Mobile device control device, mobile device control method, and mobile device control program

Abstract

To prevent an unexpected operation of a moving body.SOLUTION: A moving body control device includes: a first storage unit that stores a power converter program that controls a power converter for driving an electric apparatus mounted on a moving body; a second storage unit that stores the power converter program; and a control unit that when the moving body transitions to a movable state during the installation or activation of the power converter program, executes the installation or activation of the power converter program in one of the first storage unit and the second storage unit, and controls the power converter by the power converter program stored in the other of the first storage unit and the second storage unit.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a movement control device, a movement control method, and a movement control program.

Background Art

[0002] Patent Document 1 discloses a vehicle control device that controls a vehicle, including a storage device that stores a plurality of types of vehicle control software used for a plurality of types of control of the vehicle, a vehicle control execution unit that controls the vehicle using the vehicle control software, a rewriting processing unit that performs a rewriting process of the vehicle control software to be rewritten among the plurality of types of vehicle control software when there is a request to rewrite the vehicle control software, and a state determination unit that determines whether the control process of the vehicle using the vehicle control software to be rewritten will be executed along with the rewriting process. The vehicle control execution unit changes the control state of the vehicle so that the control process is not executed along with the rewriting process prior to the rewriting process when it is determined that the control process will be executed along with the rewriting process.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] For example, if the installation or activation of a power conversion device program is executed during the operation of a power conversion device mounted on a moving body, the moving body may perform unexpected operations.

[0005] This disclosure aims to provide a mobile device control device, a mobile device control method, and a mobile device control program that can suppress unexpected movements of a mobile device. [Means for solving the problem]

[0006] A mobile device control device according to a first aspect of the present disclosure includes: a first storage unit that stores a power converter program for controlling a power converter that drives electrical equipment mounted on a mobile device; a second storage unit that stores the power converter program; and a control unit that, when the mobile device transitions to a mobile state while the power converter program is being installed or activated, installs or activates the power converter program in one of the first and second storage units and controls the power converter using the power converter program stored in the other of the first and second storage units.

[0007] A mobile body control method according to a second embodiment is a mobile body control method in a mobile body control device comprising: a first storage unit storing a power converter program for controlling a power converter that drives electrical equipment mounted on a mobile body; and a second storage unit storing the power converter program, wherein at least one processor, when the mobile body transitions to a mobile state while the power converter program is being installed or activated, performs the installation or activation of the power converter program in one of the first and second storage units, and performs a process including controlling the power converter using the power converter program stored in the other of the first and second storage units.

[0008] A mobile body control program according to a third embodiment is a mobile body control program in a mobile body control device comprising: a first storage unit storing a power converter program for controlling a power converter that drives electrical equipment mounted on a mobile body; and a second storage unit storing the power converter program, wherein at least one processor is instructed to perform a process that includes, when the mobile body transitions to a mobile state while the power converter program is being installed or activated, installing or activating the power converter program in one of the first and second storage units, and controlling the power converter using the power converter program stored in the other of the first and second storage units. [Effects of the Invention]

[0009] According to this disclosure, the effect is that it is possible to suppress unexpected movements of a moving object. [Brief explanation of the drawing]

[0010] [Figure 1] This is a diagram illustrating the configuration of the vehicle control system. [Figure 2] This is a diagram showing the configuration of the memory unit. [Figure 3] This is a diagram showing the hardware configuration of the vehicle control ECU. [Figure 4] This is a flowchart of the vehicle control process according to the first embodiment. [Figure 5] This is a diagram showing the configuration of the storage unit according to the second embodiment. [Figure 6] This is a flowchart of the vehicle control process according to the second embodiment. [Figure 7] This is a flowchart of the vehicle control process according to the third embodiment. [Figure 8] This is a timing chart of the control data according to the third embodiment. [Figure 9] This is a timing chart of control data related to a conventional example. [Figure 10] This is a diagram showing the configuration of the memory unit in a modified example. [Figure 11] It is a diagram for explaining an alternative of the function according to the fourth embodiment. [Figure 12] It is a diagram for explaining an alternative of the function according to the fifth embodiment.

Mode for Carrying Out the Invention

[0011] Hereinafter, embodiments for implementing the technology of the present disclosure will be described in detail with reference to the drawings.

[0012] <First Embodiment>

[0013] As shown in FIG. 1, the vehicle control system 10 of this embodiment includes a server 12 and a vehicle 14. The server 12 and the vehicle 14 are connected via a network 16.

[0014] The vehicle 14 includes a vehicle control ECU (Electronic Control Unit) 18, an inverter ECU (Electronic Control Unit) 20, an inverter 22, a storage unit 24, a driving battery 26, a charge control unit 28, a rapid charge port 30, a normal charge port 32, and a motor 34. The vehicle 14 is an example of a moving body according to the present disclosure. The motor 34 is an example of an electric device according to the present disclosure. The vehicle control ECU is an example of a moving body control device according to the present disclosure. The inverter 22 is an example of a power conversion device according to the present disclosure.

[0015] The inverter 22 includes a switching circuit 36 and an inverter power supply 38. The switching circuit 36 is configured to include a plurality of switching elements not shown. As the switching element, for example, an IGBT (Insulated Gate Bipolar Transistor) is used, but it is not limited thereto. Each switching element is controlled to be turned on and off according to an instruction from the inverter ECU 20.

[0016] The power supply 38 for the inverter is controlled to be turned on and off by the vehicle control ECU 18, and supplies power for driving the gates of the switching elements of the switching circuit 36.

[0017] Power for driving the motor 34 for driving the tires of the vehicle 14 is supplied from the driving battery 26 to the switching circuit 36. When the switching circuit 36 is switched and controlled, a driving voltage for driving the motor 34 is output to the motor 34.

[0018] The storage unit 24 is composed of, for example, a non-volatile memory, and stores an inverter program 24A executed by the inverter ECU 20. Specifically, as shown in FIG. 2, the storage unit 24 has a first storage unit 24-1 and a second storage unit 24-2 that store the inverter program 24A. Note that the inverter program 24A is an example of a power conversion program.

[0019] The vehicle control ECU 18 downloads the inverter program 24A executed by the inverter ECU 20 from the server 12 via the network 16, and executes the installation or activation of the downloaded inverter program 24A. Here, the installation of the inverter program 24A means storing the inverter program 24A in the storage unit 24 so that it can be executed. Also, the activation of the inverter program 24A means enabling the functions realized by the execution of the inverter program 24A. Note that hereinafter, the execution of the installation or activation of the inverter program 24A may be referred to as updating the inverter program 24A.

[0020] The inverter ECU 20 controls the switching circuit 36 of the inverter 22 by executing the installed or activated inverter program 24A.

[0021] The drive battery 26 is a power source that supplies a DC voltage to drive the motor 34, and its charging is controlled by the charge control unit 28.

[0022] The charging control unit 28 charges the drive battery 26 based on power supplied from an external power source (not shown) to the rapid charging port 30 or the normal charging port 32. Specifically, the charging control unit 28 converts the AC voltage, such as AC200V supplied to the normal charging port 32, to DC and charges the drive battery 26. The charging control unit 28 also charges the drive battery 26 with the high DC voltage supplied to the rapid charging port 30.

[0023] Figure 3 is a block diagram showing the hardware configuration of the vehicle control ECU 18. As shown in Figure 3, the vehicle control ECU 18 includes a controller 40.

[0024] The controller 40 comprises a CPU (Central Processing Unit) 40A, a ROM (Read Only Memory) 40B, a RAM (Random Access Memory) 40C, and an input / output interface (I / O) 40D. The CPU 40A, ROM 40B, RAM 40C, and I / O 40D are connected to each other via a bus 40E. The bus 40E includes a control bus, an address bus, and a data bus. A communication unit 41 and a storage unit 42 are connected to the I / O 40D.

[0025] The communication unit 41 is an interface for data communication with the server 12 and the inverter ECU 20, etc.

[0026] The storage unit 42 is composed of, for example, non-volatile memory. As shown in Figure 3, the storage unit 42 stores the vehicle control program 42A, etc. The vehicle control program 42A is an example of a mobile vehicle control program according to this disclosure.

[0027] CPU40A is an example of a processor. The term "processor" here refers to a processor in a broad sense, including general-purpose processors (e.g., CPUs) or specialized processors (e.g., GPUs: Graphics Processing Units, ASICs: Application Specific Integrated Circuits, FPGAs: Field Programmable Gate Arrays, programmable logic devices, etc.).

[0028] The vehicle control program 42A may be stored on a non-volatile, non-transitory recording medium or distributed via a network and installed in the vehicle control ECU 18 as appropriate.

[0029] Examples of non-volatile, non-transitional recording media include CD-ROMs (Compact Disc Read Only Memory), magneto-optical disks, HDDs (Hard Disk Drives), DVD-ROMs (Digital Versatile Disc Read Only Memory), flash memory, and memory cards.

[0030] Next, referring to Figure 4, we will explain the flowchart of the vehicle control process executed by the CPU 40A of the vehicle control ECU 18. Note that the process in Figure 4 is executed repeatedly.

[0031] In step S100, the CPU 40A determines whether or not to install or activate the inverter program 24A. Whether or not to install the inverter program 24A is determined, for example, by whether or not the server 12 has instructed it to update the inverter program 24A. Whether or not to activate the inverter program 24A is determined, for example, by whether or not the server 12 has instructed it to activate the inverter program 24A.

[0032] If it is determined that the inverter program 24A should be installed or activated, the process proceeds to step S101. On the other hand, if it is determined that neither the installation nor activation of the inverter program 24A should be performed, this routine terminates.

[0033] In step S101, the CPU 40A starts the installation or activation of the inverter program 24A. Specifically, if it is determined in step S100 to install the inverter program 24A, the CPU 40A retrieves the inverter program 24A from the server 12 and installs the retrieved inverter program 24A into the first storage unit 24-1 or the second storage unit 24-2. For example, if the inverter program 24A currently controlling the inverter 22 is stored in the first storage unit 24-1, the retrieved inverter program 24A is installed into the second storage unit 24-2. On the other hand, if the inverter program 24A currently controlling the inverter 22 is stored in the second storage unit 24-2, the retrieved inverter program 24A is installed into the first storage unit 24-1.

[0034] Furthermore, if it is determined in step S100 to perform activation of the inverter program 24A, the activation of the inverter program 24A already installed in the first storage unit 24-1 or the second storage unit 24-2 is performed. For example, if the inverter program 24A currently controlling the inverter 22 is stored in the first storage unit 24-1, the inverter program 24A stored in the first storage unit 24-1 is copied to the second storage unit 24-2 and activation is performed on the inverter program 24A stored in the second storage unit 24-2. On the other hand, if the inverter program 24A currently controlling the inverter 22 is stored in the second storage unit 24-2, the inverter program 24A stored in the second storage unit 24-2 is copied to the first storage unit 24-1 and activation is performed on the inverter program 24A stored in the first storage unit 24-1.

[0035] In step S102, the CPU 40A determines whether the vehicle 14 has entered a state where it can be driven. Specifically, it determines whether an operation that enables the vehicle 14 to be driven, that is, an operation that may activate the inverter 22, has been performed on the vehicle 14. Here, an operation that enables the vehicle 14 to be driven could be, for example, disconnecting the charging cable from the fast charging port 30 or the normal charging port 32 while the drive battery 26 is being charged, unlocking the driver's side door of the vehicle 14, releasing the parking brake of the vehicle 14, switching the shift position of the vehicle 14 to drive, and turning on the power switch of the vehicle 14, but is not limited to these.

[0036] Then, if vehicle 14 becomes ready to drive, the process proceeds to step S103; otherwise, the process proceeds to step S104.

[0037] In step S103, the CPU 40A instructs the inverter ECU 20 to control the inverter 22 using the inverter program 24A stored in the memory unit that is not currently updating the inverter program 24A. That is, in step S101, if the installation or activation of the inverter program 24A is started in the first memory unit 24-1, the CPU 40A instructs the inverter ECU 20 to control the inverter 22 using the inverter program 24A stored in the second memory unit 24-2. On the other hand, in step S101, if the installation or activation of the inverter program 24A is started in the second memory unit 24-2, the CPU 40A instructs the inverter ECU 20 to control the inverter 22 using the inverter program 24A stored in the first memory unit 24-1.

[0038] In step S104, the CPU 40A determines whether the installation or activation of the inverter program 24A has been completed. If the installation or activation of the inverter program 24A has not been completed, the CPU 40A waits until the step ends. If the installation or activation of the inverter program 24A has been completed, the process proceeds to step S105.

[0039] In step S105, the CPU 40A instructs the inverter ECU 20 to control the inverter 22 using the updated inverter program 24A. That is, if the inverter program 24A is installed or activated in the first storage unit 24-1, the CPU 40A instructs the inverter ECU 20 to control the inverter 22 using the inverter program 24A stored in the first storage unit 24-1. On the other hand, if the inverter program 24A is installed or activated in the second storage unit 24-2, the CPU 40A instructs the inverter ECU 20 to control the inverter 22 using the inverter program 24A stored in the second storage unit 24-2.

[0040] Thus, in this embodiment, if the vehicle 14 transitions to a drivable state while the inverter program 24A is being installed or activated, the installation or activation of the inverter program 24A is performed in one of the first storage unit 24-1 and the second storage unit 24-2, and the inverter 22 is controlled by the inverter program 24A stored in the other of the first storage unit 24-1 and the second storage unit 24-2. This prevents the vehicle 14 from performing unexpected operations.

[0041] <Second Embodiment>

[0042] Next, a second embodiment of the technology of this disclosure will be described. Parts identical to those in the first embodiment will be denoted by the same reference numerals, and detailed descriptions will be omitted.

[0043] Figure 5 shows the storage unit 24 according to the second embodiment. The second embodiment differs from the first embodiment in that the storage unit 24 includes an execution storage unit 24-3 and a backup storage unit 24-4. The other configurations are the same as in the first embodiment, so their description is omitted.

[0044] The execution memory unit 24-3 is a memory unit for installing or activating the inverter program 24A that is executed in the inverter ECU 20.

[0045] The backup storage unit 24-4 is a storage unit for backing up the inverter program 24A stored in the execution storage unit 24-3.

[0046] Next, we will explain the flowchart of the vehicle control process shown in Figure 6. Steps that perform the same processing as shown in Figure 4 will be omitted from the explanation.

[0047] The process in step S200 is identical to the process in step S100 in Figure 4, so its explanation is omitted.

[0048] In step S201, the CPU 40A copies the inverter program 24A stored in the execution memory unit 24-3 to the backup memory unit 24-4.

[0049] In step S202, the CPU 40A starts the installation or activation of the inverter program 24A. Specifically, if it is determined in step S200 to install the inverter program 24A, the CPU 40A retrieves the inverter program 24A from the server 12 and installs the retrieved inverter program 24A into the execution memory unit 24-3. If it is determined in step S200 to activate the inverter program 24A, the CPU 40A activates the inverter program 24A that is already installed in the execution memory unit 24-3.

[0050] The process in step S203 is identical to the process in step S102 in Figure 4, so its explanation is omitted.

[0051] In step S204, the CPU 40A instructs the inverter ECU 20 to control the inverter 22 using the inverter program 24A stored in the backup storage unit 24-4.

[0052] The process in step S205 is identical to the process in step S104 in Figure 4, so its explanation is omitted.

[0053] In step S206, the CPU 40A instructs the inverter ECU 20 to control the inverter 22 using the inverter program 24A stored in the execution memory unit 24-3.

[0054] As described above, in this embodiment, when installing or activating the inverter program 24A, the inverter program 24A stored in the execution storage unit 24-3 is copied to the backup storage unit 24-4 before starting the installation or activation. Furthermore, if the vehicle 14 transitions to a drivable state after the installation or activation has started, the inverter ECU 20 is instructed to control the inverter using the inverter program 24A stored in the backup storage unit 24-4. This prevents the vehicle 14 from performing unexpected actions.

[0055] <Third Embodiment>

[0056] Next, a third embodiment of the technology of this disclosure will be described. Parts identical to those in the second embodiment will be denoted by the same reference numerals, and detailed descriptions will be omitted.

[0057] The configuration of the vehicle 14 according to the third embodiment is the same as that of the vehicle 14 according to the second embodiment, so its description will be omitted.

[0058] Next, we will explain the flowchart of the vehicle control process shown in Figure 7. Steps that perform the same processing as shown in Figure 6 will be omitted from the explanation.

[0059] The processes in steps S300, S301, and S302 are identical to the processes in steps S200, S201, and S204 in Figure 6, so their explanation is omitted.

[0060] In step S303, the CPU 40A performs either the installation or activation of the inverter program 24A. Specifically, if it is determined in step S300 to perform the installation of the inverter program 24A, the CPU 40A retrieves the inverter program 24A from the server 12 and installs the retrieved inverter program 24A into the execution memory unit 24-3. Alternatively, if it is determined in step S300 to perform the activation of the inverter program 24A, the CPU 40A performs the activation of the inverter program 24A that is already installed in the execution memory unit 24-3.

[0061] In step S304, similar to step S203 in Figure 6, the CPU 40A determines whether the vehicle 14 has entered a drivable state. If the vehicle 14 has entered a drivable state, the process proceeds to step S306. That is, control of the inverter 22 by the inverter program 24A stored in the backup storage unit 24-4 continues. On the other hand, if the vehicle 14 has not entered a drivable state, the process proceeds to step S305.

[0062] In step S305, the CPU 40A performs a process to take over control data used for controlling the inverter 22 by the inverter program 24A stored in the backup storage unit 24-4.

[0063] Here, the control data includes, for example, the input voltage of the inverter 22 (INV input voltage), the sensor value of the angle sensor provided on the motor 34, the current command value to the inverter 22, the current feedback (FB) value, the voltage command value, and the output voltage from the inverter 22 (INV output duty), as shown in Figure 8.

[0064] The CPU 40A then sequentially acquires the above control data from the inverter ECU 20 and stores it sequentially in the memory unit 24.

[0065] In step S306, the CPU 40A determines whether the transfer of control data is complete, that is, whether all control data has been acquired from the inverter ECU 20 and stored in the storage unit 24. If the transfer of control data is complete, the process proceeds to step S307; otherwise, the process proceeds to step S304.

[0066] In step S307, similar to step S206 in Figure 6, the CPU 40A instructs the inverter ECU 20 to control the inverter 22 using the inverter program 24A stored in the execution memory unit 24-3, and also instructs the ECU 20 to control the inverter 22 using the control data stored in the memory unit 24.

[0067] If the inverter program 24A used to control the inverter 22 is switched from the backup storage unit 24-4 to the execution storage unit 24-3 without transferring the control data, the control data at the switching timing Tc will be reset and change abruptly, as shown in Figure 9, causing the control of the inverter 22 to become unstable. In contrast, if the control data is transferred first, as in this embodiment, and then the inverter program 24A used to control the inverter 22 is switched from the backup storage unit 24-4 to the execution storage unit 24-3, the control data at the switching timing Tc will maintain continuity, as shown in Figure 8, thus suppressing the instability of the control of the inverter 22.

[0068] In the second and third embodiments, the case in which the storage unit 24 includes an execution storage unit 24-3 and a backup storage unit 24-4 was described. However, as shown in Figure 10, the configuration may also include a download storage unit 24-5. In this case, the inverter program 24A downloaded from the server 12 is stored in the download storage unit 24-5, and the inverter program 24A stored in the download storage unit 24-5 can be installed in the execution storage unit 24-3. As a result, if the inverter program 24A is downloaded to the download storage unit 24-5, the inverter program 24A can be installed in the execution storage unit 24-3 at any time, thereby reducing the time required for installation.

[0069] <Fourth Embodiment>

[0070] Next, a fourth embodiment of the technology of this disclosure will be described.

[0071] In the fourth embodiment, when installing or activating a program executed by a lower ECU, the upper and lower ECUs share at least some of their functions with each other, and when updating the program of the upper ECU, the lower ECU substitutes for the functions of the upper ECU, and when updating the program of the lower ECU, the upper ECU substitutes for the functions of the lower ECU.

[0072] Specifically, as shown in Figure 11, for example, the higher-level ECU 50 is an ECU that executes a program having multiple functions such as function A, function B, function C, and function D. Similarly, the lower-level ECU 52 is an ECU that executes a program having multiple functions such as function A, function B, function C, and function D. In other words, the higher-level ECU 50 and the lower-level ECU 52 share functions. Examples of these functions include torque control functions related to torque limiting and correction for purposes such as component protection and vibration suppression, and diagnostic detection functions such as microcontroller abnormality monitoring, but are not limited to these.

[0073] The upper ECU 50 is, for example, the vehicle control ECU 18 in the first to third embodiments, and the lower ECU 52 is, for example, the inverter ECU 20 in the first to third embodiments.

[0074] Here, for example, suppose that function C of the lower ECU 52 is a torque limiting function due to inverter overheating protection, and the activation of function C is performed. In this case, the lower ECU 52 cannot perform function C while the activation is being performed, but as shown in Figure 11, the upper ECU 50 can also perform function C, so the lower ECU 52 receives the inverter drive signal for function C from the upper ECU 50 via communication and outputs it to the inverter. In other words, the upper ECU 50 substitutes for function C.

[0075] This allows function C to be executed without waiting for activation to complete. Furthermore, when installing or activating a program run by the higher-level ECU 50, the lower-level ECU 52 can simply substitute for the functions of the higher-level ECU 50.

[0076] <Fifth Embodiment>

[0077] Next, a fifth embodiment of the technology of this disclosure will be described.

[0078] In the fifth embodiment, a case is described in which the function performed by the control ECU that controls the inverter of the drive motor that drives the tires is replaced by the control ECU that controls the inverter of the air conditioner motor.

[0079] As shown in Figure 12, the drive inverter 61 that drives the drive motor 60 that drives the tires includes a control ECU 62, a switch 63, and a drive circuit 64. The control ECU 62 outputs a drive signal to the drive circuit 64 based on signals from various sensors, such as an angle sensor 65 provided on the drive motor 60, a voltage sensor 66 provided on the drive circuit 64, and a current sensor 67 that detects the drive current flowing from the drive circuit 64 to the drive motor 60. The switch 63 normally connects the control ECU 62 and the drive circuit 64, and connects the control ECU 62 and the air conditioner inverter 71 when installing or activating a program executed by the control ECU 62.

[0080] The air conditioner inverter 71, which drives the air conditioner motor 70, includes a control ECU 72, a switch 73, and a drive circuit 74. The control ECU 72 outputs a drive signal to the drive circuit 74 for driving the air conditioner motor 70. The switch 73 normally connects the control ECU 72 and the drive circuit 74, and connects the control ECU 72 and the drive circuit 64 of the drive inverter 61 when installing or activating a program executed by the control ECU 62 of the drive inverter 61.

[0081] Furthermore, signals from various sensors, such as the angle sensor 65, voltage sensor 66, and current sensor 67, can be fed back to the control ECU 72 of the air conditioner inverter 71.

[0082] When installing or activating a program executed by the control ECU 62 of the drive inverter 61, switches 63 and 73 are controlled so that the control ECU 72 of the air conditioner inverter 71 and the drive circuit 64 of the drive inverter 61 are connected.

[0083] Then, the control ECU 72 of the air conditioner inverter 71 outputs a drive signal to the drive circuit 64 of the drive inverter 61 to drive the drive circuit 64 based on signals from various sensors. In other words, the control ECU 72 of the air conditioner inverter 71 takes over the processing that would normally be performed by the control ECU 62 of the drive inverter 61. This allows control of the drive motor 60 to continue without having to wait for the installation or activation of the program executed by the control ECU 62 of the drive inverter 61 to be completed.

[0084] This disclosure is not limited to the embodiments described above, and various modifications and applications are possible without departing from the spirit of the invention.

[0085] For example, in the above embodiment, the process shown in Figures 4, 6, and 7 was described in the case where the vehicle control ECU 18 performs the process shown in Figures 4, 6, and 7, but the inverter ECU 20 may also perform the process shown in Figures 4, 6, and 7.

[0086] Furthermore, although the above embodiment described a case where the electrical equipment driven by the inverter 22 mounted on the vehicle 14 is a motor 34 for driving the tires of the vehicle 14, it is not limited to this. For example, the electrical equipment driven by the inverter 22 mounted on the vehicle 14 may be a motor generator for the vehicle 14, a motor that drives a compressor for an air conditioner inverter, or a motor that serves as a power source for an aerial mobility vehicle (flying vehicle) or a ship. Furthermore, although the above embodiment described a case where the moving body is a vehicle 14, it is not limited to this. For example, the moving body may be an aerial mobility vehicle or a ship. Furthermore, although the above embodiment described a case where the power conversion device is an inverter 22 for driving the vehicle 14, it is not limited to this. For example, the power conversion device may be an inverter for an air conditioner, a DC-DC converter, a fast charger, or a standard charger.

[0087] Furthermore, the configuration of the vehicle control system 10 described in the above embodiment (see Figure 1) is merely an example, and it goes without saying that unnecessary parts may be deleted or new parts added without departing from the spirit of the present invention.

[0088] Furthermore, the processing flow of the vehicle control program 42A described in the above embodiment (see Figures 4, 6, and 7) is just one example, and it goes without saying that unnecessary steps may be deleted, new steps added, or the processing order rearranged without departing from the spirit of the present invention.

[0089] The control unit and method described herein may be implemented by a dedicated computer comprising a processor programmed to execute one or more functions embodied by a computer program. Alternatively, the apparatus and method described herein may be implemented by a dedicated computer comprising a processor composed of dedicated hardware logic circuits. Alternatively, the apparatus and method described herein may be implemented by one or more dedicated computers comprising a combination of a processor that executes a computer program and one or more hardware logic circuits. Furthermore, the computer program may be stored as instructions executed by the computer on a computer-readable non-transitional tangible recording medium.

[0090] <Note> (Note 1) A first storage unit stores a program for a power converter that controls a power converter that drives electrical equipment mounted on a mobile vehicle, A second storage unit in which the program for the power converter is stored, If the mobile body becomes mobile while the power converter program is being installed or activated, the control unit installs or activates the power converter program in one of the first and second storage units and controls the power converter using the power converter program stored in the other of the first and second storage units. A mobile control device equipped with the following features. (Note 2) The control unit determines that the mobile body has entered the mobile state if an operation that enables the mobile body to move is performed on the mobile body while the power converter program is being installed or activated. The mobile device control device described in Appendix 1. (Note 3) The first storage unit is a backup storage unit for backing up the power conversion device program, and the second storage unit is an execution storage unit for executing the power conversion device program. The control unit copies the power converter program stored in the execution memory to the backup memory before starting the installation or activation process. A mobile device control device as described in Appendix 1 or Appendix 2. (Note 4) After the installation or activation is initiated, the control unit controls the power converter using the power converter program stored in the backup storage unit if the mobile body becomes mobile. Mobile device control device as described in Appendix 3. (Note 5) The first storage unit is a backup storage unit for backing up the power conversion device program, and the second storage unit is an execution storage unit for executing the power conversion device program. The control unit copies the power converter program stored in the execution memory to the backup memory, starts controlling the power converter using the power converter program stored in the backup memory, and then performs the installation or activation. A mobile device control device as described in Appendix 1 or Appendix 2. (Note 6) If the mobile body enters a mobile state after the installation or activation has been performed, the control unit shall continue to control the power converter using the power converter program stored in the backup storage unit. Mobile device control device as described in Appendix 5. (Note 7) The control unit controls the power converter using the power converter program stored in the execution storage unit after the transfer of control parameters in the control of the power converter by the power converter program stored in the backup storage unit has been completed. A mobile device control device as described in Appendix 5 or Appendix 6. (Note 8) Download storage unit for downloading the program for the power converter. A mobile control device as described in any of the appendices 3 to 7, equipped with the following: (Note 9) The electrical equipment mounted on the mobile body is a motor that drives the mobile body. A mobile device control device as described in any of the appendices 1 to 8. (Note 10) A first storage unit stores a program for a power converter that controls a power converter that drives electrical equipment mounted on a mobile vehicle, A second storage unit in which the program for the power converter is stored, A method for controlling a mobile object in a mobile object control device equipped with the following: At least one processor, If the mobile body becomes mobile while the power converter program is being installed or activated, the installation or activation of the power converter program is performed in one of the first and second storage units, and the power converter is controlled by the power converter program stored in the other of the first and second storage units. A mobile body control method that performs a process including the following. (Note 11) A first storage unit stores a program for a power converter that controls a power converter that drives electrical equipment mounted on a mobile vehicle, A second storage unit in which the program for the power converter is stored, A mobile control program for a mobile control device equipped with, At least one processor, If the mobile body becomes mobile while the power converter program is being installed or activated, the installation or activation of the power converter program is performed in one of the first and second storage units, and the power converter is controlled by the power converter program stored in the other of the first and second storage units. A mobile object control program that causes the system to perform a process that includes the following. [Explanation of Symbols]

[0091] 10 Vehicle control system, 12 Server, 14 Vehicle, 16 Network, 18 Vehicle control ECU, 20 Inverter ECU, 22 Inverter, 24 Memory unit, 24A Inverter program, 24-1 First memory unit, 24-2 Second memory unit, 24-3 Execution memory unit, 24-4 Backup memory unit, 24-5 Download memory unit, 26 Drive battery, 28 Charging control unit, 30 Fast charging port, 32 Normal charging port, 34 Motor, 36 Switching circuit, 38 Power supply for inverter, 41 Communication unit, 42 Memory unit, 42A Vehicle control program

Claims

1. A first storage unit stores a program for a power converter that controls a power converter that drives electrical equipment mounted on a mobile vehicle, A second storage unit in which the program for the power converter is stored, If the mobile body becomes mobile while the power converter program is being installed or activated, the control unit installs or activates the power converter program in one of the first and second storage units and controls the power converter using the power converter program stored in the other of the first and second storage units. A mobile control device equipped with the following features.

2. The control unit determines that the mobile body has transitioned to the mobile state if an operation enabling the movement of the mobile body is performed on the mobile body while the power converter program is being installed or activated. The mobile device control device according to claim 1.

3. The first storage unit is a backup storage unit for backing up the power conversion device program, and the second storage unit is an execution storage unit for executing the power conversion device program. The control unit copies the power converter program stored in the execution memory to the backup memory before starting the installation or activation process. The mobile device control device according to claim 1.

4. If the mobile body becomes mobile after the installation or activation has started, the control unit controls the power converter using the power converter program stored in the backup storage unit. The mobile device control device according to claim 3.

5. The first storage unit is a backup storage unit for backing up the power conversion device program, and the second storage unit is an execution storage unit for executing the power conversion device program. The control unit copies the power converter program stored in the execution storage unit to the backup storage unit, starts controlling the power converter using the power converter program stored in the backup storage unit, and then performs the installation or activation. The mobile device control device according to claim 1.

6. If the mobile body enters a mobile state after the installation or activation has been performed, the control unit shall continue to control the power converter using the power converter program stored in the backup storage unit. The mobile device control device according to claim 5.

7. The control unit controls the power converter using the power converter program stored in the execution storage unit after the transfer of control parameters in the control of the power converter by the power converter program stored in the backup storage unit has been completed. The mobile device control device according to claim 5.

8. Download storage unit for downloading the program for the power converter. A mobile device control device according to claim 3, comprising:

9. The electrical equipment mounted on the mobile body is a motor that drives the mobile body. The mobile device control device according to claim 1.

10. A first storage unit stores a program for a power converter that controls a power converter that drives electrical equipment mounted on a mobile vehicle, A second storage unit in which the program for the power converter is stored, A method for controlling a mobile object in a mobile object control device equipped with the following: At least one processor, If the mobile body becomes mobile while the power converter program is being installed or activated, the installation or activation of the power converter program is performed in one of the first and second storage units, and the power converter is controlled by the power converter program stored in the other of the first and second storage units. A mobile body control method that performs a process including the following.

11. A first storage unit stores a program for a power converter that controls a power converter that drives electrical equipment mounted on a mobile vehicle, A second storage unit in which the program for the power converter is stored, A mobile control program for a mobile control device equipped with, At least one processor, If the mobile body becomes mobile while the power converter program is being installed or activated, the installation or activation of the power converter program is performed in one of the first and second storage units, and the power converter is controlled by the power converter program stored in the other of the first and second storage units. A mobile control program that causes the system to perform a process that includes the following.

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