Vehicle

Abstract

A vehicle is provided. The safety of a high-voltage component such as an electric suspension device mounted on the vehicle is improved. A vehicle (1) includes a collision determination ECU (70) that determines the possibility of a collision based on a detection result of a detection sensor (SC) that detects the outside of the vehicle (1), a motor (46), a step-up circuit (26) and a battery (16) that supply a high voltage (VH) to the motor (46), and an electric suspension control ECU (20) that controls the step-up circuit (26) and the motor (46), wherein the electric suspension control ECU (20) limits the supply of the high voltage (VH) to the motor (46) when the collision determination ECU (70) determines that there is a possibility of a collision.

Description

Technical Field

[0001] The present invention relates to vehicles. Background Art

[0002] Conventionally, there is known technology related to an electric suspension device that is mounted on a vehicle and driven by a motor.

[0003] For example, regarding the electric suspension device described in Patent Document 1, regulations require that the output voltage (motor drive voltage) of a transformer such as a DC / DC converter that transforms the power supplied to the motor of the electric actuator be increased as much as possible within a specified voltage range (e.g., 48 V) or less.

[0004] Patent Document 1: Japanese Patent Application Laid-Open No. 2012-131395

[0005] However, in the electric suspension device described in Patent Document 1, when a three-phase AC brushless motor is used, the three-phase AC component is classified as high voltage due to its AC voltage of 30 V or higher. Furthermore, ensuring safety from high voltages during a vehicle collision requires ensuring the safety of the AC component, but Patent Document 1 does not describe this. Summary of the Invention

[0006] An object of the present invention is to improve the safety of high-voltage components such as an electric suspension device mounted on a vehicle.

[0007] One embodiment of the present invention is a vehicle comprising: a collision determination device that determines whether there is a possibility of a collision based on a detection result of a detection sensor that detects the exterior of the vehicle; a high-voltage component; a power supply device that supplies a high voltage to the high-voltage component; and a control device that controls the power supply device and the high-voltage component, wherein the control device limits the supply of the high voltage to the high-voltage component if the collision determination device determines that there is a possibility of a collision.

[0008] According to another aspect of the present invention, in the above-described vehicle, when the collision determination device determines that there is a possibility of a collision, the control device limits the voltage supplied to the high-voltage component to a predetermined voltage or less.

[0009] Another aspect of the present invention is the vehicle described above, wherein the high-voltage component is a motor driving an electric actuator in an electric suspension device, and the control device short-circuits the motor after supply of the high voltage to the motor is restricted.

[0010] Another aspect of the present invention is the vehicle described above, wherein the control device releases the restriction on the supply of the high voltage to the high voltage component if a predetermined condition is satisfied after the supply of the high voltage to the high voltage component is restricted.

[0011] According to another aspect of the present invention, in the above-mentioned vehicle, the predetermined condition includes at least one of the vehicle traveling at a predetermined speed or higher for a predetermined time and the vehicle traveling a predetermined distance.

[0012] Effects of the Invention

[0013] According to the present invention, the safety of high-voltage components such as an electric suspension device mounted on a vehicle can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a perspective view showing an example of the arrangement of an electric suspension device.

[0015] Figure 2 This is a diagram showing an example of the structure of an electric suspension device.

[0016] Figure 3 This is a diagram showing an example of the configuration of an inverter.

[0017] Figure 4 This is a flowchart showing an example of processing of the control ECU.

[0018] Description of labels

[0019] 1…Vehicle; 10…Electric suspension device; 12…Electric actuator; 12A…First electric actuator; 12B…Second electric actuator; 12C…Third electric actuator; 12D…Fourth electric actuator; 13…High-voltage line; 131…First high-voltage line; 132…Second high-voltage line; 133…Third high-voltage line; 14…Signal line; 141…First signal line; 142…Second signal line; 143…Third signal line; 144…Fourth signal line; 15…Low-voltage line; 16…Battery (part of the power supply unit); 20…Electric suspension control ECU (control unit); 21A…Memory; 21B…Processor; 211…Restriction instructing unit; 212…Restriction releasing unit; 22…Inverter; 22U1, 22U2, 22V1, 22V2, 22W1, 22W2…MO SFET; 24…drive circuit; 26…boost circuit (part of the power supply); 30…connecting portion; 32…inner tube; 34…nut; 40…outer tube; 42…screw shaft; 44…bearing; 46…motor (high-voltage component); 50u, 50v, 50w…motor coils; 64u, 64v, 64w…power lines; 70…collision detection ECU (collision detection device); 80…driving control ECU; BD…vehicle body; S1…acceleration sensor; S2…stroke sensor; S3…rotation angle sensor; S4…voltage sensor; SC…detection sensor; ST…stroke; TR…wheel; V…voltage; LC…travel distance; LCA…specified distance; VC…travel speed; VCA…specified speed; TC…travel time; TCA…specified time; α…acceleration; θ…rotation angle. DETAILED DESCRIPTION

[0020] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0021] [1. Structure of the electric suspension system]

[0022] Figure 1 It is a perspective view showing an example of the arrangement of the electric suspension device 10 . Figure 2 1 is a diagram showing an example of the structure of the electric suspension device 10 .

[0023] Reference Figure 1 and Figure 2 The electric suspension device 10 will be described.

[0024] like Figure 1 As shown, the vehicle 1 includes a vehicle body BD, four wheels TR, an electric suspension device 10 , and a detection sensor SC. The electric suspension device 10 includes an electric actuator 12 and an electric suspension control ECU 20 .

[0025] The electric actuator 12 is composed of a first electric actuator 12A, a second electric actuator 12B, a third electric actuator 12C, and a fourth electric actuator 12D. The first electric actuator 12A is positioned between the vehicle body BD and the right front wheel. The second electric actuator 12B is positioned between the vehicle body BD and the left front wheel. The third electric actuator 12C is positioned between the vehicle body BD and the right rear wheel. The fourth electric actuator 12D is positioned between the vehicle body BD and the left rear wheel.

[0026] The electric suspension control ECU 20 controls each of the first to fourth electric actuators 12A to 12D. The electric suspension control ECU 20 is connected to each of the first to fourth electric actuators 12A to 12D via a high-voltage line 13 , a signal line 14 , and a low-voltage line 15 .

[0027] The high voltage line 13 supplies power from the first to fourth electric actuators 12A to 12D, respectively. Figure 2 The high voltage VH of the battery 16 is shown. The high voltage VH is used to Figure 2 The high voltage VH is, for example, AC 33V to 37V.

[0028] Signal line 14 will Figure 2 Detection signals from the sensors S1 to S4 are transmitted to the electric suspension control ECU 20 .

[0029] Reference Figure 2 Sensors S1 to S4 will be described.

[0030] The low voltage line 15 supplies power from the first to fourth electric actuators 12A to 12D to each of them. Figure 2 The low voltage VL of the battery 16 is shown. The low voltage power is used for Figure 2 The operation of the sensors S1 to S4 is shown. The low voltage VL is, for example, DC 5V.

[0031] In the following description, the electric suspension control ECU 20 may be referred to as the control ECU 20 for convenience.

[0032] The detection sensor SC detects the exterior of the vehicle 1. The detection sensor SC includes at least one of a radar, a camera, a LiDAR (Light Detection And Ranging), and an ultrasonic sensor.

[0033] The detection sensor SC detects obstacles, other vehicles, human bodies, etc. outside the vehicle 1. The detection results of the detection sensor SC are transmitted to Figure 2The collision determination ECU 70 shown in FIG. Detection range DR indicates a range in which the detection sensor SC detects an object.

[0034] The first to fourth electric actuators 12A to 12D have substantially the same structure. Therefore, hereinafter, when the first to fourth electric actuators 12A to 12D are not distinguished from each other, the first to fourth electric actuators 12A to 12D may be simply referred to as the electric actuator 12 .

[0035] Next, refer to Figure 2 The structure of the electric actuator 12 will be described.

[0036] like Figure 2 As shown, the electric actuator 12 includes a coupling portion 30, an inner tube 32, and a nut 34 as components on the wheel TR side. Furthermore, the electric actuator 12 includes an outer tube 40, a screw shaft 42, a bearing 44, and a motor 46 as components on the vehicle body BD side. The outer tube 40, bearing 44, and motor 46 are fixed to a base frame 48 disposed below the vehicle body BD.

[0037] Reference Figure 3 The structure of the motor 46 will be described.

[0038] The motor 46 corresponds to an example of a “high-voltage component”.

[0039] The screw shaft 42 is supported by a bearing 44 and a nut 34. The inner surface of the nut 34 is screwed to a thread groove formed on the outer surface of the screw shaft 42 via the bearing.

[0040] The motor 46 rotates the screw shaft 42 to move the nut 34 in the vertical direction. The inner tube 32 moves downward by moving the nut 34 downward. The inner tube 32 moves upward by moving the nut 34 upward.

[0041] In this manner, the position of the inner tube 32 in the vertical direction relative to the outer tube 40 fixed to the underframe 48 of the vehicle body BD can be adjusted.

[0042] The connection portion 30 is fixed to the steering knuckle (not shown) of the suspension system, thereby connecting to the wheel TR. When vibration is input to the connection portion 30 from the wheel TR side, and an upward acceleration α is applied to the connection portion 30, for example, the inner tube 32 and the nut 34 move upward along with the outer tube 40. In this case, the motor 46 rotates the screw shaft 42, causing the inner tube 32 to absorb the upward acceleration α, i.e., move upward, thereby attenuating the vibration transmitted from the wheel TR to the vehicle body BD.

[0043] An acceleration sensor S1 , a stroke sensor S2 , a rotation angle sensor S3 , and a voltage sensor S4 are arranged in the electric actuator 12 .

[0044] The acceleration sensor S1 is fixed to, for example, the outer peripheral surface of the inner tube 32 , and detects the acceleration α applied to the coupling portion 30 from the wheel TR side.

[0045] The stroke sensor S2 is disposed at a position of the inner tube 32 facing the screw shaft 42, and detects a stroke ST indicating the amount of downward movement of the nut 34. The stroke sensor S2 is composed of a distance measuring sensor or the like.

[0046] The rotation angle sensor S3 is composed of a so-called resolver, a Hall element, or the like, and detects the rotation angle θ of the motor 46 .

[0047] The voltage sensor S4 detects a voltage V applied to the motor 46 . When the motor 46 is driven by electric power from the battery 16 , the voltage V indicates a high voltage VH supplied from the battery 16 via the high-voltage line 13 .

[0048] The acceleration α, the stroke ST, the rotation angle θ, and the voltage V are output to the control ECU 20 .

[0049] [2. Electric Suspension Control ECU Structure]

[0050] The control ECU 20 controls the motor 46 via the inverter 22 based on the detection results of the acceleration sensor S1 , the stroke sensor S2 , the rotation angle sensor S3 , and the voltage sensor S4 .

[0051] Reference Figure 3 The configuration of the inverter 22 will be described.

[0052] The control ECU 20 includes a memory 21A and a processor 21B.

[0053] Memory 21A is a storage device that nonvolatilely stores programs and data executed by processor 21B. Memory 21A is comprised of a magnetic storage device, a semiconductor storage element such as a flash ROM (Read Only Memory), or another type of nonvolatile storage device. Memory 21A may also include RAM (Random Access Memory), which serves as a work area for processor 21B. Memory 21A stores data processed by control ECU 20 and control programs executed by processor 21B.

[0054] The electric suspension control ECU 20 corresponds to an example of a “control device”.

[0055] The processor 21B may be composed of a single processor, or may be composed of a plurality of processors functioning as the processor 21 B. The processor 21B controls each component of the electric suspension device 10 by executing a control program.

[0056] The control ECU 20 includes a restriction instruction unit 211 and a restriction removal unit 212. Specifically, the processor 21B of the control ECU 20 functions as the restriction instruction unit 211 and the restriction removal unit 212 by executing a control program.

[0057] Furthermore, the control ECU 20 is communicably connected to the collision determination ECU 70 and the travel control ECU 80 .

[0058] The collision determination ECU 70 determines whether the vehicle 1 is likely to collide based on the detection result of the detection sensor SC. The collision determination ECU 70 outputs the determination result of whether the vehicle 1 is likely to collide to the control ECU 20.

[0059] The travel control ECU 80 controls the travel of the vehicle 1 . The travel control ECU 80 outputs the travel speed VC of the vehicle 1 , the travel time TC of the vehicle 1 , and the travel distance LC of the vehicle 1 to the control ECU 20 .

[0060] The collision determination ECU 70 corresponds to an example of a “collision determination device”.

[0061] The restriction instruction unit 211 restricts the supply of the electric power of the high voltage VH to the motors 46 of the first to fourth electric actuators 12A to 12D, based on the determination result of the collision determination ECU 70 .

[0062] Specifically, if the collision determination ECU 70 determines that there is a possibility of a collision, the limit instruction unit 211 executes the following processing. Specifically, the limit instruction unit 211 limits the voltage supplied to the motor 46 via the boost circuit 26 to a predetermined voltage VA or less (including stopping the power supply to the motor 46). The predetermined voltage VA is, for example, 20V to 30V.

[0063] Reference Figure 3 The boost circuit 26 will be further described.

[0064] Furthermore, after limiting the electric power of the high voltage VH supplied to the motor 46 , the restriction instruction unit 211 short-circuits the motor 46 of each of the first to fourth electric actuators 12A to 12D.

[0065] Specifically, the restriction instruction unit 211 stops the supply of electric power to the motor 46 via the inverter 22 and short-circuits the motor 46 .

[0066] Reference Figure 3 The configuration of the inverter 22 will be described.

[0067] After the limit instructing unit 211 limits the high voltage VH supplied to the motor 46, the limit releasing unit 212 releases the short circuit of the motor 46 in each of the first to fourth electric actuators 12A to 12D when a predetermined condition is satisfied. The predetermined condition is, for example, a condition indicating that the possibility of a collision has been eliminated.

[0068] Specifically, the predetermined condition is, for example, that at least one of the following conditions is satisfied: the vehicle 1 has traveled at a speed of at least a predetermined vehicle speed VCA for a predetermined time TCA after the voltage supplied to the motor 46 is limited to a predetermined voltage VA or less, or the vehicle 1 has traveled a predetermined distance LCA after the voltage supplied to the motor 46 is limited to a predetermined voltage VA or less. After the limitation instruction unit 211 limits the supply of the high voltage VH to the motor 46, if the predetermined condition is satisfied, the limitation release unit 212 releases the conduction lock of the inverter 22 via the drive circuit 24, thereby releasing the short circuit of the motor 46 in each of the first to fourth electric actuators 12A to 12D.

[0069] Furthermore, after the restriction instructing unit 211 restricts the supply of high voltage VH to the motor 46 , the restriction releasing unit 212 releases the restriction on the supply of high voltage VH to the motor 46 of each of the first to fourth electric actuators 12A to 12D when a predetermined condition is satisfied.

[0070] Specifically, when at least one of the following conditions is satisfied: the vehicle 1 has traveled at a speed greater than or equal to the predetermined vehicle speed VCA for a predetermined time TCA; and the vehicle 1 has traveled a predetermined distance LCA, the restriction removal unit 212 removes the restriction on the supply of the high voltage VH to the motor 46 via the boost circuit 26. In other words, the restriction removal unit 212 supplies the high voltage VH to the motor 46 via the boost circuit 26.

[0071] like Figure 2 and Figure 3 As shown, the boost circuit 26 is disposed between the battery 16 and the inverter 22 . The boost circuit 26 boosts the voltage (eg, 12V to 16V) supplied from the battery 16 to a high voltage VH, and supplies the high voltage VH to the inverter 22 .

[0072] Furthermore, the boost circuit 26 limits the voltage supplied to the inverter 22 to a predetermined voltage VA or less according to an instruction from the limit instructing unit 211. Furthermore, the boost circuit 26 returns the voltage supplied to the inverter 22 from a predetermined voltage VA or less to a high voltage VH according to an instruction from the restriction releasing unit 212.

[0073] The battery 16 and the boost circuit 26 correspond to an example of a “power supply device”.

[0074] [3. Inverter Structure]

[0075] The control ECU 20 controls the inverter 22 via the drive circuit 24. The control ECU 20 controls the rotation direction and rotation speed of the motor 46 via the inverter 22. The control ECU 20 short-circuits the motor 46 by, for example, fixing the inverter 22 to an on state.

[0076] Figure 3 It is a diagram showing an example of the configuration of the inverter 22 .

[0077] like Figure 3 As shown, the inverter 22 includes a MOSFET (Metal-Oxide-Semiconductor Field Effect Transistor) 22U1 , a MOSFET 22U2 , a MOSFET 22V1 , a MOSFET 22V2 , a MOSFET 22W1 , and a MOSFET 22W2 . These six MOSFETs are turned on and off based on instructions from the control ECU 20 .

[0078] The motor 46 is, for example, a three-phase AC brushless motor. Figure 3 As shown, there are three motor coils 50u, 50v and 50w.

[0079] The motor 46 is driven by electric power supplied from the battery 16 via the inverter 22. Figure 2 The screw shaft 42 is shown rotating.

[0080] The limit instruction unit 211 of the control ECU 20 short-circuits the motor 46 by fixing the three MOSFETs on the low-side of the inverter 22 , ie, the MOSFET 22U2 , the MOSFET 22V2 , and the MOSFET 22W2 , to be conductive.

[0081] Furthermore, the limit instruction unit 211 of the control ECU 20 stops the supply of power from the battery 16 to the motor 46 by turning off and fixing the three MOSFETs on the high side of the inverter 22 , namely, the MOSFET 22U1 , the MOSFET 22V1 , and the MOSFET 22W1 .

[0082] Alternatively, the limit instruction unit 211 may fix the three MOSFETs on the high side to be turned off and then fix the three MOSFETs on the low side to be turned on.

[0083] The restriction removal unit 212 of the control ECU 20 releases the conduction fixation of the three MOSFETs on the low side of the inverter 22 , ie, the MOSFET 22U2 , the MOSFET 22V2 , and the MOSFET 22W2 , thereby releasing the short circuit of the motor 46 .

[0084] Furthermore, the restriction removal unit 212 of the control ECU 20 releases the stop of the power supply from the battery 16 to the motor 46 by releasing the OFF fixation of the three MOSFETs on the high side of the inverter 22 , ie, MOSFET 22U1 , MOSFET 22V1 , and MOSFET 22W1 .

[0085] Alternatively, the restriction releasing unit 212 may release the off-state fixing of the three MOSFETs on the high side after releasing the on-state fixing of the three MOSFETs on the low side.

[0086] [4. Control ECU Processing]

[0087] Figure 4 This is a flowchart showing an example of processing by the electric suspension control ECU 20 .

[0088] First, in step S101 , the restriction instruction unit 211 determines whether there is a possibility of a collision based on the determination result of the collision determination ECU 70 .

[0089] If the restriction instruction unit 211 determines that there is no possibility of a collision (step S101 ; No), the process enters a standby state. If the restriction instruction unit 211 determines that there is a possibility of a collision (step S101 ; Yes), the process proceeds to step S103 .

[0090] Then, in step S103 , the restriction instruction unit 211 restricts the voltage supplied to the motor 46 of each of the first to fourth electric actuators 12A to 12D to a predetermined voltage VA or less (including stopping the power supply to the motor 46 ).

[0091] Next, in step S105 , the restriction instruction unit 211 short-circuits the motor 46 of each of the first to fourth electric actuators 12A to 12D.

[0092] Next, in step S107 , after the voltage supplied to the motor 46 is limited to the predetermined voltage VA in step S103 , the restriction removal unit 212 determines whether the vehicle 1 has traveled at a speed greater than or equal to the predetermined vehicle speed VCA for a predetermined time TCA.

[0093] If restriction removal unit 212 determines that vehicle 1 has traveled at a speed greater than or equal to predetermined speed VCA for predetermined time TCA (step S107: Yes), the process proceeds to step S111. If restriction removal unit 212 determines that vehicle 1 has not traveled at a speed greater than or equal to predetermined speed VCA for predetermined time TCA (step S107: No), the process proceeds to step S109.

[0094] Then, in step S109 , after the voltage supplied to the motor 46 is limited to be equal to or less than the predetermined voltage VA in step S103 , the restriction removal unit 212 determines whether the vehicle 1 has traveled the predetermined distance LCA.

[0095] If restriction removal unit 212 determines that vehicle 1 has not traveled the predetermined distance LCA (step S109; No), the process returns to step S107. If restriction removal unit 212 determines that vehicle 1 has traveled the predetermined distance LCA (step S109; Yes), the process proceeds to step S111.

[0096] Then, in step S111 , the restriction release unit 212 releases the short circuit of the motor 46 of each of the first to fourth electric actuators 12A to 12D.

[0097] Next, in step S113 , the restriction removal unit 212 removes the restriction on the supply of the high voltage VH to the motor 46 of each of the first to fourth electric actuators 12A to 12D. The process then ends.

[0098] As reference Figure 4 As described above, when it is determined that there is a possibility of a collision, the voltage supplied to the motor 46 is limited to be equal to or lower than the predetermined voltage VA, thereby improving the safety of the motor 46 .

[0099] Furthermore, when it is determined that there is a possibility of a collision, the motor 46 is short-circuited, so that the motor 46 can generate regenerative power and apply a braking force to the motor 46. Therefore, the operation of the electric actuator 12 constituting the electric suspension device 10 can be restricted.

[0100] Furthermore, if the vehicle 1 has traveled at a speed greater than or equal to a predetermined speed VCA for a predetermined time TCA, or if the vehicle 1 has traveled a predetermined distance LCA, it can be estimated that the possibility of a collision has been eliminated. Consequently, the short circuit in the motor 46 is released, and the restriction on the supply of high voltage VH to the motor 46 is removed. As a result, the electric actuator 12 can attenuate vibrations transmitted from the wheel TR to the vehicle body BD.

[0101] [5. Structure and Effect]

[0102] As described above, the vehicle 1 of this embodiment includes: a collision determination ECU 70, which determines whether there is a possibility of a collision based on the detection results of the detection sensor SC that detects the outside of the vehicle 1; a high-voltage component (for example, a motor 46); a battery 16 and a boost circuit 26 that supply a high voltage VH to the high-voltage component; and an electric suspension control ECU 20, which controls the boost circuit 26 and the high-voltage component. When the collision determination ECU 70 determines that there is a possibility of a collision, the electric suspension control ECU 20 limits the supply of the high voltage VH to the high-voltage component.

[0103] According to this configuration, when the collision determination ECU 70 determines that there is a possibility of a collision, the electric suspension control ECU 20 limits the supply of the high voltage VH to the high-voltage components (eg, the motor 46 ), thereby improving the safety of the high-voltage components.

[0104] Furthermore, when the collision determination ECU 70 determines that there is a possibility of a collision, the electric suspension control ECU 20 limits the voltage supplied to the high-voltage component (for example, the motor 46 ) to a predetermined voltage or less.

[0105] According to this configuration, when it is determined that there is a possibility of a collision, the voltage supplied to the high-voltage component is limited to a predetermined voltage or less, thereby improving the safety of the high-voltage component (for example, the motor 46 ).

[0106] The high-voltage component is the motor 46 that drives the electric actuator 12 in the electric suspension device 10 . The electric suspension control ECU 20 short-circuits the motor 46 after limiting the supply of the high voltage VH to the motor 46 .

[0107] According to this configuration, when it is determined that there is a possibility of a collision, the supply of high voltage VH to motor 46 is restricted, and motor 46 is short-circuited, thereby enabling motor 46 to generate regenerative power and applying a braking force to motor 46. Consequently, the operation of electric actuator 12 constituting electric suspension device 10 can be restricted.

[0108] Furthermore, after limiting the supply of the high voltage VH to the motor 46 , the electric suspension control ECU 20 releases the limitation on the supply of the high voltage VH to the motor 46 when a predetermined condition is satisfied.

[0109] According to this configuration, by appropriately setting a predetermined condition, it is possible to appropriately release the restriction on the supply of high voltage VH to motor 46. The predetermined condition is, for example, a condition indicating that the possibility of a collision has been eliminated.

[0110] The predetermined condition includes at least one of the vehicle 1 traveling at a predetermined vehicle speed VCA or higher for a predetermined time TCA and the vehicle 1 traveling a predetermined distance LCA.

[0111] Therefore, the predetermined condition can be appropriately set. Therefore, the restriction on the supply of the high voltage VH to the motor 46 can be appropriately released.

[0112] [6. Other implementation methods]

[0113] The present invention is not limited to the configuration of the above-described embodiment, and can be implemented in various forms without departing from the spirit and scope of the invention.

[0114] For example, in the above embodiment, the "high voltage component" is described as the electric actuator 12, but the present invention is not limited thereto. The "high voltage component" may be, for example, any of an in-wheel motor, an air conditioner, a travel motor, and an electric stabilizer.

[0115] In the above embodiment, the “power supply device” is described as the battery 16 and the boost circuit 26, but the present invention is not limited thereto. The “power supply device” may be a generator such as an AC generator.

[0116] Furthermore, in the above embodiment, the case where the high voltage VH is supplied via the booster circuit 26 has been described. However, the booster circuit 26 may not be used and the high voltage VH may be supplied directly from a battery for the high voltage VH.

[0117] Alternatively, the high voltage VH may be supplied from a high-voltage battery via a step-down circuit.

[0118] Furthermore, in the above embodiment, the electric suspension device 10 is described as including the first to fourth electric actuators 12A, 12D. However, the present invention is not limited thereto. For example, the electric suspension device 10 may include the third and fourth electric actuators 12C, 12D, but not the first and second electric actuators 12A, 12B. Conversely, the electric suspension device 10 may include the first and second electric actuators 12A, 12B, but not the third and fourth electric actuators 12C, 12D.

[0119] Furthermore, in the above embodiment, the electric actuator 12 is described as including the acceleration sensor S1 , the stroke sensor S2 , the rotation angle sensor S3 , and the voltage sensor S4 . However, the voltage sensor S4 may be omitted.

[0120] Furthermore, in the above embodiment, the limitation instruction unit 211 has been described as short-circuiting the motor 46 by fixing the three MOSFETs on the high side of the inverter 22 to be off and fixing the three MOSFETs on the low side to be on. However, the present invention is not limited thereto. For example, the electric suspension device 10 may include a short-circuit circuit for short-circuiting the motor 46, and the limitation instruction unit 211 may short-circuit the motor 46 via the short-circuit circuit.

[0121] Furthermore, if the control of the electric actuator 12 cannot be continued normally with the voltage supplied to the motor 46 limited to a predetermined voltage VA or less, it is necessary to short-circuit the motor 46 as described above. However, if the control of the electric actuator 12 can be continued normally with the voltage supplied to the motor 46 limited to a predetermined voltage VA or less, the motor 46 does not need to be short-circuited.

[0122] Figure 2 At least a part of each functional block shown is configured to be realized by hardware or by hardware and software, and is not limited to the configuration in which independent hardware resources are arranged as shown in the figure.

[0123] The control program executed by the processor 21B of the electric suspension control ECU 20 of the electric suspension device 10 is stored in the memory 21A. However, the control program may be stored in an external HDD or the like.

[0124] To facilitate understanding of the processing of the electric suspension control ECU 20 of the electric suspension device 10, Figure 4 The processing units in the flowchart shown are divided according to the main processing contents. Figure 4 The processing units shown in the flowchart are not limited by the method or name of division. The processing of the electric suspension control ECU 20 can be divided into more processing units according to the processing content, and can also be divided so that one processing unit includes more processing. The processing order of the above flowchart is not limited to the example shown in the figure.

[0125] The control method of the electric suspension control ECU 20 can be implemented by causing the processor 21B of the electric suspension control ECU 20 to execute a control program corresponding to the control method of the electric suspension control ECU 20. The control program can be pre-recorded on a computer-readable recording medium. The recording medium can be a magnetic recording medium, an optical recording medium, or a semiconductor memory device. Specifically, examples include portable or fixed recording media such as floppy disks, CD-ROMs (Compact Disk Read Only Memory), DVDs (Digital Versatile Discs), Blu-ray Discs (registered trademark), magneto-optical disks, flash memories, and card-type recording media. The recording medium can be an internal storage device of the electric suspension device 10, i.e., a non-volatile storage device such as RAM, ROM, or HDD. The control program corresponding to the control method of the electric suspension control ECU 20 is stored in a server device, etc., and the control program is downloaded from the server device to the electric suspension control ECU 20, thereby implementing the control method of the electric suspension control ECU 20.

[0126] [7. Structures supported by the above-mentioned implementation methods]

[0127] The above-mentioned embodiment supports the following structure.

[0128] (Structure 1) A vehicle comprising: a collision determination device that determines whether or not there is a possibility of a collision based on detection results from a detection sensor that detects the exterior of the vehicle; a high-voltage component; a power supply device that supplies a high voltage to the high-voltage component; and a control device that controls the power supply device and the high-voltage component, wherein the control device limits the supply of the high voltage to the high-voltage component if the collision determination device determines that there is a possibility of a collision.

[0129] According to the vehicle of Structure 1, when it is determined that there is a possibility of a collision, the supply of the high voltage to the high-voltage component is restricted, thereby improving the safety of the high-voltage component.

[0130] (Structure 2) The vehicle according to Structure 1, wherein, when the collision determination device determines that there is a possibility of a collision, the control device limits the voltage supplied to the high-voltage component to a predetermined voltage or less.

[0131] According to the vehicle of Structure 2, when it is determined that there is a possibility of a collision, the voltage supplied to the high-voltage component is limited to a predetermined voltage or less, thereby improving the safety of the high-voltage component.

[0132] (Structure 3) In the vehicle according to Structure 1 or 2, the high-voltage component is a motor that drives an electric actuator in an electric suspension device, and the control device short-circuits the motor after supply of the high voltage to the motor is restricted.

[0133] In the vehicle of Structure 3, the high-voltage component is a motor that drives the electric actuator in the electric suspension system. If a collision is determined to be possible, the supply of high voltage to the motor is restricted, and the motor is short-circuited. This allows the motor to generate regenerative power and apply braking force to the motor. Consequently, the operation of the electric actuator that constitutes the electric suspension system can be restricted.

[0134] (Structure 4) The vehicle according to any one of Structures 1 to 3, wherein the control device, after limiting the supply of the high voltage to the high-voltage component, releases the limitation on the supply of the high voltage to the high-voltage component when a predetermined condition is satisfied.

[0135] According to the vehicle of Structure 4, after the supply of the high voltage to the high-voltage component is restricted, the restriction on the supply of the high voltage to the high-voltage component is released when a predetermined condition is satisfied. Therefore, by appropriately setting the predetermined condition, the restriction on the supply of the high voltage to the high-voltage component can be appropriately released. The predetermined condition is, for example, a condition indicating that the possibility of a collision has been eliminated.

[0136] (Structure 5) The vehicle according to Structure 4, wherein the predetermined condition includes at least one of the vehicle traveling at a predetermined speed or higher for a predetermined time and the vehicle traveling a predetermined distance.

[0137] According to the vehicle of Configuration 5, the predetermined condition includes at least one of the vehicle traveling at a predetermined speed or higher for a predetermined time and the vehicle traveling a predetermined distance. After limiting the supply of the high voltage to the high-voltage component, if the vehicle has traveled at a predetermined speed or higher for a predetermined time, it is estimated that the possibility of a collision has been eliminated. Furthermore, after limiting the supply of the high voltage to the high-voltage component, if the vehicle has traveled a predetermined distance, it is determined that the possibility of a collision has been eliminated. Therefore, the predetermined condition can be appropriately set.

Claims

1. A vehicle, wherein: The vehicle includes: a collision determination device including a first processor that determines whether there is a possibility of collision between the vehicle and an obstacle based on a detection result of a detection sensor that detects an obstacle outside the vehicle; and a high-voltage component that is a motor that drives an electric actuator in an electric suspension device; a power supply device that supplies a high voltage for driving the high voltage component to the high voltage component; and a control device having a second processor that controls the power supply device and the high voltage component, The power supply device includes a battery and a boost circuit for boosting a voltage supplied from the battery to the high voltage. When the first processor of the collision determination device determines that there is a possibility of a collision, the second processor of the control device limits the voltage supplied to the high-voltage component in the booster circuit to a predetermined voltage or less.

2. The vehicle according to claim 1, wherein The second processor of the control device short-circuits the motor after supply of the high voltage to the motor is restricted.

3. The vehicle according to claim 1, wherein: The second processor of the control device releases the restriction on the supply of the high voltage to the high-voltage component if a predetermined condition is satisfied after the supply of the high voltage to the high-voltage component is restricted.

4. The vehicle according to claim 3, wherein: The predetermined condition includes at least one of the vehicle traveling at a predetermined speed or higher for a predetermined time and the vehicle traveling a predetermined distance.

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