 23 . For example, the backup power supply control device 25 may calculate the SOC based on the Full Charge Capacity (FCC) of the backup low-voltage power supply 23 and the RM (Remaining Capacity) indicating the actual remaining capacity. Through these functions, the backup power supply control device 25 performs an estimation process for estimating the supply of electric power that the backup low-voltage power supply 23 can output (for example, in units of watt hours [Wh]) or power (for example, in watts [W]). The estimation process is a process of estimating the available power indicating the amount of electricity or power that the backup low-voltage power supply 23 can supply to the critical load 22 in an emergency, and can be renamed as the available power estimation process.
在本实施方式中，紧急时重要负载22是负责与车辆V的行驶有关的功能的功能部，例如，包含负责与车辆V的行驶操作、停车操作或驾驶控制有关的功能的负载。紧急时重要负载22包含负责用于在车辆V的行驶中应对紧急情况的功能的负载。具体而言，紧急时重要负载22包含负责与车辆V的行驶所涉及的最小风险策略(MRM：Minimal Risk Maneuver)的执行有关的功能的负载。例如，MRM包含如下操作或控制，该操作或控制符合用于即使在驱动源的驱动力丧失的情况下也使车辆V安全地移动至道路的路肩并停车所需要的最低限度的行驶操作、停车操作、驾驶控制中的至少任意一方。In the present embodiment, the emergency important load 22 is a functional unit responsible for functions related to the driving of the vehicle V, and includes, for example, loads responsible for functions related to the driving operation, parking operation, or driving control of the vehicle V. The emergency important loads 22 include loads responsible for functions for responding to emergencies while the vehicle V is traveling. Specifically, the emergency important load 22 includes a load responsible for a function related to the execution of a minimal risk strategy (MRM: Minimal Risk Maneuver) related to the driving of the vehicle V. For example, the MRM includes operations or controls that comply with the minimum driving operations and parking operations required to safely move the vehicle V to the shoulder of the road and stop it even when the driving force of the driving source is lost. At least one of operation and driving control.
紧急时重要负载22可以包含能够执行车辆V的驾驶控制的前述的ECU 50的一部分或全部。紧急时重要负载22可以包含车辆V搭载的、与ECU 50不同的未图示的控制单元。The emergency important load 22 may include part or all of the aforementioned ECU 50 capable of executing driving control of the vehicle V. The emergency important load 22 may include a control unit (not shown) that is mounted on the vehicle V and is different from the ECU 50 .
紧急时重要负载22中包含的负载的一部分也可以与主电源系统10的通常负载12中包含的负载重复。即，通常负载12的一部分也可以成为紧急时重要负载22，该负载属于主电源系统10和备用电源系统20两方。根据该结构，能够使紧急时重要负载22冗余。换言之，与主电源系统10的通常负载12重复的紧急时重要负载22能够通过向主电源系统10供给的电力进行动作，也能够通过向备用电源系统20供给的电力进行动作。因此，与主电源系统10的通常负载12重复的紧急时重要负载22即使在主电源系统10发生异常时也能够进行动作，即使在备用电源系统20发生异常时也能够执行动作。Part of the load included in the emergency important load 22 may overlap with the load included in the normal load 12 of the main power supply system 10 . That is, a part of the normal load 12 may become the emergency important load 22, and this load belongs to both the main power supply system 10 and the backup power supply system 20. According to this structure, the important load 22 can be made redundant in an emergency. In other words, the emergency important load 22 that overlaps the normal load 12 of the main power supply system 10 can be operated by the power supplied to the main power supply system 10 or can be operated by the power supplied to the backup power supply system 20 . Therefore, the emergency important load 22 that overlaps the normal load 12 of the main power supply system 10 can operate even when an abnormality occurs in the main power supply system 10 , and can also operate even when an abnormality occurs in the backup power supply system 20 .
[1-4.高压电源系统的结构][1-4. Structure of high-voltage power supply system]
高压电源系统30具有高压电源31和高压负载32。The high-voltage power supply system 30 has a high-voltage power supply 31 and a high-voltage load 32 .
高压电源31是相比于主低压电源11及备用低压电源23而供给高电压的电力的电源。高压电源31与连接线L31连接。连接线L31的一端部与地线连接，高压电源31的负极侧与连接线L31的地线侧连接。The high-voltage power supply 31 is a power supply that supplies higher-voltage power than the main low-voltage power supply 11 and the backup low-voltage power supply 23 . The high-voltage power supply 31 is connected to the connection line L31. One end of the connection line L31 is connected to the ground, and the negative electrode side of the high-voltage power supply 31 is connected to the ground side of the connection line L31.
高压负载32是通过比通常负载12和紧急时重要负载22高的电压进行动作的电力负载，通过从高压电源31供给的电力进行动作。在本实施方式中，高压负载32包含对车辆V进行驱动的驱动单元321、以及进行车辆V的车室内的空气调节的空调装置322(图中为A/C)。The high-voltage load 32 is an electric load that operates with a higher voltage than the normal load 12 and the emergency important load 22 , and operates with electric power supplied from the high-voltage power supply 31 . In the present embodiment, the high-voltage load 32 includes a drive unit 321 that drives the vehicle V, and an air-conditioning device 322 (A/C in the figure) that air-conditions the interior of the vehicle V.
驱动单元321具备旋转电机MG和对旋转电机MG进行控制的动力控制单元PCU。动力控制单元PCU具备未图示的DC/DC转换器以及未图示的逆变器等。The drive unit 321 includes the rotating electrical machine MG and a power control unit PCU that controls the rotating electrical machine MG. The power control unit PCU includes a DC/DC converter (not shown), an inverter (not shown), and the like.
驱动单元321与连接线L31的另一端部连接。驱动单元321将从高压电源31供给的直流的电力通过动力控制单元PCU转换为三相交流的电力，并提供给旋转电机MG。由此，旋转电机MG通过高压电源31的电力产生对车辆V进行驱动的动力。The drive unit 321 is connected to the other end of the connection line L31. The drive unit 321 converts DC power supplied from the high-voltage power supply 31 into three-phase AC power through the power control unit PCU, and supplies the power to the rotating electrical machine MG. Thereby, the rotating electric machine MG generates the power to drive the vehicle V using the electric power of the high-voltage power supply 31 .
空调装置322与连接线L32连接，连接线L32通过在连接线L31的高压电源31与驱动单元321之间形成的触点C31而与连接线L31连接。空调装置322通过高压电源31的电力进行动作。The air conditioning device 322 is connected to the connection line L32, which is connected to the connection line L31 through the contact point C31 formed between the high-voltage power supply 31 of the connection line L31 and the drive unit 321. The air conditioning device 322 operates with the power of the high-voltage power supply 31 .
降压装置40设置于连接线L40。连接线L40的一端部与触点C32连接，另一端部与触点C12连接。触点C32是连接线L31的形成于高压电源31与触点C31之间的触点。触点C12是在连接线L10的触点C11与连接线L10的另一端部之间形成的触点。这里，连接线L10的另一端部相当于备用电源系统20的第1外部连接端子T211。The voltage reducing device 40 is provided on the connection line L40. One end of the connection line L40 is connected to the contact C32, and the other end is connected to the contact C12. The contact point C32 is a contact point of the connection line L31 formed between the high-voltage power supply 31 and the contact point C31. The contact point C12 is a contact point formed between the contact point C11 of the connection line L10 and the other end of the connection line L10. Here, the other end of the connection line L10 corresponds to the first external connection terminal T211 of the backup power supply system 20 .
这样，高压电源系统30经由降压装置40而与主电源系统10和备用电源系统20连接。In this way, the high-voltage power supply system 30 is connected to the main power supply system 10 and the backup power supply system 20 via the voltage reducing device 40 .
降压装置40对高压电源系统30中流动的电力进行降压。降压装置40例如是DC/DC转换器。降压装置40使高压电源系统30输出的电压降压，并供给到主电源系统10和备用电源系统20。The voltage reducing device 40 reduces the voltage of the electric power flowing in the high voltage power supply system 30 . The voltage reducing device 40 is, for example, a DC/DC converter. The voltage reducing device 40 reduces the voltage output from the high-voltage power supply system 30 and supplies it to the main power supply system 10 and the backup power supply system 20 .
降压装置40能够对连接状态和切断状态进行切换。当降压装置40是连接状态时，高压电源系统30经由连接线L40和降压装置40而与主电源系统10和备用电源系统20连接。当降压装置40是切断状态时，高压电源系统30与主电源系统10及备用电源系统20之间被切断。The pressure reducing device 40 can switch between a connected state and a disconnected state. When the voltage reducing device 40 is in the connected state, the high voltage power supply system 30 is connected to the main power supply system 10 and the backup power supply system 20 via the connection line L40 and the voltage reducing device 40 . When the voltage reducing device 40 is in the cut-off state, the high-voltage power supply system 30 is cut off from the main power supply system 10 and the backup power supply system 20 .
高压电源31可以是车辆V所搭载的发电装置，也可以是车辆V所搭载的电池。作为电池，例如可举出能够进行充电和放电的二次电池。具体而言，能够将锂离子电池、锂聚合物电池、磷酸铁锂电池、金属氢化物电池、或其他电池用作高压电源31。该情况下，高压电源31例如输出200[V]的直流电流。The high-voltage power supply 31 may be a power generation device mounted on the vehicle V, or may be a battery mounted on the vehicle V. Examples of the battery include secondary batteries capable of charging and discharging. Specifically, a lithium ion battery, a lithium polymer battery, a lithium iron phosphate battery, a metal hydride battery, or other batteries can be used as the high-voltage power supply 31 . In this case, the high-voltage power supply 31 outputs a DC current of 200 [V], for example.
在高压电源31具备二次电池的情况下，高压电源31可以包含对二次电池供给电力的发电装置。此外，高压电源31也可以仅由发电装置构成。作为发电装置，例如，可以使用旋转电机MG。例如，在车辆V制动时使旋转电机MG作为再生制动而发挥功能，能够将由旋转电机MG产生的再生电力用作高压电源31。此外，在车辆V是具有内燃机的车辆的情况下，车辆V具备通过内燃机的动力驱动的发电机。可以将该发电机用作高压电源31。发电机将产生的交流电流经由未图示的升压电路、整流电路输出。此外，也可以构成为，发电机输出的交流电流直接或经由未图示的升压电路、整流电路被供给到降压装置40。When the high-voltage power supply 31 includes a secondary battery, the high-voltage power supply 31 may include a power generation device that supplies electric power to the secondary battery. In addition, the high-voltage power supply 31 may be composed of a power generation device only. As the power generation device, for example, a rotating electric machine MG can be used. For example, when the vehicle V is braking, the rotating electrical machine MG is allowed to function as regenerative braking, and the regenerative electric power generated by the rotating electrical machine MG can be used as the high-voltage power supply 31 . In addition, when the vehicle V is a vehicle having an internal combustion engine, the vehicle V is equipped with a generator driven by the power of the internal combustion engine. This generator can be used as a high voltage power supply 31 . The alternating current generated by the generator is output through a boost circuit and a rectifier circuit (not shown). Alternatively, the alternating current output from the generator may be supplied to the voltage reducing device 40 directly or via a boost circuit or a rectifier circuit (not shown).
高压电源31和降压装置40构成高压电源部36。高压电源部36能够输出比备用电源系统20的额定电压高的电压。此外，也可以是，高压电源部36能够输出比主低压电源11的额定电压高的电压。The high-voltage power supply 31 and the voltage reducing device 40 constitute the high-voltage power supply unit 36 . The high-voltage power supply unit 36 can output a voltage higher than the rated voltage of the backup power supply system 20 . Furthermore, the high-voltage power supply unit 36 may be capable of outputting a voltage higher than the rated voltage of the main low-voltage power supply 11 .
高压电源部36例如由通过二次电池构成的高压电源31和降压装置40构成。在高压电源31由通过内燃机驱动的发电机构成的情况下，也可以将与发电机连接的未图示的升压电路、整流电路作为代替降压装置40的结构部。即，高压电源部36也可以由发电机及其周边电路构成。The high-voltage power supply unit 36 is composed of a high-voltage power supply 31 composed of, for example, a secondary battery and a voltage reducing device 40 . When the high-voltage power supply 31 is constituted by a generator driven by an internal combustion engine, a voltage step-up circuit or a rectifier circuit (not shown) connected to the generator may be used as components in place of the voltage-reducing device 40 . That is, the high-voltage power supply unit 36 may be composed of a generator and its peripheral circuits.
高压电源部36至少能够执行通常动作模式和高电压模式，例如，按照ECU 50的控制对通常动作模式和高电压模式进行切换。通常动作模式是以对通常负载12和紧急时重要负载22的电力供给为目的的动作模式。通常动作模式中的高压电源部36的输出电压是在通常负载12和紧急时重要负载22的额定输入电压的范围内包含的电压。例如，在主低压电源11和备用低压电源23的额定输出电压为12[V]的车辆V中，高压电源部36在通常动作模式中输出12[V]～15[V]的范围的电压。The high-voltage power supply unit 36 can execute at least a normal operation mode and a high-voltage mode, and can switch between the normal operation mode and the high-voltage mode according to the control of the ECU 50 , for example. The normal operation mode is an operation mode aimed at supplying electric power to the normal load 12 and the emergency important load 22 . The output voltage of the high-voltage power supply unit 36 in the normal operation mode is a voltage included in the range of the rated input voltages of the normal load 12 and the emergency important load 22 . For example, in the vehicle V in which the rated output voltage of the main low-voltage power supply 11 and the backup low-voltage power supply 23 is 12 [V], the high-voltage power supply unit 36 outputs a voltage in the range of 12 [V] to 15 [V] in the normal operation mode.
高电压模式是以通过高压电源部36供给的电力对备用低压电源23进行充电为目的的动作模式。高电压模式中的高压电源部36的输出电压能够对备用低压电源23进行充电，优选的是能够进行备用低压电源23的高压充电的电压。The high-voltage mode is an operation mode for the purpose of charging the backup low-voltage power supply 23 with the power supplied from the high-voltage power supply unit 36 . The output voltage of the high-voltage power supply unit 36 in the high-voltage mode is capable of charging the backup low-voltage power supply 23 , and is preferably a voltage capable of high-voltage charging of the backup low-voltage power supply 23 .
在通常动作模式中，在高压电源部36的输出电压高于备用低压电源23的输出电压的情况下，通过高压电源部36的电力对备用低压电源23进行充电。高压充电是指如下动作：相比于在通常动作模式中对备用低压电源23进行充电的情况，在短时间内使备用低压电源23的充电状态上升。即，高压充电是指如下动作：高压电源部36以高电压模式进行动作，由此，备用低压电源23迅速地进行充电。在高电压模式下，高压电源部36例如输出通常动作模式的2倍、3倍或更高的电压。In the normal operation mode, when the output voltage of the high-voltage power supply unit 36 is higher than the output voltage of the backup low-voltage power supply 23 , the backup low-voltage power supply 23 is charged with the power of the high-voltage power supply unit 36 . High-voltage charging refers to an operation in which the state of charge of the backup low-voltage power supply 23 is increased in a short time compared to the case where the backup low-voltage power supply 23 is charged in the normal operation mode. That is, high-voltage charging refers to an operation in which the high-voltage power supply unit 36 operates in the high-voltage mode, thereby rapidly charging the backup low-voltage power supply 23 . In the high-voltage mode, the high-voltage power supply unit 36 outputs, for example, a voltage that is two times, three times, or higher than that in the normal operation mode.
此外，在通过高压电源部36输出的电力对备用低压电源23充电的情况下，也可以同时对主低压电源11进行充电。Furthermore, when the backup low-voltage power supply 23 is charged with the power output from the high-voltage power supply unit 36 , the main low-voltage power supply 11 may be charged at the same time.
车辆电源系统1具备ECU 50。如上所述，ECU 50可以包含多个ECU，也可以是单个器件。ECU 50对应于车辆控制装置的一例。The vehicle power supply system 1 includes an ECU 50 . As mentioned above, the ECU 50 may include multiple ECUs or may be a single device. The ECU 50 corresponds to an example of a vehicle control device.
ECU 50通过信号线与通常负载12、紧急时重要负载22、备用电源控制装置25以及高压负载32连接。与ECU 50连接的设备不限于上述的各部。ECU 50也可以与车辆V搭载的各设备中的在图1中未示出的设备连接。The ECU 50 is connected to the normal load 12, the emergency important load 22, the backup power control device 25, and the high-voltage load 32 through signal lines. The devices connected to the ECU 50 are not limited to the above-mentioned components. The ECU 50 may be connected to devices not shown in FIG. 1 among the devices mounted on the vehicle V.
ECU 50例如具备CPU等处理器，通过处理器执行程序，从而通过软件与硬件的协作来控制车辆电源系统1的各部。该情况下，ECU 50也可以具备存储程序、数据的存储部，存储部例如是ROM。此外，ECU 50也可以由被编程的硬件构成。The ECU 50 is provided with a processor such as a CPU, for example, and the processor executes a program to control each component of the vehicle power supply system 1 through the cooperation of software and hardware. In this case, the ECU 50 may include a storage unit that stores programs and data. The storage unit may be a ROM, for example. Furthermore, the ECU 50 may also be composed of programmed hardware.
操作部55与ECU 50连接。操作部55包含由车辆V的用户操作的开关等。例如，操作部55包含用户为了指示车辆V的起动和停止而操作的SSSW(Start Stop SWitch：启停开关)56。此外，操作部55包含用户指示车辆V的自主驾驶的执行的开关等。操作部55也可以是无线通信装置，该无线通信装置与未图示的遥控装置无线连接，检测基于遥控装置的操作。这里，车辆V的用户例如是车辆V的驾驶者，但是，也可以包含驾驶者以外的、使用车辆V的人。The operating unit 55 is connected to the ECU 50 . The operation unit 55 includes switches operated by the user of the vehicle V and the like. For example, the operation unit 55 includes an SSSW (Start Stop Switch) 56 operated by the user to instruct starting and stopping of the vehicle V. In addition, the operation unit 55 includes a switch for the user to instruct execution of autonomous driving of the vehicle V, and the like. The operating unit 55 may be a wireless communication device that is wirelessly connected to a remote control device (not shown) and detects operations performed by the remote control device. Here, the user of the vehicle V is, for example, the driver of the vehicle V, but may also include people other than the driver who use the vehicle V.
在车辆V的停止状态下，车辆电源系统1成为断开状态。在车辆电源系统1的断开状态下，通过从高压电源31供给的电力，维持ECU 50能够进行动作的状态。该状态也可以是被称为所谓的睡眠状态或低耗电状态的状态。在睡眠状态或低耗电状态下，ECU 50例如也可以是停止了向ECU 50的一部分组件供给电力的状态。此外，在睡眠状态或低耗电状态下，也可以将ECU 50的动作时钟数、ECU 50检测操作部55的状态或各种传感器的状态的采样频率设定为比车辆V进行动作时长的周期。When the vehicle V is stopped, the vehicle power supply system 1 is in an off state. In the OFF state of the vehicle power supply system 1 , the ECU 50 is maintained in an operable state by the power supplied from the high-voltage power supply 31 . This state may also be a state called a so-called sleep state or a low power consumption state. In the sleep state or the low power consumption state, the ECU 50 may be in a state in which power supply to some components of the ECU 50 is stopped, for example. In addition, in the sleep state or the low power consumption state, the number of operation clocks of the ECU 50 and the sampling frequency of the ECU 50 for detecting the state of the operating unit 55 or the states of various sensors may be set to a period longer than the period when the vehicle V is operating. .
在车辆电源系统1的断开状态下，向通常负载12和紧急时重要负载22供给电力。这是为了在车辆电源系统1的断开状态下使紧急时重要负载22、通常负载12进行动作。例如，举出通过ECU 50来监视紧急时重要负载22中包含的传感器或与紧急时重要负载22连接的传感器的检测值的情况。此外，例如，举出执行通过紧急时重要负载22中包含的摄像头对停车中的车辆V的周围进行监视的功能的情况。在这样的情况下，为了使紧急时重要负载22进行动作而从高压电源部36向紧急时重要负载22供给电力。针对通常负载12也同样地从高压电源部36供给电力。这些电力被称为所谓的暗电流。如上所述第3开关SW3是常关型，因此，即使在备用电源控制装置25停止了的状态下，也能够经由第3开关SW3从主电源系统10向紧急时重要负载22供给电力。When the vehicle power supply system 1 is in an off state, electric power is supplied to the normal load 12 and the emergency important load 22 . This is to enable the emergency important load 22 and the normal load 12 to operate when the vehicle power supply system 1 is disconnected. For example, there is a case where the ECU 50 monitors the detection value of a sensor included in the emergency important load 22 or a sensor connected to the emergency important load 22 . For example, a case where a camera included in the emergency important load 22 is used to monitor the surroundings of the parked vehicle V is executed is exemplified. In such a case, in order to operate the emergency important load 22 , power is supplied from the high-voltage power supply unit 36 to the emergency important load 22 . Electric power is also supplied from the high-voltage power supply unit 36 to the normal load 12 in the same manner. These electrical forces are known as so-called dark currents. As described above, the third switch SW3 is of the normally closed type. Therefore, even when the backup power supply control device 25 is stopped, power can be supplied from the main power supply system 10 to the emergency important load 22 via the third switch SW3.
在车辆电源系统1中，在车辆V的起动状态下，从高压电源31向主电源系统10的各部供给电力。进而，从高压电源部36向主电源系统10和紧急时重要负载22供给电力。在车辆V的停止状态下，如上所述，暗电流从高压电源部36向紧急时重要负载22流动。In the vehicle power supply system 1 , when the vehicle V is in a starting state, electric power is supplied from the high-voltage power supply 31 to each component of the main power supply system 10 . Furthermore, electric power is supplied from the high-voltage power supply unit 36 to the main power supply system 10 and the emergency important load 22 . When the vehicle V is stopped, as described above, dark current flows from the high-voltage power supply unit 36 to the emergency important load 22 .
此外，在主电源系统10中发生短路或接地的情况下，为了保护车辆电源系统1，有时停止从高压电源部36向紧急时重要负载22的电力供给。例如，在构成车辆电源系统1的电路中在多个位置设置未图示的熔丝。当发生接地或短路时，设置于连接线L31、L32、L40等的熔丝被切断，从高压电源部36向紧急时重要负载22的电力供给停止。此外，还有可能通过保护功能使降压装置40切断输出。In addition, when a short circuit or a ground fault occurs in the main power supply system 10 , in order to protect the vehicle power supply system 1 , the power supply from the high-voltage power supply unit 36 to the emergency important load 22 may be stopped. For example, fuses (not shown) are provided at a plurality of positions in the circuit constituting the vehicle power supply system 1 . When a ground fault or a short circuit occurs, the fuses provided in the connection lines L31, L32, L40, etc. are cut, and the power supply from the high-voltage power supply unit 36 to the emergency important load 22 is stopped. In addition, it is possible to cause the voltage reducing device 40 to cut off the output through a protection function.
在这种情况下，车辆电源系统1也能够进行从备用低压电源23向紧急时重要负载22的电力供给，使得不中断对紧急时重要负载22的电力供给。该功能实现执行车辆V的自主驾驶过程中的最小风险策略。具体而言，通过将第2开关SW2切换为接通，备用低压电源23与连接线L212连接，开始从备用低压电源23向紧急时重要负载22供给电力。或者也可以构成为，在车辆V起动中紧急时重要负载22正在进行动作的期间内，通过备用电源控制装置25使第2开关SW2成为接通状态，为从降压装置40向备用电源系统20的电力供给中断的情况做准备。该情况下，与降压装置40的输出电压对应地调整第2开关SW2的输出电压，使得在从第2开关SW2朝向降压装置40的方向上不流过电流即可。Even in this case, the vehicle power supply system 1 can supply electric power from the backup low-voltage power supply 23 to the emergency important load 22 without interrupting the electric power supply to the emergency important load 22 . This function implements the minimum risk strategy during the autonomous driving process of vehicle V. Specifically, by turning on the second switch SW2, the backup low-voltage power supply 23 is connected to the connection line L212, and the supply of electric power from the backup low-voltage power supply 23 to the emergency important load 22 starts. Alternatively, the backup power control device 25 may turn the second switch SW2 on while the emergency important load 22 is operating during the start of the vehicle V, thereby switching the voltage from the voltage reducing device 40 to the backup power system 20 . Prepare for power supply interruptions. In this case, the output voltage of the second switch SW2 may be adjusted in accordance with the output voltage of the voltage reducing device 40 so that no current flows in the direction from the second switch SW2 toward the voltage reducing device 40 .
ECU 50为了实现最小风险策略，将能够基于备用低压电源23对紧急时重要负载22供给电力作为用于车辆V执行自主驾驶的条件。In order to implement the minimum risk strategy, the ECU 50 sets the condition for the vehicle V to execute autonomous driving that electric power can be supplied to the emergency important load 22 based on the backup low-voltage power supply 23 .
将车辆V正在执行自主驾驶的动作状态称为自主驾驶模式。在自主驾驶模式中，车辆V在自主驾驶模式至少免除驾驶者进行的转向操作而行驶。即，在自主驾驶模式中，自主驾驶控制部220至少利用车道维持控制部221和转向控制部222使车辆V行驶而不需要用户进行的转向。在自主驾驶模式中，自主驾驶控制部220执行部分的自主驾驶。部分的自主驾驶是指，执行自主驾驶控制部220具有的与自主驾驶有关的功能中的一部分，例如，进行基于车道维持控制部221和转向控制部222的转向，另一方面，可以包含执行基于制动控制部223和行驶控制部224的自主驾驶功能，也可以不包含。The state in which the vehicle V is performing autonomous driving is called an autonomous driving mode. In the autonomous driving mode, the vehicle V travels without at least a steering operation by the driver. That is, in the autonomous driving mode, the autonomous driving control unit 220 uses at least the lane maintenance control unit 221 and the steering control unit 222 to drive the vehicle V without requiring steering by the user. In the autonomous driving mode, the autonomous driving control unit 220 performs partial autonomous driving. Partially autonomous driving refers to executing part of the autonomous driving-related functions of the autonomous driving control unit 220, for example, performing steering based on the lane maintenance control unit 221 and the steering control unit 222. On the other hand, it may include executing based on The autonomous driving functions of the brake control unit 223 and the travel control unit 224 may not be included.
ECU 50将操作部55的操作或者预先设定的车辆V的动作状态作为触发，来执行车辆V的自主驾驶。即，开始车辆V的自主驾驶模式。该情况下，ECU 50对自主驾驶控制部220进行控制，开始自主驾驶。此外，ECU 50在车辆V执行自主驾驶的过程中，将操作部55的操作或者预先设定的车辆V的动作状态作为触发，来停止车辆V的自主驾驶。该情况下，ECU 50对自主驾驶控制部220进行控制，结束自主驾驶模式而使自主驾驶停止，转移到通常行驶模式。通常行驶模式是为车辆V的行驶而需要由用户进行的转向的动作模式。The ECU 50 uses the operation of the operating unit 55 or the preset operating state of the vehicle V as a trigger to execute autonomous driving of the vehicle V. That is, the autonomous driving mode of the vehicle V is started. In this case, the ECU 50 controls the autonomous driving control unit 220 to start autonomous driving. In addition, while the vehicle V is executing autonomous driving, the ECU 50 uses the operation of the operating unit 55 or a preset operating state of the vehicle V as a trigger to stop the autonomous driving of the vehicle V. In this case, the ECU 50 controls the autonomous driving control unit 220 to end the autonomous driving mode, stop the autonomous driving, and shift to the normal driving mode. The normal driving mode is an operation mode that requires steering by the user for driving the vehicle V.
ECU 50通过备用电源控制装置25，估计备用低压电源23的可供给电力。该情况下，备用电源控制装置25对可供给电力进行估计，进行估计值的输出或者基于估计值的信号的输出。The ECU 50 estimates the power supply of the backup low-voltage power supply 23 through the backup power supply control device 25 . In this case, the backup power supply control device 25 estimates the power that can be supplied, and outputs an estimated value or a signal based on the estimated value.
备用电源控制装置25进行信号输出是指：备用电源控制装置25输出表示允许车辆V的自主驾驶的信号、表示允许继续车辆V的自主驾驶的信号、以及表示禁止车辆V的自主驾驶的信号。关于这些信号的输出，可以由ECU 50或其他控制装置基于估计值来执行，但是，在本实施方式中，说明由备用电源控制装置25执行的例子。The backup power supply control device 25 outputs signals, which means that the backup power supply control device 25 outputs a signal indicating that autonomous driving of the vehicle V is permitted, a signal indicating that continuation of autonomous driving of the vehicle V is permitted, and a signal indicating that autonomous driving of the vehicle V is prohibited. The output of these signals may be executed by the ECU 50 or other control devices based on estimated values, but in this embodiment, an example in which the backup power supply control device 25 executes the output is described.
备用电源控制装置25在ECU 50开始车辆V的自主驾驶时，执行估计处理，判定备用低压电源23的可供给电力是否足够用于实现最小风险策略。在该判定中，备用电源控制装置25参照后述的各种阈值。这些阈值预先由ECU 50或备用电源控制装置25保持或存储。When the ECU 50 starts autonomous driving of the vehicle V, the backup power supply control device 25 executes an estimation process to determine whether the power available from the backup low-voltage power supply 23 is sufficient to realize the minimum risk strategy. In this determination, the backup power supply control device 25 refers to various threshold values described below. These threshold values are held or stored in advance by the ECU 50 or the backup power control device 25 .
备用电源控制装置25在判定为备用低压电源23的可供给电力不充足的情况下，输出表示禁止车辆V的自主驾驶的信号。该信号例如能够称为禁止信号。ECU 50在从备用电源控制装置25输入了禁止信号的情况下，不开始自主驾驶。此外，ECU 50在执行车辆V的自主驾驶的过程中从备用电源控制装置25输入了禁止信号的情况下，结束自主驾驶。When the backup power supply control device 25 determines that the power supplied by the backup low-voltage power supply 23 is insufficient, the backup power supply control device 25 outputs a signal indicating that autonomous driving of the vehicle V is prohibited. This signal can be called a prohibition signal, for example. When the prohibition signal is input from the backup power supply control device 25 , the ECU 50 does not start autonomous driving. Furthermore, when the prohibition signal is input from the backup power supply control device 25 while the autonomous driving of the vehicle V is being executed, the ECU 50 ends the autonomous driving.
备用电源控制装置25在判定为备用低压电源23的可供给电力充足的情况下、或者虽然可供给电力不充足但可以通过充电而恢复的情况下，输出表示允许车辆V的自主驾驶的信号、或者表示允许继续车辆V的自主驾驶的信号。这些信号例如能够称为允许信号。When the backup power supply control device 25 determines that the power to be supplied by the backup low-voltage power supply 23 is sufficient, or when the power to be supplied is insufficient but can be restored by charging, the backup power supply control device 25 outputs a signal indicating that autonomous driving of the vehicle V is allowed, or A signal indicating that autonomous driving of the vehicle V is allowed to continue. These signals can be called permission signals, for example.
ECU 50在开始车辆V的自主驾驶的情况下，将从备用电源控制装置25输入了允许信号作为条件，来开始车辆V的自主驾驶。此外，ECU 50在执行车辆V的自主驾驶的过程中从备用电源控制装置25输入了允许信号的情况下，继续自主驾驶。ECU 50在执行车辆V的自主驾驶的过程中每隔规定时间判定是否从备用电源控制装置25输入允许信号，在未输入允许信号的状态持续规定时间以上的情况下，结束自主驾驶。When the ECU 50 starts autonomous driving of the vehicle V, the ECU 50 starts the autonomous driving of the vehicle V on condition that a permission signal is input from the backup power supply control device 25 . Furthermore, when the permission signal is input from the backup power supply control device 25 while the autonomous driving of the vehicle V is being executed, the ECU 50 continues the autonomous driving. The ECU 50 determines whether a permission signal is input from the backup power supply control device 25 at predetermined intervals while the autonomous driving of the vehicle V is being executed. If the permission signal is not input for a predetermined time or longer, the ECU 50 ends the autonomous driving.
[1-5.紧急时重要负载的结构][1-5. Structure of important loads in emergency]
图2是示出紧急时重要负载22的结构例的框图。FIG. 2 is a block diagram showing a structural example of the emergency important load 22 .
在图2中，作为紧急时重要负载22所包含的功能部而例示自主驾驶控制部220。自主驾驶控制部220例如包含车道维持控制部221、转向控制部222、制动控制部223及行驶控制部224。构成自主驾驶控制部220的各功能部可以由多个ECU构成，图2所示的多个功能部也可以由1个ECU构成，自主驾驶控制部220也可以是1个ECU。此外，自主驾驶控制部220可以由与ECU不同的具有控制功能的设备构成，也可以通过由计算机执行软件来实现。In FIG. 2 , an autonomous driving control unit 220 is illustrated as a functional unit included in the emergency important load 22 . The autonomous driving control unit 220 includes, for example, a lane maintenance control unit 221, a steering control unit 222, a brake control unit 223, and a travel control unit 224. Each functional unit constituting the autonomous driving control unit 220 may be composed of a plurality of ECUs. The plurality of functional units shown in FIG. 2 may be composed of a single ECU, and the autonomous driving control unit 220 may be composed of a single ECU. In addition, the autonomous driving control unit 220 may be configured by a device having a control function different from the ECU, or may be implemented by a computer executing software.
在图2中，作为紧急时重要负载22所包含的功能部的例子，示出感测单元61、电动转向单元62、制动驱动装置63及节气门控制装置64。通常负载12中可以包含这些单元的一部分或全部。此外，紧急时重要负载22也可以具备图2中未示出的功能部、驱动部。In FIG. 2 , a sensing unit 61 , an electric steering unit 62 , a brake drive device 63 and a throttle control device 64 are shown as examples of functional units included in the emergency important load 22 . Typically the load 12 may contain some or all of these units. In addition, the emergency important load 22 may include functional units and drive units not shown in FIG. 2 .
感测单元61包含对车辆V的外部的状况、车辆V的行驶状态进行检测的1个或多个传感器。感测单元61例如是由上述的LiDAR、摄像头、雷达及/或激光构成的4D传感器、加速度传感器、陀螺仪传感器、地磁传感器、GNSS(Global Navigation Satellite System：全球定位卫星系统)单元等。感测单元61可以是综合多个传感器而成的单元，感测单元61中包含的传感器可以单独与自主驾驶控制部220连接。The sensing unit 61 includes one or more sensors that detect the external conditions of the vehicle V and the driving state of the vehicle V. The sensing unit 61 is, for example, a 4D sensor, an acceleration sensor, a gyroscope sensor, a geomagnetic sensor, a GNSS (Global Navigation Satellite System) unit, etc. composed of the above-mentioned LiDAR, camera, radar and/or laser. The sensing unit 61 may be a unit that integrates multiple sensors, and the sensors included in the sensing unit 61 may be individually connected to the autonomous driving control unit 220 .
感测单元61在车辆V执行自主驾驶的期间，按照自主驾驶控制部220的控制，将执行车辆V的自主驾驶所需要的信息输出到自主驾驶控制部220。感测单元61在车辆V未执行自主驾驶时，车辆V的汽车导航系统将用于显示车辆V的位置的信息等输出到自主驾驶控制部220、ECU 50。While the vehicle V is performing autonomous driving, the sensing unit 61 outputs information necessary to perform autonomous driving of the vehicle V to the autonomous driving control unit 220 in accordance with the control of the autonomous driving control unit 220 . When the vehicle V is not performing autonomous driving, the sensing unit 61 outputs information and the like for displaying the position of the vehicle V to the autonomous driving control unit 220 and the ECU 50 from the car navigation system of the vehicle V.
电动转向单元62控制车辆V的转向装置。例如，电动转向单元62通过使与未图示的转向齿轮箱连结的马达进行动作，从而控制车辆V的转向。The electric steering unit 62 controls the steering device of the vehicle V. For example, the electric steering unit 62 controls the steering of the vehicle V by operating a motor connected to a steering gearbox (not shown).
电动转向单元62在车辆V执行自主驾驶的期间，按照自主驾驶控制部220的控制，对车辆V的转向装置进行驱动。由此，能够在用户不进行转向操作的情况下使车辆V行驶。电动转向单元62在车辆V未执行自主驾驶时，响应于用户对操作部55、未图示的方向盘的操作而使车辆V的转向装置进行动作。While the vehicle V is performing autonomous driving, the electric steering unit 62 drives the steering device of the vehicle V in accordance with the control of the autonomous driving control unit 220 . Thereby, the vehicle V can be driven without the user performing a steering operation. When the vehicle V is not performing autonomous driving, the electric steering unit 62 operates the steering device of the vehicle V in response to the user's operation of the operating unit 55 or the steering wheel (not shown).
制动驱动装置63控制车辆V的制动装置。例如，制动驱动装置63通过马达或液压装置使车辆V的制动系统进行动作，实现车辆V的减速、停止、停止状态的维持。The brake drive device 63 controls the braking device of the vehicle V. For example, the brake drive device 63 operates the braking system of the vehicle V through a motor or a hydraulic device to decelerate, stop, and maintain the stopped state of the vehicle V.
制动驱动装置63在车辆V执行自主驾驶的期间，按照自主驾驶控制部220的控制对制动装置进行控制。由此，车辆V执行即使用户不进行制动操作也自动地进行减速和停止的自主驾驶。制动驱动装置63在车辆V未进行自主驾驶时，响应于用户对操作部55、未图示的制动踏板的操作而使车辆V的制动装置进行动作。While the vehicle V performs autonomous driving, the brake drive device 63 controls the braking device in accordance with the control of the autonomous driving control unit 220 . Thereby, the vehicle V performs autonomous driving in which the vehicle automatically decelerates and stops even if the user does not perform a braking operation. When the vehicle V is not driving autonomously, the brake drive device 63 operates the brake device of the vehicle V in response to the user's operation of the operating unit 55 or the brake pedal (not shown).
节气门控制装置64控制使车辆V行驶的驱动源。节气门控制装置64在搭载有内燃机的车辆V中控制对内燃机的燃料供给，在搭载有马达作为驱动源的车辆V中，控制马达的旋转。The throttle control device 64 controls the drive source that causes the vehicle V to travel. The throttle control device 64 controls the supply of fuel to the internal combustion engine in the vehicle V equipped with the internal combustion engine, and controls the rotation of the motor in the vehicle V equipped with a motor as a driving source.
节气门控制装置64在车辆V执行自主驾驶的期间，按照自主驾驶控制部220的控制对驱动源进行控制。由此，车辆V执行即使用户不进行节气门操作等用于加速的操作也自动地使车辆V加速的自主驾驶。节气门控制装置64在车辆V未执行自主驾驶时，响应于用户对操作部55、未图示的油门踏板的操作而使车辆V的驱动源进行动作。While the vehicle V performs autonomous driving, the throttle control device 64 controls the drive source in accordance with the control of the autonomous driving control unit 220 . Thereby, the vehicle V performs autonomous driving in which the vehicle V is automatically accelerated even if the user does not perform an operation for accelerating such as a throttle operation. When the vehicle V is not performing autonomous driving, the throttle control device 64 operates the drive source of the vehicle V in response to the user's operation of the operating unit 55 or the accelerator pedal (not shown).
车道维持控制部221和转向控制部222实现车辆V的自主驾驶功能中包含的车道维持功能。例如，车道维持控制部221基于由感测单元61检测到的信息，计算车辆V的转向量和转向方向，使得维持车辆V相对于车道在适当的位置行驶的状态。转向控制部222基于车道维持控制部221计算出的转向量和转向方向，对电动转向单元62进行控制，进行车辆V的转向，使得维持车辆V相对于车道在适当的位置行驶的状态。The lane keeping control unit 221 and the steering control unit 222 realize the lane keeping function included in the autonomous driving function of the vehicle V. For example, the lane maintenance control unit 221 calculates the steering amount and the steering direction of the vehicle V based on the information detected by the sensing unit 61 so as to maintain a state in which the vehicle V travels at an appropriate position with respect to the lane. The steering control unit 222 controls the electric steering unit 62 based on the steering amount and steering direction calculated by the lane maintenance control unit 221 to steer the vehicle V so that the vehicle V is maintained traveling at an appropriate position relative to the lane.
制动控制部223通过对制动驱动装置63进行控制，从而实现车辆V的自主驾驶功能中包含的制动控制功能。例如，制动控制部223通过制动驱动装置63，维持车辆V的适当的行驶速度。此外，例如，制动控制部223通过制动驱动装置63，相对于位于车辆V的行进方向上的其他车辆或障碍物维持适当的距离。此外，例如，制动控制部223通过制动驱动装置63，进行用于避免与存在于车辆V的行进方向或车辆V的周围的人或物体的碰撞的制动。此外，例如，制动控制部223通过制动驱动装置63，在车辆V的停车中维持车辆V的停止状态。The brake control unit 223 controls the brake drive device 63 to realize the brake control function included in the autonomous driving function of the vehicle V. For example, the brake control unit 223 maintains an appropriate traveling speed of the vehicle V through the brake drive device 63 . Furthermore, for example, the brake control unit 223 maintains an appropriate distance from other vehicles or obstacles located in the traveling direction of the vehicle V through the brake drive device 63 . Furthermore, for example, the brake control unit 223 performs braking to avoid collision with people or objects present in the traveling direction of the vehicle V or around the vehicle V through the brake drive device 63 . Furthermore, for example, the brake control unit 223 maintains the stopped state of the vehicle V through the brake drive device 63 while the vehicle V is stopped.
行驶控制部224通过对节气门控制装置64进行控制，实现车辆V的自主驾驶功能中包含的加速控制功能。例如，行驶控制部224通过节气门控制装置64，维持车辆V的适当的行驶速度。The driving control unit 224 controls the throttle control device 64 to realize the acceleration control function included in the autonomous driving function of the vehicle V. For example, the traveling control unit 224 maintains an appropriate traveling speed of the vehicle V through the throttle control device 64 .
这样，紧急时重要负载22中包含的自主驾驶控制部220通过对车辆V的功能部进行控制，执行车辆V的自主驾驶。车辆V的自主驾驶至少包含基于车道维持控制部221和转向控制部222的车道维持的功能。此外，车辆V的自主驾驶也可以包含如下控制：在所谓的紧急时，使车辆V在道路上停在安全性高的位置。In this way, the autonomous driving control unit 220 included in the emergency important load 22 controls the functional units of the vehicle V to execute autonomous driving of the vehicle V. The autonomous driving of the vehicle V includes at least the function of lane maintenance by the lane maintenance control unit 221 and the steering control unit 222 . In addition, the autonomous driving of the vehicle V may also include control to stop the vehicle V in a safe position on the road during a so-called emergency.
[2.车辆电源系统的动作][2. Operation of vehicle power system]
对车辆电源系统1的动作进行说明。The operation of the vehicle power supply system 1 will be described.
图3和图4是示出车辆电源系统1的动作的流程图。图3示出车辆V开始自主驾驶时的动作，图4示出车辆V执行自主驾驶过程中的动作。在本实施方式中，如上所述，说明备用电源控制装置25执行图3和图4的动作的例子，但是，也不限制由ECU 50或其他控制装置执行这些动作。3 and 4 are flowcharts showing the operation of the vehicle power supply system 1 . FIG. 3 shows the actions of the vehicle V when it starts autonomous driving, and FIG. 4 shows the actions of the vehicle V while it is performing autonomous driving. In this embodiment, as described above, the example in which the backup power supply control device 25 executes the operations of FIGS. 3 and 4 is described. However, the execution of these operations by the ECU 50 or other control devices is not limited.
备用电源控制装置25检测ECU 50开始自主驾驶的触发(步骤S11)。步骤S11例如是ECU 50将通知开始自主驾驶的信号输出到备用电源控制装置25。The backup power supply control device 25 detects the trigger of the ECU 50 to start autonomous driving (step S11). Step S11 is, for example, the ECU 50 outputting a signal notifying the start of autonomous driving to the backup power supply control device 25 .
备用电源控制装置25执行估计处理，估计备用低压电源23能够对紧急时重要负载22供给的可供给电力(步骤S12)。备用电源控制装置25将通过估计处理得到的估计值与第1阈值进行比较，判定估计值是否为第1阈值以下(步骤S13)。The backup power supply control device 25 executes an estimation process for estimating the supply power that the backup low-voltage power supply 23 can supply to the emergency important load 22 (step S12). The backup power supply control device 25 compares the estimated value obtained by the estimation process with the first threshold value, and determines whether the estimated value is equal to or less than the first threshold value (step S13).
在判定为估计值为第1阈值以下的情况下(步骤S13；是)，备用电源控制装置25将表示禁止自主驾驶的信号、即禁止信号输出到ECU 50(步骤S14)，结束本处理。在判定为估计值不为第1阈值以下的情况下(步骤S13；否)，备用电源控制装置25将表示允许自主驾驶的信号、即允许信号输出到ECU 50(步骤S15)，结束本处理。When it is determined that the estimated value is equal to or less than the first threshold (step S13; YES), the backup power supply control device 25 outputs a prohibition signal indicating that autonomous driving is prohibited to the ECU 50 (step S14), and ends this process. When it is determined that the estimated value is not equal to or less than the first threshold (step S13; No), the backup power supply control device 25 outputs a signal indicating permission of autonomous driving, that is, a permission signal to the ECU 50 (step S15), and ends this process.
通过图3的动作，在备用低压电源23的可供给电力充足的情况下，ECU 50能够开始车辆V的自主驾驶。Through the operation of FIG. 3 , the ECU 50 can start autonomous driving of the vehicle V when the power supplied by the backup low-voltage power supply 23 is sufficient.
另外，关于图3的动作，在车辆V未执行自主驾驶模式时，且自主驾驶模式的开始的触发未发生的情况下，备用电源控制装置25也可以按照预先设定的周期来执行图3的动作。In addition, regarding the operation of FIG. 3 , when the vehicle V is not executing the autonomous driving mode and the trigger to start the autonomous driving mode has not occurred, the backup power supply control device 25 may also execute the operation of FIG. 3 according to a preset cycle. action.
在图4中，备用电源控制装置25判定车辆V是否正在执行自主驾驶(步骤S21)。在车辆V没有在执行自主驾驶的情况下(步骤S21；否)，备用电源控制装置25进行待机。In FIG. 4 , the backup power supply control device 25 determines whether the vehicle V is performing autonomous driving (step S21 ). When the vehicle V is not performing autonomous driving (step S21; No), the backup power supply control device 25 is on standby.
在车辆V正在执行自主驾驶的情况下(步骤S21；是)，备用电源控制装置25执行估计处理(步骤S22)。备用电源控制装置25将通过估计处理得到的估计值与第2阈值进行比较，判定估计值是否小于第2阈值(步骤S23)。When the vehicle V is performing autonomous driving (step S21; Yes), the backup power supply control device 25 executes estimation processing (step S22). The backup power supply control device 25 compares the estimated value obtained by the estimation process with the second threshold value, and determines whether the estimated value is smaller than the second threshold value (step S23).
在判定为估计值小于第2阈值的情况下(步骤S23；是)，备用电源控制装置25将表示禁止自主驾驶的信号、即禁止信号输出到ECU 50(步骤S24)，结束本处理。在步骤S24中由备用电源控制装置25输出的禁止信号是表示禁止继续自主驾驶的信号。When it is determined that the estimated value is smaller than the second threshold (step S23; YES), the backup power supply control device 25 outputs a prohibition signal indicating that autonomous driving is prohibited to the ECU 50 (step S24), and ends this process. The prohibition signal output by the backup power supply control device 25 in step S24 is a signal indicating that the continuation of autonomous driving is prohibited.
在判定为估计值不小于第2阈值的情况下(步骤S23；否)，备用电源控制装置25判定估计值是否为第3阈值以下(步骤S25)。When it is determined that the estimated value is not less than the second threshold (step S23; No), the backup power supply control device 25 determines whether the estimated value is equal to or less than the third threshold (step S25).
在判定为估计值为第3阈值以下的情况下(步骤S23；是)，备用电源控制装置25输出指示使高压电源部36以高电压模式进行动作而对备用低压电源23进行充电的信号(步骤S26)。由此，ECU 50对高压电源31及/或降压装置40进行控制，使高压电源部36以高电压模式进行动作。此外，ECU 50或备用电源控制装置25通过将第2开关SW2接通，将高压电源部36与备用低压电源23连接。由此，通过高压电源部36输出的高电压的电力进行对备用低压电源23的高压充电。When it is determined that the estimated value is equal to or less than the third threshold (step S23; YES), the backup power supply control device 25 outputs a signal instructing the high-voltage power supply unit 36 to operate in the high-voltage mode to charge the backup low-voltage power supply 23 (step S23; Yes). S26). Thereby, the ECU 50 controls the high-voltage power supply 31 and/or the voltage-reducing device 40 so that the high-voltage power supply unit 36 operates in the high-voltage mode. Furthermore, the ECU 50 or the backup power supply control device 25 turns on the second switch SW2 to connect the high-voltage power supply unit 36 and the backup low-voltage power supply 23 . Thereby, high-voltage charging of the backup low-voltage power supply 23 is performed with the high-voltage power output from the high-voltage power supply unit 36 .
然后，备用电源控制装置25将表示允许车辆V的自主驾驶的信号输出到ECU 50(步骤S27)，结束本处理。在步骤S27中由备用电源控制装置25输出的禁止信号是表示允许继续自主驾驶的信号。Then, the backup power supply control device 25 outputs a signal indicating that autonomous driving of the vehicle V is permitted to the ECU 50 (step S27), and ends this process. The prohibition signal output by the backup power supply control device 25 in step S27 is a signal indicating permission to continue autonomous driving.
在判定为估计值不为第3阈值以下的情况下(步骤S23；否)，备用电源控制装置25转移到步骤S27。When it is determined that the estimated value is not equal to or less than the third threshold (step S23; NO), the backup power supply control device 25 proceeds to step S27.
图5是示出车辆电源系统1的动作的时序图。FIG. 5 is a timing chart showing the operation of the vehicle power supply system 1 .
图5的(a)示出车辆V的动作模式，图5的(b)示出高压电源部36的动作模式，图5的(c)示出ECU 50对高压电源部36的控制。图5的(d)示出备用电源系统20的状态。图5的(e)是示出备用电源控制装置25估计出的可供给电力的曲线图，纵轴是可供给电力或电量，横轴是时间。图5的(e)中示出第1阈值TH1、第2阈值TH2及第3阈值TH3。FIG. 5( a ) shows the operation mode of the vehicle V, FIG. 5( b ) shows the operation mode of the high-voltage power supply unit 36 , and FIG. 5( c ) shows the control of the high-voltage power supply unit 36 by the ECU 50 . (d) of FIG. 5 shows the state of the backup power supply system 20. (e) of FIG. 5 is a graph showing the available power estimated by the backup power supply control device 25. The vertical axis represents the available power or the amount of electricity, and the horizontal axis represents time. (e) of FIG. 5 shows the first threshold TH1, the second threshold TH2, and the third threshold TH3.
在本实施方式中，第3阈值TH3是与第1阈值TH1相同或低于第1阈值TH1的值。第2阈值TH2是低于第3阈值TH3的值。第1阈值TH1是与基于在车辆V以自主驾驶模式进行自主驾驶的情况下使紧急时重要负载22进行动作所需要的电量而决定的电量或功率有关的阈值。In this embodiment, the third threshold TH3 is the same as or lower than the first threshold TH1. The second threshold TH2 is a value lower than the third threshold TH3. The first threshold TH1 is a threshold value related to electric power or power determined based on the electric power required to operate the emergency important load 22 when the vehicle V performs autonomous driving in the autonomous driving mode.
在时刻T1，车辆V正在以通常行驶模式行驶。此时，备用低压电源23的可供给电力低于第1阈值TH1。因此，备用电源控制装置25不判断为能够基于备用低压电源23进行备用供电，正在进行状态监视。ECU 50对高压电源部36指示高压充电，高压电源部36正在以高电压模式供给电力。At time T1, vehicle V is traveling in the normal driving mode. At this time, the power that can be supplied by the backup low-voltage power supply 23 is lower than the first threshold TH1. Therefore, the backup power supply control device 25 does not determine that backup power supply can be provided by the backup low-voltage power supply 23 and is performing status monitoring. The ECU 50 instructs the high-voltage power supply unit 36 to supply electric power in the high-voltage mode.
在进行了高压充电时，备用低压电源23的可供给电力恢复。在图5的例中，在时刻T2，可供给电力超过第1阈值TH1。该情况下，备用电源控制装置25在时刻T2判定为能够进行备用供电。ECU 50对高压电源部36指示低压充电。低压充电是指，通过高压电源部36以通常动作模式输出的电力对备用低压电源23进行充电。高压电源部36按照该指示以通常动作模式供给电力。When high-voltage charging is performed, the power available from the backup low-voltage power supply 23 is restored. In the example of FIG. 5 , at time T2 , the available electric power exceeds the first threshold TH1 . In this case, the backup power supply control device 25 determines that backup power supply is possible at time T2. The ECU 50 instructs the high-voltage power supply unit 36 to charge low voltage. Low-voltage charging means charging the backup low-voltage power supply 23 with the power output by the high-voltage power supply unit 36 in the normal operation mode. The high-voltage power supply unit 36 supplies power in the normal operation mode in accordance with the instruction.
在时刻T3，假定发生了开始车辆V的自主驾驶的触发。这里，时刻T3时的可供给电力高于第1阈值TH1，因此，备用电源控制装置25输出表示允许自主驾驶的信号。ECU 50按照备用电源控制装置25输出的信号，开始车辆V的自主驾驶模式。At time T3, it is assumed that a trigger to start autonomous driving of vehicle V occurs. Here, since the power available at time T3 is higher than the first threshold TH1, the backup power supply control device 25 outputs a signal indicating that autonomous driving is allowed. The ECU 50 starts the autonomous driving mode of the vehicle V in accordance with the signal output from the backup power supply control device 25 .
在图5的例中，由于某些要因，在时刻T3后，备用低压电源23的可供给电力降低。在该例中，在时刻T4，可供给电力的估计值成为低于第3阈值TH3但高于第2阈值TH2的值。该情况下，备用电源控制装置25在时刻T4通过步骤S26的动作，输出指示以高电压模式进行充电的信号。ECU 50收到该信号，对高压电源部36指示高压充电。该指示的时机例如是时刻T5。高压电源部36按照ECU 50的指示执行高电压模式。由此，开始对备用低压电源23的高压充电，车辆V能够继续自主驾驶模式。In the example of FIG. 5 , due to some factors, the power that can be supplied by the backup low-voltage power supply 23 decreases after time T3 . In this example, at time T4, the estimated value of the power that can be supplied becomes a value lower than the third threshold TH3 but higher than the second threshold TH2. In this case, the backup power supply control device 25 outputs a signal instructing charging in the high voltage mode through the operation of step S26 at time T4. The ECU 50 receives this signal and instructs the high-voltage power supply unit 36 to charge high voltage. The timing of this instruction is time T5, for example. The high-voltage power supply unit 36 executes the high-voltage mode in accordance with instructions from the ECU 50 . As a result, high-voltage charging of the backup low-voltage power supply 23 is started, and the vehicle V can continue the autonomous driving mode.
[3.其他实施方式][3. Other embodiments]
上述实施方式示出应用本发明的一个具体例，不限定应用发明的方式。The above-mentioned embodiment shows a specific example of applying the present invention, and does not limit the manner in which the invention is applied.
例如，备用电源控制装置25估计备用低压电源23的可供给电力的方法不限于上述的方法。例如，在备用低压电源23中安装有管理和控制对备用低压电源23的充放电的电源控制装置的情况下，也可以通过电源控制装置，始终或每隔规定时间对可供给电力进行估计。该情况下，备用电源控制装置25也可以从备用低压电源23的电源控制装置取得可供给电力的估计值。For example, the method by which the backup power supply control device 25 estimates the power supply by the backup low-voltage power supply 23 is not limited to the above-mentioned method. For example, when the backup low-voltage power supply 23 is equipped with a power supply control device that manages and controls charging and discharging of the backup low-voltage power supply 23 , the power supply control device may estimate the power supply at all times or at predetermined intervals. In this case, the backup power supply control device 25 may obtain the estimated value of the power that can be supplied from the power supply control device of the backup low-voltage power supply 23 .
图1的结构是一例，例如也可以构成为，降压装置40与高压电源31一体构成，将通过降压装置40升压或降压后的电力供给到高压负载32。此外，图5所示的时序图只不过是一个动作例，能够对车辆电源系统1的动作适当进行变更。The structure in FIG. 1 is an example. For example, the voltage reduction device 40 may be integrated with the high-voltage power supply 31 and the electric power that has been boosted or stepped down by the voltage reducing device 40 may be supplied to the high-voltage load 32 . In addition, the timing chart shown in FIG. 5 is only an operation example, and the operation of the vehicle power supply system 1 can be appropriately changed.
[4.由上述实施方式支持的结构][4. Structure supported by the above embodiment]
上述实施方式支持以下的结构。The above-described embodiment supports the following configuration.
(结构1)一种车辆电源系统，其搭载于能够通过自主驾驶模式而至少部分地进行自主驾驶的车辆，所述自主驾驶模式是允许至少免除驾驶者的转向操作而执行的模式，所述车辆电源系统具备：主电源系统，其具有主低压电源和通常负载；备用电源系统，其具有备用低压电源和紧急时重要负载，与所述主电源系统连接；以及高压电源部，其能够输出比所述备用电源系统的额定电压高的电压，其中，所述备用电源系统具有备用电源控制装置，该备用电源控制装置监视所述备用低压电源的状态，控制来自所述备用低压电源的电力的输入/输出，所述备用电源控制装置能够执行估计可供给电力的估计处理，该可供给电力表示能够从所述备用低压电源对所述紧急时重要负载供给的电量或功率，在所述车辆未以所述自主驾驶模式进行自主驾驶时，所述备用电源控制装置执行所述估计处理，在通过所述估计处理估计出的所述可供给电力为第1阈值以上的情况下，输出表示允许所述车辆以所述自主驾驶模式进行自主驾驶的信号，在所述车辆正在以所述自主驾驶模式进行自主驾驶时，所述备用电源控制装置执行所述估计处理，在通过所述估计处理估计出的所述可供给电力小于第2阈值的情况下，输出表示禁止所述车辆以所述自主驾驶模式进行自主驾驶的信号，当所述车辆正在以所述自主驾驶模式进行自主驾驶时，所述备用电源控制装置执行所述估计处理，在通过所述估计处理估计出的所述可供给电力为第3阈值以下的情况下，输出表示允许所述车辆继续所述自主驾驶模式、并且允许利用所述高压电源部产生的电力对所述备用低压电源进行充电的信号，所述第1阈值是与基于在所述车辆以所述自主驾驶模式进行自主驾驶的情况下使所述紧急时重要负载进行动作所需要的电量来决定的电量或功率有关的阈值。(Structure 1) A vehicle power supply system mounted on a vehicle capable of at least partially autonomous driving through an autonomous driving mode that allows execution without at least a driver's steering operation, the vehicle The power supply system includes: a main power supply system, which has a main low-voltage power supply and a normal load; a backup power supply system, which has a backup low-voltage power supply and an important load in an emergency, and is connected to the main power supply system; and a high-voltage power supply unit, which can output a higher than The backup power supply system has a high rated voltage, wherein the backup power supply system has a backup power supply control device that monitors the status of the backup low-voltage power supply and controls the input of power from the backup low-voltage power supply/ Output, the backup power supply control device can perform an estimation process of estimating the power that can be supplied, and the power that can be supplied represents the amount of electricity or power that can be supplied from the backup low-voltage power supply to the emergency important load, when the vehicle is not in the required state. When autonomous driving is performed in the autonomous driving mode, the backup power supply control device executes the estimation process, and when the power supply estimated by the estimation process is equal to or greater than a first threshold, outputs an output indicating that the vehicle is permitted. A signal for autonomous driving in the autonomous driving mode. When the vehicle is autonomously driving in the autonomous driving mode, the backup power supply control device executes the estimation process. When the available electric power is less than the second threshold, a signal indicating that the vehicle is prohibited from autonomous driving in the autonomous driving mode is output. When the vehicle is performing autonomous driving in the autonomous driving mode, the backup power supply The control device executes the estimation process, and when the supplied electric power estimated by the estimation process is equal to or less than a third threshold, outputs an output indicating that the vehicle is allowed to continue the autonomous driving mode and the use of the high voltage is allowed. A signal for charging the backup low-voltage power supply with electric power generated by a power supply unit, and the first threshold value is based on operating the emergency important load when the vehicle performs autonomous driving in the autonomous driving mode. The amount of power required determines the power or power-related threshold.
根据结构1，能够在备用低压电源的可供给电力低的情况下避免执行自主驾驶模式，并且，在执行自主驾驶模式的过程中，即使在备用低压电源的可供给电力降低了的情况下也能够通过进行充电而继续自主驾驶模式。由此，在至少能够部分地进行自主驾驶的车辆中，即使在备用低压电源的可供给电力降低了的情况下也能够继续自主驾驶。因此，能够抑制如下情况：由于对与自主驾驶有关的负载的电力供给而导致能够利用自主驾驶的机会减少。因此，车辆能够执行自主驾驶的机会、时间增多，所以能够实现商品性的提高。According to the configuration 1, it is possible to avoid execution of the autonomous driving mode when the power supply of the backup low-voltage power supply is low, and in the process of executing the autonomous driving mode, even when the power supply of the backup low-voltage power supply is reduced. The autonomous driving mode is continued by charging. As a result, in a vehicle capable of at least partially autonomous driving, autonomous driving can be continued even when the supply of electric power from the backup low-voltage power supply is reduced. Therefore, it is possible to suppress a decrease in opportunities to utilize autonomous driving due to the supply of electric power to loads related to autonomous driving. Therefore, the opportunities and time during which the vehicle can perform autonomous driving are increased, thereby improving the marketability.
(结构2)根据结构1所述的车辆电源系统，其中，所述第3阈值是表示所述第1阈值以下的电量或功率的值，并且是表示比所述第2阈值大的电量或功率的值。(Configuration 2) The vehicle power supply system according to Configuration 1, wherein the third threshold value is a value indicating an electric quantity or power that is equal to or less than the first threshold value, and is a value indicating a larger electric quantity or power than the second threshold value. value.
根据结构2，能够在执行自主驾驶模式的过程中维持能从备用低压电源对紧急时重要负载供给电力的最低限度的状态，并且，能够抑制如下情况：由于对与自主驾驶有关的负载的电力供给而导致能够利用自主驾驶的机会减少。According to the structure 2, it is possible to maintain a minimum state in which power can be supplied from the backup low-voltage power supply to important loads in emergencies while the autonomous driving mode is being executed, and it is possible to suppress a situation in which power is supplied to loads related to autonomous driving. This leads to fewer opportunities to take advantage of autonomous driving.
(结构3)根据结构1或2所述的车辆电源系统，其中，所述高压电源部能够执行高电压模式和通常电压模式，在所述高电压模式下，输出电压比所述备用电源系统的额定电压高的电力，在所述通常电压模式下，相比于所述高电压模式而输出低电压的电力，所述备用电源控制装置在通过所述估计处理估计出的所述可供给电力为第3阈值以下的情况下，输出表示允许利用所述高压电源部在所述高电压模式下产生的电力对所述备用低压电源进行充电的信号。(Structure 3) The vehicle power supply system according to Structure 1 or 2, wherein the high-voltage power supply section is capable of executing a high voltage mode and a normal voltage mode, and in the high voltage mode, the output voltage is higher than that of the backup power supply system. Power with a high rated voltage is output in the normal voltage mode compared to the high voltage mode, and the supplyable power estimated by the backup power control device through the estimation process is If the voltage is equal to or lower than the third threshold, a signal indicating permission to charge the backup low-voltage power supply using the power generated by the high-voltage power supply unit in the high-voltage mode is output.
根据结构3，在执行自主驾驶模式的过程中备用低压电源的可供给电力降低了的情况下，能够通过更短的时间使可供给电力恢复。According to the configuration 3, when the power available from the backup low-voltage power supply decreases while the autonomous driving mode is being executed, the power available can be restored in a shorter time.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2022-148848 | 2022-09-20 | ||
| JP2022148848AJP2024043705A (en) | 2022-09-20 | 2022-09-20 | vehicle power system |
| Publication Number | Publication Date |
|---|---|
| CN117734613Atrue CN117734613A (en) | 2024-03-22 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311061605.7APendingCN117734613A (en) | 2022-09-20 | 2023-08-22 | Vehicle power supply system |
| Country | Link |
|---|---|
| JP (1) | JP2024043705A (en) |
| CN (1) | CN117734613A (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10800278B2 (en)* | 2018-06-07 | 2020-10-13 | Ford Global Technologies, Llc | Vehicle low-voltage energy system control |
| JP7010988B2 (en)* | 2020-03-11 | 2022-01-26 | 本田技研工業株式会社 | Vehicle power supply |
| JP2024034433A (en)* | 2022-08-31 | 2024-03-13 | 株式会社デンソーテン | Control device and control method |
| Publication number | Publication date |
|---|---|
| JP2024043705A (en) | 2024-04-02 |
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