Power supply device, control method, and control program

Abstract

To provide a power supply device, a control method, and a control program capable of determining failure of a switching element while continuing power supply to each power apparatus.SOLUTION: A power supply device includes: power supply lines L31, L32 that connect a main power supply 201 and a power apparatus; a power supply line L41 that connects an auxiliary power supply 202 and the power supply line L31; a power supply line L42 that connects the auxiliary power supply 202 and the power supply line L32; a switching element s31 provided on the power supply line L31; a switching element s32 provided on the power supply line L32; a switching element s41 provided on the power supply line L41; a switching element s42 provided on the power supply line L42; and a power supply control unit 56 for detecting failure of the switching element s31 by comparing output values on an upstream side and a downstream side of the switching element s31 in a state where the switching elements s31, s41 are open and the switching elements s32, s42 are closed.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present invention relates to a power supply device, a control method, and a control program. [Background technology]

[0002] In recent years, efforts to provide access to sustainable transport systems that take into consideration vulnerable transport participants have been gaining momentum. To achieve this, we are focusing on research and development into driver assistance technologies to further improve road safety and convenience.

[0003] Conventionally, a remote parking system is known that remotely controls a vehicle to park the vehicle in a designated parking space or to withdraw the vehicle from the parking space. Also known is a vehicle equipped with a main power source (secondary battery) that supplies power to the vehicle's electrical components during normal vehicle driving or vehicle parking control, and an auxiliary power source (capacitor) that supplies power to a safety device that slows down / stops the vehicle when the main power source fails. When the vehicle is equipped with a main power source and an auxiliary power source, for example, a switching element is used to switch between the power supply from the main power source and the power supply from the auxiliary power source. For this reason, it is important that the switching element operates without failure in order to correctly switch the power supply.

[0004] Patent document 1 describes an electronic control device for a vehicle that determines whether or not a power switch is stuck on by determining whether or not the voltage difference between upstream and downstream of the power switch fluctuates in response to a change in the charging function of the charging unit when the power switch is controlled from on to off.

[0005] Patent Document 2 describes a power supply circuit that, for example, when a seventh MOSFET (Metal Oxide Semiconductor Field effect transistor) to a tenth MOSFET are in a power supplying state, determines that the seventh MOSFET has an open circuit failure when an intermediate potential Vm5 is 0V while an intermediate potential Vm6 is the same potential as the power supply voltage of the main power supply, and determines that the first MOSFET has a short circuit failure when the first to sixth MOSFETs are in a cutoff state and an intermediate potential Vm1 is the same potential as the output voltage of the auxiliary power supply. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Patent No. 7099376 [Patent Document 2] JP 2020-178474 A Summary of the Invention [Problem to be solved by the invention]

[0007] According to Patent Document 1 and Patent Document 2, it is possible to detect the presence or absence of a failure in a switching element. However, it is desirable to be able to detect a failure in a switching element early and easily after the failure occurs. Therefore, there is room for further improvement in the prior art with respect to the method of detecting a failure in a switching element.

[0008] The present invention aims to provide a power supply device, a control method, and a control program that are capable of determining whether a switching element has failed while continuing to supply power to each power device, thereby contributing to the development of a sustainable transportation system. [Means for solving the problem]

[0009] The present invention relates to A main power source that supplies power to the power equipment; an auxiliary power source different from the main power source, which supplies power to the power device; a first main power supply line connecting the main power supply and the power device; a second main power supply line different from the first main power supply line, the second main power supply line connecting the main power supply and the power device; a first auxiliary power supply line connecting the auxiliary power supply and the first main power supply line; a second auxiliary power supply line connecting the auxiliary power supply and the second main power supply line; a first switching element provided in the first main power supply line and configured to switch a state of power supply from the main power supply to the power device; a second switching element provided in the second main power supply line and configured to switch a state of power supply from the main power supply to the power device; a third switching element provided in the first auxiliary power supply line and configured to switch a state of power supply from the auxiliary power supply to the power device; a fourth switching element provided in the second auxiliary power supply line and configured to switch a state of power supply from the auxiliary power supply to the power device; a failure detection unit that detects a failure of the first switching element or the second switching element, the failure detection unit detects a failure of the first switching element by comparing an output value on an upstream side with an output value on a downstream side of the first switching element while the first switching element and the third switching element are open and the second switching element and the fourth switching element are closed. It is a power supply.

[0010] The present invention relates to A main power source that supplies power to the power equipment; an auxiliary power source different from the main power source, which supplies power to the power device; a first main power supply line connecting the main power supply and the power device; a second main power supply line different from the first main power supply line, the second main power supply line connecting the main power supply and the power device; a first auxiliary power supply line connecting the auxiliary power supply and the first main power supply line; a second auxiliary power supply line connecting the auxiliary power supply and the second main power supply line; a first switching element provided in the first main power supply line and configured to switch a state of power supply from the main power supply to the power device; a second switching element provided in the second main power supply line and configured to switch a state of power supply from the main power supply to the power device; a third switching element provided in the first auxiliary power supply line and configured to switch a state of power supply from the auxiliary power supply to the power device; a fourth switching element provided in the second auxiliary power supply line and configured to switch a state of power supply from the auxiliary power supply to the power device; A control method for a power supply device comprising: a processor of the power supply device, a failure of the first switching element is detected by comparing an output value on an upstream side and an output value on a downstream side of the first switching element while the first switching element and the third switching element are opened and the second switching element and the fourth switching element are closed; It is a control method.

[0011] The present invention relates to A main power source that supplies power to the power equipment; an auxiliary power source different from the main power source, which supplies power to the power device; a first main power supply line connecting the main power supply and the power device; a second main power supply line different from the first main power supply line, the second main power supply line connecting the main power supply and the power device; a first auxiliary power supply line connecting the auxiliary power supply and the first main power supply line; a second auxiliary power supply line connecting the auxiliary power supply and the second main power supply line; a first switching element provided in the first main power supply line and configured to switch a state of power supply from the main power supply to the power device; a second switching element provided in the second main power supply line and configured to switch a state of power supply from the main power supply to the power device; a third switching element provided in the first auxiliary power supply line and configured to switch a state of power supply from the auxiliary power supply to the power device; a fourth switching element provided in the second auxiliary power supply line and configured to switch a state of power supply from the auxiliary power supply to the power device; A control program for a power supply device comprising: a processor of the power supply, a failure of the first switching element is detected by comparing an output value on an upstream side and an output value on a downstream side of the first switching element while the first switching element and the third switching element are opened and the second switching element and the fourth switching element are closed; This is a control program for executing the processing. Effect of the Invention

[0012] According to the present invention, it is possible to provide a power supply device, a control method, and a control program that are capable of determining whether a switching element has failed while continuing to supply power to each power device. [Brief description of the drawings]

[0013] [Figure 1] 1 is a side view showing an example of a vehicle equipped with a power supply device according to the present invention. [Diagram 2] FIG. 2 is a top view of the vehicle shown in FIG. [Diagram 3] 2 is a block diagram showing an internal configuration of the vehicle shown in FIG. 1. [Figure 4] FIG. 2 is a diagram illustrating an example of a circuit configuration of a power supply device. [Diagram 5] FIG. 4 is a diagram illustrating the operation of the power supply device when the ignition is turned on. [Figure 6] 11A and 11B are diagrams illustrating the operation of the power supply device when charging of the auxiliary power supply is completed. [Figure 7] 10A and 10B are diagrams illustrating the operation of the power supply device when a failure in the main power supply is detected. [Figure 8]1 is a diagram (part 1) for explaining the operation of the power supply device when detecting whether or not a switching element has failed. FIG. [Figure 9] FIG. 2 is a diagram (part 2) for explaining the operation of the power supply device when detecting the presence or absence of a failure in a switching element. [Figure 10] 10 is a flowchart (part 1) illustrating an example of a process for determining whether a switching element is defective, performed by a power supply control unit. [Figure 11] 11 is a flowchart (part 2) illustrating an example of a process for determining whether a switching element is defective, performed by a power supply control unit. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, an embodiment of the power supply device, control method, and control program of the present invention will be described with reference to the attached drawings. The drawings are to be viewed in the direction of the reference symbols. In this specification and the like, for the sake of simplicity and clarity, the front / rear, left / right, and up / down directions are described according to the direction as seen by the driver of the vehicle 10 shown in Figures 1 and 2, and in the drawings, the front of the vehicle 10 is indicated as Fr, the rear as Rr, the left as L, the right as R, the top as U, and the bottom as D.

[0015] <Vehicle 10 equipped with the power supply device of the present invention> Fig. 1 is a side view showing an example of a vehicle 10 equipped with a power supply device of the present invention. Fig. 2 is a top view of the vehicle 10 shown in Fig. 1. The vehicle 10 is an example of the "mobile body" of the present invention.

[0016] The vehicle 10 is an automobile having a drive source (not shown) and wheels including drive wheels driven by the power of the drive source and steerable wheels. In this embodiment, the vehicle 10 is a four-wheel automobile having a pair of left and right front wheels and rear wheels. The drive source of the vehicle 10 is, for example, an electric motor. The drive source of the vehicle 10 may be an internal combustion engine such as a gasoline engine or a diesel engine, or may be a combination of an electric motor and an internal combustion engine. The drive source of the vehicle 10 may drive a pair of left and right front wheels, a pair of left and right rear wheels, or a pair of left and right front wheels and rear wheels, i.e., four wheels. Both the front wheels and the rear wheels may be steerable wheels, or one of them may be steerable wheels.

[0017] The vehicle 10 further includes side mirrors 11L, 11R. The side mirrors 11L, 11R are mirrors (rear-view mirrors) provided on the outside of the front doors of the vehicle 10 to allow the driver to check the rear and rear sides. The side mirrors 11L, 11R are fixed to the body of the vehicle 10 by a rotation shaft that extends vertically, and can be opened and closed by rotating around the rotation shaft.

[0018] The vehicle 10 further includes a front camera 12Fr, a rear camera 12Rr, a left side camera 12L, and a right side camera 12R. The front camera 12Fr is a digital camera provided in front of the vehicle 10 and captures an image in front of the vehicle 10. The rear camera 12Rr is a digital camera provided in the rear of the vehicle 10 and captures an image in the rear of the vehicle 10. The left side camera 12L is a digital camera provided in the left side mirror 11L of the vehicle 10 and captures an image in the left side of the vehicle 10. The right side camera 12R is a digital camera provided in the right side mirror 11R of the vehicle 10 and captures an image in the right side of the vehicle 10.

[0019] <Internal configuration of vehicle 10> Fig. 3 is a block diagram showing an example of the internal configuration of the vehicle 10 shown in Fig. 1. As shown in Fig. 3, the vehicle 10 has a sensor group 16, a navigation device 18, a control ECU (Electronic Control Unit) 20, an EPS (Electric Power Steering) system 22, and a communication unit 24. The vehicle 10 also has a driving force control system 26, a braking force control system 28, and a power source 30.

[0020] The sensor group 16 acquires various detection values ​​used for control by the control ECU 20. The sensor group 16 includes a front camera 12Fr, a rear camera 12Rr, a left side camera 12L, and a right side camera 12R. The sensor group 16 also includes a front sonar group 32a, a rear sonar group 32b, a left side sonar group 32c, and a right side sonar group 32d. The sensor group 16 also includes wheel sensors 34a, 34b, a vehicle speed sensor 36, and an operation detection unit 38. The sensor group 16 may also include a radar.

[0021] The front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R capture images of the periphery of the vehicle 10 to obtain recognition data (e.g., peripheral image data) for recognizing the outside world of the vehicle 10. The peripheral images captured by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R are referred to as a front image, a rear image, a left side image, and a right side image, respectively. An image composed of the left side image and the right side image may be referred to as a lateral image.

[0022] The front sonar group 32a, the rear sonar group 32b, the left side sonar group 32c, and the right side sonar group 32d emit sound waves around the vehicle 10 and receive reflected sounds from other objects. The front sonar group 32a includes, for example, four sonars. The sonars constituting the front sonar group 32a are provided diagonally forward left, forward left, forward right, and diagonally forward right of the vehicle 10, respectively. The rear sonar group 32b includes, for example, four sonars. The sonars constituting the rear sonar group 32b are provided diagonally backward left, backward left, backward right, and diagonally backward right of the vehicle 10, respectively. The left side sonar group 32c includes, for example, two sonars. The sonars constituting the left side sonar group 32c are provided diagonally forward left and rear left of the vehicle 10, respectively. The right side sonar group 32d includes, for example, two sonars. The sonars constituting the right side sonar group 32d are provided at the front and rear of the right side of the vehicle 10, respectively.

[0023] The wheel sensors 34a, 34b detect the rotation angle of the wheels of the vehicle 10. The wheel sensors 34a, 34b may be configured by angle sensors or displacement sensors. The wheel sensors 34a, 34b output a detection pulse every time the wheels rotate a predetermined angle. The detection pulses output from the wheel sensors 34a, 34b are used to calculate the rotation angle and rotation speed of the wheels. The travel distance of the vehicle 10 is calculated based on the rotation angle of the wheels. The wheel sensor 34a detects, for example, the rotation angle θa of the left rear wheel. The wheel sensor 34b detects, for example, the rotation angle θb of the right rear wheel.

[0024] The vehicle speed sensor 36 detects the speed of the body of the vehicle 10, that is, the vehicle speed V, and outputs the detected vehicle speed V to the control ECU 20. The vehicle speed sensor 36 detects the vehicle speed V based on, for example, the rotation of a countershaft of the transmission.

[0025] The operation detection unit 38 detects the operation contents performed by the user using the operation input unit 14, and outputs the detected operation contents to the control ECU 20. The operation input unit 14 includes various user interfaces, such as a side mirror switch that switches the open / closed state of the side mirrors 11L, 11R, and a shift lever (select lever or selector).

[0026] The navigation device 18 detects the current position of the vehicle 10 using, for example, a Global Positioning System (GPS), and provides the user with guidance on a route to the destination. The navigation device 18 has a storage device (not shown) that includes a map information database.

[0027] The navigation device 18 is equipped with a touch panel 42 and a speaker 44. The touch panel 42 functions as an input device and a display device for the control ECU 20. The speaker 44 outputs various types of guidance information to the user of the vehicle 10 by voice.

[0028] The touch panel 42 is configured to input various commands to the control ECU 20. For example, the user can input commands related to the movement support of the vehicle 10 via the touch panel 42. The movement support includes parking support and exit support for the vehicle 10. The touch panel 42 is also configured to display various screens related to the control contents of the control ECU 20. For example, the touch panel 42 displays a screen related to the movement support of the vehicle 10. Specifically, the touch panel 42 displays a parking support button for requesting parking support for the vehicle 10 and an exit support button for requesting exit support. The parking support buttons include an automatic parking button for requesting parking by automatic steering of the control ECU 20 and an auxiliary parking button for requesting assistance when parking by a user's operation. The exit support buttons include an automatic exit button for requesting exit by automatic steering of the control ECU 20 and an auxiliary exit button for requesting assistance when exiting by a user's operation. Note that components other than the touch panel 42, such as a smartphone or a tablet terminal, may be used as the input device or the display device.

[0029] The power source 30 includes a main power source 201 and an auxiliary power source 202. The main power source 201 is a power source that supplies power to power devices equipped in the vehicle 10. For example, the main power source 201 supplies power to an anti-lock brake system (ABS) that operates when braking suddenly, and an electric power steering (EPS) that operates when steering suddenly. The main power source 201 also supplies power to an auto parking system (APS) for automatically parking the vehicle 10. The main power source 201 also supplies power to a vehicle stability assist (VSA) and an electric parking brake (EPB) that decelerate or stop the vehicle 10. The main power source 201 is a power source that supplies (charges) power to the auxiliary power source 202 via a pass-through circuit.

[0030] The auxiliary power supply 202 is a power supply that supplies power to the VSA and EPB when the main power supply 201 fails. The auxiliary power supply 202 is used to activate a fail-safe by the operation of the VSA and EPB. The main power supply 201 is, for example, a secondary battery such as a lithium ion battery, a nickel metal hydride battery, or a lead storage battery. The auxiliary power supply 202 is, for example, an electric double layer capacitor. The main power supply 201 and the auxiliary power supply 202 are, for example, of 12V. The power supply 30 is connected to the control ECU 20.

[0031] The control ECU 20 has an input / output unit 50, a calculation unit 52, and a storage unit 54. The calculation unit 52 is configured by, for example, a CPU (Central Processing Unit). The calculation unit 52 performs various controls by controlling each unit based on a program stored in the storage unit 54. The calculation unit 52 also inputs and outputs signals between each unit connected to the control ECU 20 via the input / output unit 50. The control ECU 20 is an example of an "electric power device" in the present invention.

[0032] The calculation unit 52 has a movement control unit 55 that controls the movement of the vehicle 10, a power supply control unit 56 that detects failures in the main power supply 201 and the auxiliary power supply 202, and a notification unit 57 that notifies the user of information related to movement control.

[0033] The movement control unit 55 performs automatic parking assistance and automatic leaving assistance for the vehicle 10 by automatic steering, in which the operation of the steering wheel 110 is performed automatically under the control of the movement control unit 55. In the automatic parking assistance and automatic leaving assistance, the operation of the accelerator pedal (not shown), the brake pedal (not shown), and the operation input unit 14 is performed automatically. In addition, the movement control unit 55 performs auxiliary parking assistance and auxiliary leaving assistance when the user (driver) operates the accelerator pedal, the brake pedal, and the operation input unit 14 to manually park and manually leave the vehicle 10. Note that during the automatic parking assistance and automatic leaving assistance, the user may be in the vehicle 10 or may be outside the vehicle 10 after getting off the vehicle 10.

[0034] For example, the movement control unit 55 performs movement control to move the vehicle 10 based on the recognition data of the outside world of the vehicle 10 acquired by the front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R, and the parking space designated by the user. The movement control includes parking control to automatically park the vehicle 10 in a predetermined parking space (target parking position) and leaving control to automatically leave the vehicle 10 from the predetermined parking space to a target moving position. The movement control unit 55 can execute the parking control and leaving control according to an instruction signal input from the outside via the input / output unit 50. The input from the outside includes input by wireless communication from an information terminal or the like that is portable by the user of the vehicle 10. In addition, the movement control unit 55 can transmit information related to the parking control and leaving control to an external information terminal via the input / output unit 50.

[0035] Furthermore, when a failure is detected in the main power supply 201 of the vehicle 10, the movement control unit 55 controls the braking unit of the vehicle 10 to stop the vehicle 10. The braking unit of the vehicle 10 includes, for example, a braking force control system 28 described below. The braking unit and the movement control unit 55 are an example of the "electric power device" of the present invention.

[0036] When a failure related to the main power supply 201 of the vehicle 10 is detected, the power supply control unit 56 controls the power supply 30 to supply power from the auxiliary power supply 202 to the braking unit (electric power equipment). When a failure related to the main power supply 201 of the vehicle 10 is detected, the power supply control unit 56 determines whether or not the power supply to the electric power equipment can be stopped, and when the power supply to the electric power equipment can be stopped, controls to stop the power supply from the main power supply 201 to the electric power equipment. The power supply to the electric power equipment can be stopped when, for example, the operating system of the vehicle 10 can be safely stopped, when the vehicle 10 can be stopped in a safe place, after the vehicle 10 has been stopped, etc. When a failure related to the main power supply 201 is detected, the power supply control unit 56 transmits a failure detection signal to the notification unit 57.

[0037] The notification unit 57 notifies the user of the vehicle 10 when a failure related to the main power supply 201 is detected and the braking unit is controlled to stop the vehicle 10. The notification unit 57 notifies the user that the vehicle 10 will be stopped based on a failure detection signal from the power supply control unit 56. The notification includes, for example, a notification that "the vehicle 10 will be stopped because a failure has occurred in the power supply" and a notification regarding a response by the user. The notification may be a notification to an external server, a notification to an administrator, or a notification to the driver of the vehicle 10.

[0038] The EPS system 22 has a steering angle sensor 100, a torque sensor 102, an EPS motor 104, a resolver 106, and an EPS ECU 108. The steering angle sensor 100 detects a steering angle θst of a steering wheel 110. The torque sensor 102 detects a torque TQ applied to the steering wheel 110.

[0039] The EPS motor 104 applies a driving force or a reaction force to a steering column 112 connected to a steering wheel 110, thereby enabling assistance to the driver in operating the steering wheel 110 and automatic steering during parking assistance. A resolver 106 detects a rotation angle θm of the EPS motor 104. The EPS ECU 108 is responsible for the overall control of the EPS system 22. The EPS ECU 108 is equipped with an input / output unit (not shown), a calculation unit (not shown), and a storage unit (not shown).

[0040] The communication unit 24 enables wireless communication with other communication devices 120. The other communication devices 120 include base stations, communication devices of other vehicles, and information terminals such as smartphones or tablet terminals that are portable by the user of the vehicle 10. For example, the communication unit 24 includes a UWB (Ultra Wide Band: registered trademark) interface for performing UWB communication with the information terminal. The information terminal will be described later.

[0041] The driving force control system 26 is equipped with a driving ECU 130. The driving force control system 26 executes driving force control of the vehicle 10. The driving ECU 130 controls the driving force of the vehicle 10 by controlling an engine (not shown) and the like based on a user's operation of an accelerator pedal (not shown).

[0042] The braking force control system 28 includes a braking ECU 132. The braking force control system 28 executes control of the braking force of the vehicle 10. The braking ECU 132 controls the braking force of the vehicle 10 by controlling a brake mechanism (not shown) and the like based on a user's operation of a brake pedal (not shown).

[0043] <Power supply configuration and operation> Next, the configuration and operation of the power supply device 200 of the present invention will be described.

[0044] [Configuration of power supply device 200] Fig. 4 is a diagram showing an example of a circuit configuration of power supply device 200. As shown in Fig. 4, power supply device 200 has a main power supply 201, an auxiliary power supply 202, a power supply control unit 56, a first braking unit 60, a second braking unit 70, and a DC / DC converter 203. As described above, power supply device 200 is a power supply device mounted on vehicle 10. Furthermore, power supply control unit 56 in power supply device 200 is a power supply control unit included in control ECU 20. First braking unit 60 is an example of an "electric power device" in the present invention.

[0045] In the power supply device 200, a main power supply 201 is connected to a power supply control unit 56 via a power supply line L1. A fuse h2 is provided in the power supply line L1. The main power supply 201 is capable of supplying power to the power supply control unit 56. The power supply control unit 56 is an example of the "electric power device" of the present invention.

[0046] The main power supply 201 is also connected to the auxiliary power supply 202 via a power supply line L2a. A fuse h4 and a switching element s1 are connected in series to the power supply line L2a. The main power supply 201 is capable of supplying (charging) power to the auxiliary power supply 202.

[0047] The main power supply 201 is connected to the first braking unit 60 via a power supply line L31. A fuse h31 and a switching element s31 are connected in series to the power supply line L31. The switching element s31 is, for example, a field effect transistor. In the example shown in FIG. 4, the switching element s31 is configured as an N-channel type metal oxide semiconductor field effect transistor (MOSFET).

[0048] The N-channel MOSFET has a body diode Di in the forward direction from the source S to the drain D. The switching element s31 has a drain D connected to the fuse h31 and a source S connected to the first braking unit 60. However, the switching element s31 may be configured as a P-channel MOSFET.

[0049] The main power supply 201 is capable of supplying power to the first braking unit 60. The switching element s31 is capable of switching the state of power supply from the main power supply 201 to the first braking unit 60 by opening / closing the switching element s31. The power supply line L31 is an example of a "first main power supply line" in the present invention. The switching element s31 is an example of a "first switching element" in the present invention.

[0050] The main power supply 201 is connected to the first braking unit 60 via a power supply line L32. A fuse h32 and a switching element s32 are connected in series to the power supply line L32. The switching element s32 is configured of a field effect transistor (N-channel MOSFET) like the switching element s31.

[0051] The switching element s32 has a drain D connected to the fuse h32 and a source S connected to the first braking unit 60. The switching element s32 can switch the state of power supply from the main power supply 201 to the first braking unit 60 by opening / closing the switching element s32. The power supply line L32 is an example of a "second main power supply line" in the present invention. The switching element s32 is an example of a "second switching element" in the present invention.

[0052] In the example shown in Fig. 4, the power supply line L31 and the power supply line L32 are connected to the same first control unit (electric power device), but this is not limited to this. For example, the electric power device to which the power supply line L31 is connected and the electric power device to which the power supply line L32 is connected may be different electric power devices. Also, the first braking unit 60 may include multiple electric power devices, and the power supply line L31 and the power supply line L32 may be connected to different electric power devices among them.

[0053] The main power supply 201 is also connected to the second braking unit 70 via a power supply line L5. A fuse h5 is provided in the power supply line L5. The main power supply 201 is capable of supplying power to the second braking unit 70.

[0054] The auxiliary power supply 202 is connected to the power supply line L31 via the power supply line L2b and the power supply line L41. The auxiliary power supply 202 is connected to the power supply line L31 which is connected to the first braking unit 60. A switching element s2 is provided on the power supply line L2b. A switching element s41 is provided on the power supply line L41.

[0055] The switching element s2 and the switching element s41 are connected in series. The switching element s2 and the switching element s41 are configured with field effect transistors (N-channel MOSFETs) like the switching element s31. The drain D of the switching element s2 is connected to the auxiliary power supply 202, and the source S is connected to the source S of the switching element s41.

[0056] The drain D of the switching element s41 is connected to the source S of the switching element s31, i.e., the power supply line L31 connected to the first braking unit 60. The auxiliary power supply 202 is capable of supplying power to the first braking unit 60 via the switching element s2 and the switching element s41. The power supply line L41 is an example of a "first auxiliary power supply line" in the present invention. The switching element s41 is an example of a "third switching element" in the present invention.

[0057] Furthermore, the auxiliary power supply 202 is connected to the power supply line L32 via the power supply line L2b and the power supply line L42. The auxiliary power supply 202 is connected to the power supply line L32 which is connected to the first braking unit 60. As described above, the switching element s2 is provided in the power supply line L2b.

[0058] A switching element s42 is provided on the power supply line L42. The switching element s2 and the switching element s42 are connected in series. The switching element s42 is configured of a field effect transistor (N-channel MOSFET) like the switching element s31. The drain D of the switching element s2 is connected to the auxiliary power supply 202, and the source S is connected to the source S of the switching element s42.

[0059] The drain D of the switching element s42 is connected to the source S of the switching element s32, i.e., the power supply line L32 connected to the first braking unit 60. The auxiliary power supply 202 is capable of supplying power to the first braking unit 60 via the switching element s2 and the switching element s42. The power supply line L42 is an example of a "second auxiliary power supply line" in the present invention. The switching element s42 is an example of a "fourth switching element" in the present invention.

[0060] The DC / DC converter 203 is connected to the power supply control unit 56 via a power supply line L4. A fuse h1 is provided on the power supply line L4. The DC / DC converter 203 is capable of supplying power to the power supply control unit 56. The DC / DC converter 203 is also capable of supplying power to power devices such as headlights and other control units (not shown).

[0061] The power supply control unit 56 is connected to the switching element s1 of the power supply line L2a via a signal line l1. The power supply control unit 56 is also connected to the switching element s2 of the power supply line L2b via a signal line l2. The power supply control unit 56 is also connected to the switching element s31 of the power supply line L31 via a signal line l31.

[0062] The power supply control unit 56 is also connected to the switching element s32 of the power supply line L32 via a signal line l32. The power supply control unit 56 is also connected to the switching element s41 of the power supply line L41 via a signal line l41. The power supply control unit 56 is also connected to the switching element s42 of the power supply line L42 via a signal line l42.

[0063] The power supply control unit 56 is connected to gates G of the switching element s1, switching element s2, switching element s31, switching element s32, switching element s41, and switching element s42, each of which is made up of MOSFETs. The power supply control unit 56 functions as a switching control unit that switches between ON / OFF of the switching element s1, switching element s2, switching element s31, switching element s32, switching element s41, and switching element s42.

[0064] The power supply control unit 56 also has functions as power devices such as an integrated control module (ICM), an APS, a parking sensor system (PKS), an ABS, and an EPS.

[0065] The first braking unit 60 is included in, for example, the braking force control system 28 in Fig. 3. The first braking unit 60 includes a VSA, an EPB, etc. The second braking unit 70 is included in the braking force control system 28 in Fig. 3. The second braking unit 70 includes, for example, an ESB (Electric Servo Brake).

[0066] [Operation of power supply device 200 when ignition is on] Fig. 5 is a diagram illustrating the operation of the power supply device 200 when the ignition is turned on. When the ignition is turned on, the power supply control unit 56 of the power supply device 200 controls the switching element s31 of the power supply line L31 to a closed state and the switching element s32 of the power supply line L32 to a closed state, as shown in Fig. 5.

[0067] Further, the power supply control unit 56 controls the switching element s1 of the power supply line L2a to a closed state, the switching element s2 of the power supply line L2b to an open state, the switching element s41 of the power supply line L41 to an open state, and the switching element s42 of the power supply line L42 to an open state.

[0068] As a result, the power supply device 200 is in a state where power is supplied from the main power source 201 to the power supply control unit 56, the first braking unit 60, and the second braking unit 70. Also, the main power source 201 is in a state where power is supplied (charged) to the auxiliary power source 202. Note that the arrows in the figure indicate the direction of current flow. Also, in this example, the operation when the ignition is on has been described, but even during normal operation of the power supply device 200, the power supply control unit 56 similarly controls the switching elements.

[0069] [Operation of the power supply device 200 when charging of the auxiliary power supply 202 is completed] Fig. 6 is a diagram for explaining the operation of the power supply device 200 when charging of the auxiliary power supply 202 is completed. As described above in Fig. 5, when the ignition is turned on, power is charged from the main power supply 201 to the auxiliary power supply 202. When a certain time (e.g., 20 seconds) has elapsed after the ignition is turned on and charging of the auxiliary power supply 202 is completed, the power supply control unit 56 performs control to switch the switching element s1 of the power supply line L2a from a closed state to an open state. This ends charging of the auxiliary power supply 202 from the main power supply 201.

[0070] [Operation of the power supply device 200 when the main power supply 201 fails] 7 is a diagram illustrating the operation of the power supply device 200 when a failure of the main power supply 201 is detected. The power supply control unit 56 measures the voltage value (e.g., +12 V) of the output terminal of the main power supply 201 while the power supply device 200 is operating. The power supply control unit 56 measures whether the voltage value of the output terminal has dropped to less than 9.5 V, for example. The power supply control unit 56 determines that the main power supply 201 has failed (voltage drop) when it is detected that the voltage value of the output terminal has dropped to less than 9.5 V for a period of, for example, 200 μsec or more.

[0071] When a failure (voltage drop) in the main power supply 201 is detected, the power supply control unit 56 determines that the power supply device 200 is in a failed state and performs an operation for when the main power supply has failed. A voltage drop in the main power supply 201 occurs, for example, when the load on the DC / DC converter 203 increases. When the load on the DC / DC converter 203 increases, overcurrent protection (fuse h1 blown) is activated and the power supply from the DC / DC converter 203 is cut off. In this case, the power that had been supplied from the DC / DC converter 203 is added as a load on the main power supply 201 and is requested from the main power supply 201, causing a voltage drop in the main power supply 201.

[0072] In the event of a main power supply failure, the power supply control unit 56 controls the switching element s31 of the power supply line L31 to an open state and the switching element s32 of the power supply line L32 to an open state, as shown in Fig. 7. The power supply control unit 56 also controls the switching element s1 of the power supply line L2a to an open state, the switching element s2 of the power supply line L2b to a closed state, the switching element s41 of the power supply line L41 to a closed state, and the switching element s42 of the power supply line L42 to a closed state.

[0073] In the power supply device 200, the switching element s31 and the switching element s32 are opened, thereby cutting off the supply of power from the main power supply 201 to the first braking unit 60. By cutting off the supply of power from the main power supply 201 to the first braking unit 60, the load on the main power supply 201 is reduced, and therefore a voltage drop in the main power supply 201 is suppressed.

[0074] Furthermore, in the power supply device 200, the switching element s1 is opened, thereby cutting off the supply of power (charging) from the main power supply 201 to the auxiliary power supply 202. By cutting off the supply of power (charging) from the main power supply 201 to the auxiliary power supply 202, the load on the main power supply 201 is reduced, thereby suppressing a voltage drop in the main power supply 201. This maintains a state in which power can be supplied from the main power supply 201 to the power supply control unit 56.

[0075] Furthermore, in the power supply device 200, the switching element s2, the switching element s41, and the switching element s42 are in a closed state, so that power is supplied from the auxiliary power supply 202 to the first braking unit 60.

[0076] [Failure Detection Operation by Power Supply Device 200] FIG. 8 is a diagram for explaining the operation of the power supply device 200 when detecting whether or not there is a failure in the switching element s31.

[0077] When detecting whether the switching element s31 of the power supply line L31 has failed, the power supply device 200 controls the switching element s31 of the power supply line L31 to an open state and the switching element s32 of the power supply line L32 to a closed state by the power supply control unit 56. The power supply device 200 also controls the switching element s1 of the power supply line L2a to an open state, the switching element s2 of the power supply line L2b to an open state, the switching element s41 of the power supply line L41 to an open state, and the switching element s42 of the power supply line L42 to a closed state by the power supply control unit 56. The failure of the switching element s31 is, for example, a stuck switch. Specifically, it is a short circuit between the drain and source of the switching element s31 constituted by a MOSFET.

[0078] In the state where each switching element is controlled by the power supply control unit 56 as shown in Fig. 8, the power supply device 200 detects a failure of the switching element s31 by comparing the output value of a measurement point p1 on the upstream side (drain D side) of the switching element s31 with the output value of a measurement point p2 on the downstream side (source S side). The output values ​​of the measurement points p1 and p2 are, for example, voltage values. However, the output value is not limited to a voltage value and may be, for example, a current value, an impedance value, etc. The power supply control unit 56 is an example of a "failure detection unit" in the present invention.

[0079] First, assume that there is no failure in the switching element s31. In this case, since the switching element s31 in this example is controlled to the open state, the voltage value of the measurement point p1 on the upstream side of the switching element s31 becomes +12V, which is the same potential as the voltage value of the main power supply 201. Also, since the switching element s31 is controlled to the open state, the measurement point p2 on the downstream side of the switching element s31 is in an open state with respect to the measurement point p1.

[0080] In this example, since the switching element s32 is controlled to a closed state, the power of the main power supply 201 is supplied to the first braking unit 60 via the switching element s32 and the power supply line L32. In this example, since the switching element s42 is controlled to a closed state and the switching element s41 is controlled to an open state, the power of the main power supply 201 via the switching element s32 and the power supply line L32 is supplied to the first braking unit 60 via the switching element s42, the power supply line L42, and the body diode Di41 in the forward direction from the source S to the drain D of the switching element s41.

[0081] 4, the drain D of the switching element s41 is connected to the source S of the switching element s31. Therefore, the voltage value of the measurement point p2 in an open state from the measurement point p1 of the switching element s31, i.e., the voltage value of the source S of the switching element s31, becomes the same potential as the voltage value of the drain D of the switching element s41. Incidentally, the voltage value of the drain D of the switching element s41 becomes a voltage value that is a voltage value (+12 V) of the main power supply 201 supplied to the first braking unit 60 via the switching element s32 and the power supply line L32, dropped by the forward voltage of the body diode Di41 (for example, 0.2 V). Therefore, the voltage value of the measurement point p2 of the switching element s31 becomes lower than the voltage value of the main power supply 201.

[0082] Next, for example, suppose that the switching element s31 has a failure (sticking switch). In this case, the switching element s31 is controlled to be in the open state, but because the switch is stuck, the measurement point p1 on the upstream side of the switching element s31 and the measurement point p2 on the downstream side are short-circuited, and the voltage values ​​of the measurement points p1 and p2 become +12 V, which is the same potential as the voltage value of the main power supply 201.

[0083] When each switching element is controlled as shown in FIG. 8, if there is a predetermined difference between the output value of measurement point p1 on the upstream side of switching element s31 and the output value of measurement point p2 on the downstream side, power supply device 200 determines that switching element s31 is not faulty, and if there is no predetermined difference, determines that switching element s31 is faulty.

[0084] FIG. 9 is a diagram for explaining the operation of the power supply device 200 when detecting whether or not there is a failure in the switching element s32.

[0085] When detecting whether or not the switching element s32 of the power supply line L32 has failed, the power supply device 200 controls the switching element s31 of the power supply line L31 to a closed state and the switching element s32 of the power supply line L32 to an open state by the power supply control unit 56. In addition, the power supply device 200 controls the switching element s1 of the power supply line L2a to an open state, the switching element s2 of the power supply line L2b to an open state, the switching element s41 of the power supply line L41 to a closed state, and the switching element s42 of the power supply line L42 to an open state by the power supply control unit 56.

[0086] With each switching element controlled as shown in FIG. 9, the power supply device 200 detects a failure of the switching element s32 by comparing the output value of measurement point p3 on the upstream side (drain D side) of the switching element s32 with the output value of measurement point p4 on the downstream side (source S side).

[0087] First, assume that there is no failure in the switching element s32, for example. In this case, since the switching element s32 in this example is controlled to the open state, the voltage value of the measurement point p3 on the upstream side of the switching element s32 becomes +12V, which is the same potential as the voltage value of the main power supply 201. Also, since the switching element s32 is controlled to the open state, the measurement point p4 on the downstream side of the switching element s32 is in an open state with respect to the measurement point p3.

[0088] In this example, since the switching element s31 is controlled to a closed state, the power of the main power supply 201 is supplied to the first braking unit 60 via the switching element s31 and the power supply line L31. In this example, since the switching element s41 is controlled to a closed state and the switching element s42 is controlled to an open state, the power of the main power supply 201 via the switching element s31 and the power supply line L31 is supplied to the first braking unit 60 via the switching element s41, the power supply line L41, the power supply line L42, and the body diode Di42 in the forward direction from the source S to the drain D of the switching element s42.

[0089] 4, the drain D of the switching element s42 is connected to the source S of the switching element s32. Therefore, the voltage value of the measurement point p4 in an open state from the measurement point p3 of the switching element s32, i.e., the voltage value of the source S of the switching element s32, has the same potential as the voltage value of the drain D of the switching element s42. Incidentally, the voltage value of the drain D of the switching element s42 is a voltage value that is a voltage value that is a forward voltage (for example, 0.2 V) of the body diode Di42 dropped from the voltage value (+12 V) of the main power supply 201 supplied to the first braking unit 60 via the switching element s31 and the power supply line L31. Therefore, the voltage value of the measurement point p4 of the switching element s32 becomes lower than the voltage value of the main power supply 201.

[0090] Next, for example, suppose that the switching element s32 has a failure (sticking switch). In this case, the switching element s32 is controlled to be in the open state, but because the switch is stuck, the measurement point p3 on the upstream side of the switching element s32 and the measurement point p4 on the downstream side are short-circuited, and the voltage values ​​of the measurement points p3 and p4 become +12 V, which is the same potential as the voltage value of the main power supply 201.

[0091] When each switching element is controlled as shown in FIG. 8, if there is a predetermined difference between the output value of measurement point p3 on the upstream side of switching element s32 and the output value of measurement point p4 on the downstream side, power supply device 200 determines that switching element s32 is not faulty, and if there is no predetermined difference, determines that switching element s32 is faulty.

[0092] <Example of control by the power supply control unit 56> Next, an example of control by the power supply control unit 56 in the power supply device 200 will be described. Fig. 10 is a flowchart showing an example of a failure determination process for the switching element s31 by the power supply control unit 56. When no failure is detected in the main power supply 201, for example, during normal operation after charging of the auxiliary power supply 202 described in Fig. 6 is completed, the power supply control unit 56 repeatedly executes this failure determination process.

[0093] First, in the power supply device 200, the power supply control unit 56 sets the switching element s31 of the power supply line L31 (first main power supply line) to an open state, the switching element s32 of the power supply line L32 (second main power supply line) to a closed state, the switching element s41 of the power supply line L41 (first auxiliary power supply line) to an open state, and the switching element s42 of the power supply line L42 (second auxiliary power supply line) to a closed state (step S11: see FIG. 8).

[0094] Next, the power supply control unit 56 acquires a voltage value V1 at a measurement point p1 on the upstream side of the switching element s31 of the power supply line L31, and a voltage value V2 at a measurement point p2 on the downstream side of the switching element s31 (step S12).

[0095] Next, the power supply control unit 56 determines whether or not the absolute value obtained by subtracting the voltage value V2 and 0.2V from the voltage value V1 acquired in step S12 is equal to or less than a predetermined value (step S13). 0.2V is a value equivalent to the forward voltage drop of the body diode Di41. The predetermined value is a value slightly larger than 0 (allowable error: for example, 0.1V). In other words, it is determined whether or not V1-V2 is approximately 0.2V (whether or not there is a predetermined difference between V1 and V2).

[0096] In step S13, if the voltage is equal to or less than a predetermined value, i.e., if there is a predetermined difference between the voltage value V1 and the voltage value V2 (step S13: Yes), the power supply control unit 56 determines that there is no stuck switch (failure) in the switching element s31 of the power supply line L31 (step S14).

[0097] In step S13, if the voltage is not equal to or less than the predetermined value, i.e., if there is no predetermined difference between the voltage value V1 and the voltage value V2 (step S13: No), the power supply control unit 56 determines that the switching element s31 of the power supply line L31 is stuck (failed) (step S15).

[0098] Fig. 11 is a flowchart showing an example of a failure determination process for the switching element s32 by the power supply control unit 56. The power supply control unit 56 repeatedly executes this failure determination process under normal circumstances, similar to the failure determination process for the switching element s31 in Fig. 10.

[0099] First, in the power supply device 200, the power supply control unit 56 sets the switching element s31 of the power supply line L31 (first main power supply line) to a closed state, the switching element s32 of the power supply line L32 (second main power supply line) to an open state, the switching element s41 of the power supply line L41 (first auxiliary power supply line) to a closed state, and the switching element s42 of the power supply line L42 (second auxiliary power supply line) to an open state (step S21: see FIG. 9).

[0100] Next, the power supply control unit 56 acquires a voltage value V3 at a measurement point p3 on the upstream side of the switching element s32 of the power supply line L32, and a voltage value V4 at a measurement point p4 on the downstream side of the switching element s32 (step S22).

[0101] Next, the power supply control unit 56 determines whether or not the absolute value obtained by subtracting the voltage value V4 and 0.2V from the voltage value V3 acquired in step S22 is equal to or less than a predetermined value (step S23). 0.2V is a value equivalent to the forward voltage drop of the body diode Di42. The predetermined value is a value slightly larger than 0 (allowable error: for example, 0.1V). In other words, it is determined whether or not V3-V4 is approximately 0.2V (whether or not there is a predetermined difference between V3 and V4).

[0102] In step S23, if it is equal to or less than the predetermined value, i.e., if there is a predetermined difference between the voltage value V3 and the voltage value V4 (step S23: Yes), the power supply control unit 56 determines that there is no stuck switch (failure) in the switching element s32 of the power supply line L32 (step S24).

[0103] In step S23, if the voltage value is not equal to or less than the predetermined value, i.e., if there is no predetermined difference between the voltage value V3 and the voltage value V4 (step S23: No), the power supply control unit 56 determines that there is a stuck switch (failure) in the switching element s32 of the power supply line L32 (step S25).

[0104] As described above, the power supply device 200 of the present invention includes a power supply line L31 that connects the main power supply 201 and the first braking unit 60, and a power supply line L32 that connects the main power supply 201 and the first braking unit 60 and is different from the power supply line L31. By switching the switching elements s31, s32, s41, and s42 provided on these power supply lines, it is possible to supply power from the main power supply 201 to the first braking unit 60 via only one of the power supply lines.

[0105] Therefore, when determining whether or not the switching element s31 provided on the power supply line L31 and the switching element s32 provided on the power supply line L32 have a failure, by switching the open / closed state of the switching elements s31, s32, s41, and s42, it is possible to perform defect determination for the switching elements s31 and s32 while supplying power to the first braking unit 60. Therefore, when determining whether or not a defect has occurred in the switching elements, it is possible to prevent the first braking unit 60 from entering a battery cancel / warning state due to the interruption of the power supply to the first braking unit 60.

[0106] In addition, by using field effect transistors as the switching elements s31, s32, s41, and s42, the power supply device 200 can determine whether the switching elements s31 and s32 are defective based on the forward voltage drop of the body diode between the source and drain while supplying power to the first braking unit 60.

[0107] The control method described in the above embodiment can be realized by executing a prepared control program on a computer. The control program is recorded in a computer-readable storage medium and executed by being read from the storage medium. The control program may be provided in a form stored in a non-transient storage medium such as a flash memory, or may be provided via a network such as the Internet. The computer that executes the control program may be included in a power supply device, or may be included in an electronic device such as a smartphone, tablet terminal, or personal computer that can communicate with the power supply device, or may be included in a server device that can communicate with the power supply device and the electronic device.

[0108] Although the embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications and improvements are possible as appropriate.

[0109] For example, in the above embodiment, the case where the vehicle 10 automatically moves to a parking space (target parking position) has been described, but the present invention is not limited to this. For example, the power supply device of the present invention may also be applied to a case where the vehicle 10 automatically moves on a road or the like.

[0110] This specification also describes at least the following items. Note that, in parentheses, components corresponding to those in the above-mentioned embodiment are shown, but the present invention is not limited to these.

[0111] (1) a main power source (main power source 201) that supplies power to electric devices (first braking unit 60, second braking unit 70); an auxiliary power supply (auxiliary power supply 202) different from the main power supply, which supplies power to the electric power device (first braking unit 60); a first main power supply line (power supply line L31) that connects the main power supply and the power device; a second main power supply line (power supply line L32) different from the first main power supply line, which connects the main power supply and the power device; a first auxiliary power supply line (power supply line L41) connecting the auxiliary power supply and the first main power supply line; a second auxiliary power supply line (power supply line L42) connecting the auxiliary power supply and the second main power supply line; a first switching element (switching element s31) provided in the first main power supply line and configured to switch a power supply state from the main power supply to the power device; a second switching element (switching element s32) provided in the second main power supply line and configured to switch a power supply state from the main power supply to the power device; a third switching element (switching element s41) provided on the first auxiliary power line and configured to switch a state of power supply from the auxiliary power source to the power device; a fourth switching element (switching element s42) provided on the second auxiliary power line and configured to switch a state of power supply from the auxiliary power source to the power device; a failure detection unit (power supply control unit 56) that detects a failure of the first switching element or the second switching element, the failure detection unit detects a failure of the first switching element by comparing an output value on an upstream side with an output value on a downstream side of the first switching element while the first switching element and the third switching element are open and the second switching element and the fourth switching element are closed. power supply.

[0112] According to (1), by switching the switching element between open and closed when a failure is determined, it is possible to determine whether or not a switching element has failed while power is being supplied to the electric power equipment, thereby preventing the electric power equipment from entering a battery cancellation / warning state due to the cut-off of the power supply to the electric power equipment.

[0113] (2) The power supply device according to (1), the failure detection unit detects a failure of the second switching element by comparing an output value on an upstream side with an output value on a downstream side of the second switching element while the second switching element and the fourth switching element are open and the first switching element and the third switching element are closed. power supply.

[0114] According to (2), by switching the switching element between open and closed when a failure is determined, it is possible to determine whether or not a switching element has failed while power is being supplied to the electric power equipment, thereby preventing the electric power equipment from entering a battery cancellation / warning state due to the cut-off of the power supply to the electric power equipment.

[0115] (3) The power supply device according to (1) or (2), the malfunction detection unit determines that there is no malfunction when there is a predetermined difference between the upstream output value and the downstream output value, and determines that there is a malfunction when there is no predetermined difference between the upstream output value and the downstream output value. power supply.

[0116] According to (3), it is possible to easily and accurately determine whether a switching element is defective based on the presence or absence of a difference in output value.

[0117] (4) The power supply device according to (3), The predetermined difference is a difference according to a forward voltage of the third switching element or the fourth switching element. power supply.

[0118] According to (4), it is possible to easily and accurately determine whether a switching element is defective based on the forward voltage of the switching element.

[0119] (5) A power supply device according to any one of (1) to (4), The output value is at least one of a voltage value, a current value, and an impedance. power supply.

[0120] As in (5), the output values ​​for comparing the difference are preferably voltage values, current values, and impedance values.

[0121] (6) A power supply device according to any one of (1) to (5), The electric power device includes a braking unit (first braking unit 60) of a moving body (vehicle 10), a power supply control unit (power supply control unit 56) that, when a failure related to the main power supply is detected, causes the auxiliary power supply to supply power to the braking unit; a movement control unit (movement control unit 55) that controls the movement of the moving body and, when a failure related to the main power supply is detected, controls the braking unit to stop the moving body; Equipped with power supply.

[0122] As in (6), when a failure in the main power supply is detected, it is preferable to supply power from the auxiliary power supply to the braking unit and control the braking unit to stop the moving body.

[0123] (7) A power supply device according to any one of (1) to (6), The failure detection unit performs a notification when detecting the first switching element or the second switching element. power supply.

[0124] As in (7), when a failure of the first switching element or the second switching element is detected, it is preferable to notify the user of that fact.

[0125] (8) A power supply device according to any one of (1) to (7), a power supply control unit that, when a failure of the first switching element or the second switching element is detected, determines whether or not power supply to the power device can be stopped, and stops the power supply to the power device if the power supply to the power device can be stopped. power supply.

[0126] As in (8), when the power supply to the power device is to be stopped, it is preferable to determine whether or not the power supply can be stopped.

[0127] (9) A power supply device according to any one of (1) to (8), the first switching element, the second switching element, the third switching element, and the fourth switching element are field effect transistors; power supply.

[0128] As for the switching element for determining defects by comparing output values ​​as in (9), a field effect transistor having a body diode between the source and drain is preferable.

[0129] (10) A main power source that supplies power to electric equipment; an auxiliary power source different from the main power source, which supplies power to the power device; a first main power supply line connecting the main power supply and the power device; a second main power supply line different from the first main power supply line, the second main power supply line connecting the main power supply and the power device; a first auxiliary power supply line connecting the auxiliary power supply and the first main power supply line; a second auxiliary power supply line connecting the auxiliary power supply and the second main power supply line; a first switching element provided in the first main power supply line and configured to switch a state of power supply from the main power supply to the power device; a second switching element provided in the second main power supply line and configured to switch a state of power supply from the main power supply to the power device; a third switching element provided in the first auxiliary power supply line and configured to switch a state of power supply from the auxiliary power supply to the power device; a fourth switching element provided in the second auxiliary power supply line and configured to switch a state of power supply from the auxiliary power supply to the power device; A control method for a power supply device comprising: a processor of the power supply device, a failure of the first switching element is detected by comparing an output value on an upstream side and an output value on a downstream side of the first switching element while the first switching element and the third switching element are opened and the second switching element and the fourth switching element are closed; Control methods.

[0130] According to (10), by switching the switching element between open and closed when a failure is determined, it is possible to determine whether the switching element has a failure while power is being supplied to the electric power equipment, and it is possible to prevent the electric power equipment from entering a battery cancellation / warning state due to the cut-off of the power supply to the electric power equipment.

[0131] (11) A main power source that supplies power to electric equipment; an auxiliary power source different from the main power source, which supplies power to the power device; a first main power supply line connecting the main power supply and the power device; a second main power supply line different from the first main power supply line, the second main power supply line connecting the main power supply and the power device; a first auxiliary power supply line connecting the auxiliary power supply and the first main power supply line; a second auxiliary power supply line connecting the auxiliary power supply and the second main power supply line; a first switching element provided in the first main power supply line and configured to switch a state of power supply from the main power supply to the power device; a second switching element provided in the second main power supply line and configured to switch a state of power supply from the main power supply to the power device; a third switching element provided in the first auxiliary power supply line and configured to switch a state of power supply from the auxiliary power supply to the power device; a fourth switching element provided in the second auxiliary power supply line and configured to switch a state of power supply from the auxiliary power supply to the power device; A control program for a power supply device comprising: a processor of the power supply, a failure of the first switching element is detected by comparing an output value on an upstream side and an output value on a downstream side of the first switching element while the first switching element and the third switching element are opened and the second switching element and the fourth switching element are closed; A control program for executing processing.

[0132] According to (11), by switching the switching element between open and closed when a failure is determined, it is possible to determine whether or not a switching element has failed while power is being supplied to the electric power equipment, and it is possible to prevent the electric power equipment from entering a battery cancellation / warning state due to the cut-off of the power supply to the electric power equipment. [Explanation of symbols]

[0133] 10 Vehicles (moving objects) 55 Movement control section 56 Power supply control unit (failure detection unit) 60 1st braking section (power equipment, braking section) 70 2nd braking section (power equipment) 201 Main power supply 202 Auxiliary power supply L31 Power line (first main power line) L32 Power line (second main power line) L41 Power line (first auxiliary power line) L42 Power line (second auxiliary power line) s31 Switching element (first switching element) s32 Switching element (second switching element) s41 Switching element (third switching element) s42 Switching element (fourth switching element)

Claims

1. A main power source that supplies power to the power equipment; an auxiliary power source different from the main power source, which supplies power to the power device; a first main power supply line connecting the main power supply and the power device; a second main power supply line different from the first main power supply line, the second main power supply line connecting the main power supply and the electric power device; a first auxiliary power supply line connecting the auxiliary power supply and the first main power supply line; a second auxiliary power supply line connecting the auxiliary power supply and the second main power supply line; a first switching element provided in the first main power supply line and configured to switch a state of power supply from the main power supply to the power device; a second switching element provided in the second main power supply line and configured to switch a state of power supply from the main power supply to the power device; a third switching element provided in the first auxiliary power supply line and configured to switch a state of power supply from the auxiliary power supply to the power device; a fourth switching element provided in the second auxiliary power supply line and configured to switch a state of power supply from the auxiliary power supply to the power device; a failure detection unit that detects a failure of the first switching element or the second switching element, the failure detection unit detects a failure of the first switching element by comparing an output value on an upstream side with an output value on a downstream side of the first switching element in a state in which the first switching element and the third switching element are open and the second switching element and the fourth switching element are closed. power supply.

2. 2. The power supply device according to claim 1, the failure detection unit detects a failure of the second switching element by comparing an output value on an upstream side with an output value on a downstream side of the second switching element in a state in which the second switching element and the fourth switching element are open and the first switching element and the third switching element are closed. power supply.

3. 2. The power supply device according to claim 1, the malfunction detection unit determines that there is no malfunction when there is a predetermined difference between the upstream output value and the downstream output value, and determines that there is a malfunction when there is no predetermined difference between the upstream output value and the downstream output value. power supply.

4. 4. The power supply device according to claim 3, The predetermined difference is a difference corresponding to a forward voltage of the third switching element or the fourth switching element. power supply.

5. 2. The power supply device according to claim 1, The output value is at least one of a voltage value, a current value, and an impedance. power supply.

6. 2. The power supply device according to claim 1, the electric power device includes a braking unit of a moving body, a power supply control unit that, when a failure related to the main power supply is detected, causes the auxiliary power supply to supply power to the braking unit; a movement control unit that controls the movement of the moving body and, when a failure related to the main power supply is detected, controls the braking unit to stop the moving body; Equipped with power supply.

7. 2. The power supply device according to claim 1, The failure detection unit performs a notification when detecting the first switching element or the second switching element. power supply.

8. 2. The power supply device according to claim 1, a power supply control unit that, when a failure of the first switching element or the second switching element is detected, determines whether or not power supply to the electric power device can be stopped, and stops the power supply to the electric power device if the power supply to the electric power device can be stopped. power supply.

9. 9. The power supply device according to claim 1, the first switching element, the second switching element, the third switching element, and the fourth switching element are field effect transistors; power supply.

10. A main power source that supplies power to the power equipment; an auxiliary power source different from the main power source, which supplies power to the power device; a first main power supply line connecting the main power supply and the power device; a second main power supply line different from the first main power supply line, the second main power supply line connecting the main power supply and the electric power device; a first auxiliary power supply line connecting the auxiliary power supply and the first main power supply line; a second auxiliary power supply line connecting the auxiliary power supply and the second main power supply line; a first switching element provided in the first main power supply line and configured to switch a state of power supply from the main power supply to the power device; a second switching element provided in the second main power supply line and configured to switch a state of power supply from the main power supply to the power device; a third switching element provided in the first auxiliary power supply line and configured to switch a state of power supply from the auxiliary power supply to the power device; a fourth switching element provided in the second auxiliary power supply line and configured to switch a state of power supply from the auxiliary power supply to the power device; A control method for a power supply device comprising: a processor of the power supply device, a failure of the first switching element is detected by comparing an output value on an upstream side and an output value on a downstream side of the first switching element in a state in which the first switching element and the third switching element are opened and the second switching element and the fourth switching element are closed; Control methods.

11. A main power source that supplies power to the power equipment; an auxiliary power source different from the main power source, which supplies power to the power device; a first main power supply line connecting the main power supply and the power device; a second main power supply line different from the first main power supply line, the second main power supply line connecting the main power supply and the electric power device; a first auxiliary power supply line connecting the auxiliary power supply and the first main power supply line; a second auxiliary power supply line connecting the auxiliary power supply and the second main power supply line; a first switching element provided in the first main power supply line and configured to switch a state of power supply from the main power supply to the power device; a second switching element provided in the second main power supply line and configured to switch a state of power supply from the main power supply to the power device; a third switching element provided in the first auxiliary power supply line and configured to switch a state of power supply from the auxiliary power supply to the power device; a fourth switching element provided in the second auxiliary power supply line and configured to switch a state of power supply from the auxiliary power supply to the power device; A control program for a power supply device comprising: a processor of the power supply, a failure of the first switching element is detected by comparing an output value on an upstream side and an output value on a downstream side of the first switching element in a state in which the first switching element and the third switching element are opened and the second switching element and the fourth switching element are closed; A control program for executing processing.

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