Power supply device

Abstract

To provide a power supply capable of suppressing failure to supply power of an auxiliary power source to a drive control device when the power is to be supplied.SOLUTION: An auxiliary microcomputer 520 detects the voltage of a battery 10 and transmits it to a steering main microcomputer 120. When a transmitted voltage is less than or equal to a threshold, the steering main microcomputer 120 transmits the notification to that effect to a steering main microcomputer 320. The steering main microcomputer 320 stores the determination result of the start switch state in a RAM 326 on the basis of the transmission result. The auxiliary microcomputer 520 stops the auxiliary microcomputer 520 according to the determination result stored in the RAM 326. The steering main microcomputer 320 uses the value indicating the state of the starting switch stored in the RAM 326 at the time of starting as the value indicating the off state.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a power supply device.

Background Art

[0002] For example, Patent Document 1 below describes a system in which an auxiliary power supply is connected to an EPSECU, which is a control device that executes control for applying assist torque to a steering wheel. In this system, the auxiliary power supply is controlled by an ECU for power supply control. Also, in this system, the ECU for power supply control and the EPSECU can communicate with each other.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, when the ECU for power supply control adds the communication result with the EPSECU to the condition for turning off the auxiliary power supply, there is a possibility that a correct communication result cannot be obtained immediately after the activation of the EPSECU.

Means for Solving the Problems

[0005] Hereinafter, means for solving the above problems and their operational effects will be described. 1. The vehicle is equipped with a drive control device and an auxiliary control device, the vehicle is equipped with a main power supply, an auxiliary power supply and a supply path, the auxiliary power supply is a power supply that stores power supplied from the main power supply, the supply path is a path that supplies power from the main power supply to electronic equipment in the vehicle and is configured to open and close according to the state of the vehicle's start switch, the drive control device is a device that controls the state of equipment mounted in the vehicle using either the main power supply or the auxiliary power supply as a power source, the auxiliary control device is a device that controls the state of the auxiliary power supply using the main power supply as a power source, the drive control device is configured to perform storage processing, permission signal transmission processing and initial value processing, the storage processing is, The power supply device is configured to store in a storage device the state of the start switch determined based on an external signal to the drive control device, the permit signal transmission process is a process of transmitting a permit signal when the state of the start switch stored in the storage device is in the off state, the initial value processing is a process of setting the initial value of the state of the start switch stored in the storage device to a value indicating the on state when the drive control device is started, and the auxiliary control device is configured to perform permit signal reception processing and stop processing, the permit signal reception processing is a process of receiving the permit signal, and the stop processing is a process of turning off the power supply control from the auxiliary power supply to the drive control device when the permit signal is received.

[0006] When the drive control unit is started, the values ​​stored in its memory are normally initialized. If this results in the start switch being set to an off state, the drive control unit may send a permission signal to the auxiliary control unit. In this case, the power supply control from the auxiliary power supply to the drive control unit may be turned off. If the main power supply is interrupted in such a situation, the auxiliary power supply may not be able to supply power to the drive control unit when it should.

[0007] Therefore, in the above configuration, initial value processing is performed so that when the drive control device is started, the initial value of the start switch stored in the memory is set to a value indicating the ON state. As a result, it is possible to suppress the unintentional transmission of a permission signal from the drive control device to the auxiliary control device. As a result, it is possible to suppress the inability to supply power from the auxiliary power supply to the drive control device when it should be supplied.

[0008] 2. The power supply device according to item 1 above, which is configured to start the memory processing when communication between the drive control device and the outside becomes possible. In the above configuration, when communication between the drive control device and the outside becomes possible, memory processing is initiated. This allows the state of the activation switch stored in the memory device to be updated.

[0009] 3. The power supply device according to 1 or 2 above, wherein the auxiliary control device is configured to perform a voltage transmission process, the drive control device is configured to perform a voltage reception process and an off determination process, the voltage transmission process is a process of transmitting a detected value of the voltage of the main power supply, the voltage reception process is a process of receiving the detected value, the off determination process is a process of determining that the start switch is in the off state based on the detected value being less than or equal to a threshold, and the storage process is a process of storing the determination result of the off determination process.

[0010] In the above configuration, the drive control device can determine whether the start switch is in the off state or not based on the detected voltage of the main power supply. 4. The power supply device described in 3 above is configured such that the drive control device is configured to perform a voltage detection process, the voltage detection process is a process in which the drive control device detects the power supply voltage of the drive control device, and the off determination process is a process in which the start switch is determined to be in the off state based on the fact that the power supply voltage detected by the voltage detection process is less than or equal to a predetermined value and the detected value is less than or equal to the threshold value, and the logical OR of these two conditions is true.

[0011] In the above configuration, the state of the start switch can be determined by taking into account the power supply voltage detected by the drive control device. 5. The power supply voltage is the higher of the voltage of the main power supply and the voltage of the auxiliary power supply, as described in item 4 above.

[0012] In the above configuration, the drive control device detects the higher of the two voltages. Therefore, even if there is a problem with the main power supply, the detected voltage may not allow the main power supply problem to be detected. For this reason, there is a significant advantage in using the detected voltage of the main power supply transmitted from the auxiliary control device in the off-determination process.

[0013] 6. The off determination process is a process that determines that the start switch is off, on the condition that it receives a command signal that puts the start switch into an off state, and the command signal is a power supply device as described in any one of 3 to 5 above that is not transmitted on the communication line connected to the auxiliary control device.

[0014] In the above configuration, by considering the command signal to determine that the start switch is in the off state, the reliability of determining that it is in the off state can be increased compared to when the command signal is not considered. Furthermore, since the auxiliary control device cannot receive the command signal, the advantage of the drive control device performing the off determination process is particularly significant.

[0015] 7. The vehicle comprises a reaction force actuator that applies a reaction force to the steering wheel and a steering actuator that steers the steering wheels, the drive control device comprises a steering control device and a steering control device, the steering control device is a device that controls the state of the steering wheel by operating the drive circuit of the reaction force actuator, the steering control device is a device that controls the state of the steering wheels by operating the drive circuit of the steering actuator, the off determination process includes a steering side determination process and a steering side determination process, the steering side determination process is a process performed by the steering control device that determines whether the detected value is less than or equal to the threshold, the steering side determination process is a process performed by the steering control device that determines whether the power supply voltage detected by the voltage detection process is less than or equal to a predetermined value and whether the detected value is less than or equal to the threshold, and the logical OR of the steering side determination process being determined to be less than or equal to the threshold is true. The power supply device is one of the above 4 to 6, wherein the process determines whether or not there is a function, the steering control device is configured to perform a steering side determination result transmission process and a steering side determination result reception process in addition to the permission signal transmission process, the steering control device is configured to perform a steering side determination result reception process and a steering side determination result transmission process in addition to the storage process, the initial value processing and the voltage detection process, the steering side determination result transmission process is a process of transmitting the determination result by the steering side determination process, the steering side determination result reception process is a process of receiving the determination result by the steering side determination process, the storage process is a process of storing the determination result by the steering side determination process, the steering side determination result transmission process is a process of transmitting the determination result of the state of the start switch stored in the storage device, and the steering side determination result reception process is a process of receiving the determination result of the state of the start switch stored in the storage device.

[0016] In the above configuration, if the initial value processing is not executed, either the execution of the voltage transmission process by the auxiliary control device or the execution of the steering side determination result transmission process by the steering control device may be delayed, which may lead to the following situations. That is, the steering control device is transmitted that the state of the start switch stored in the storage device is off by the steering side determination result transmission process. As a result, a permission signal is transmitted from the steering control device to the auxiliary control device.

[0017] On the other hand, by executing the initial value processing, it is possible to suppress the occurrence of the above series of events.

Brief Description of the Drawings

[0018] [Figure 1] It is a block diagram showing the configuration of a vehicle steering control system according to an embodiment. [Figure 2] It is a block diagram showing the configuration of the control device according to the embodiment. [Figure 3] It is a flowchart showing the procedure of the process executed by the control device according to the embodiment. [Figure 4] It is a flowchart showing the procedure of the process executed by the control device according to the embodiment. [Figure 5] It is a flowchart showing the procedure of the process executed by the control device according to the embodiment. [Figure 6] It is a flowchart showing the procedure of the process executed by the control device according to the embodiment.

Mode for Carrying Out the Invention

[0019] Hereinafter, an embodiment will be described with reference to the drawings. 「Premise Configuration」 FIG. 1 shows the configuration of a vehicle steering control system according to the present embodiment. In the present embodiment, as the steering system, a so-called steer-by-wire system in which the power transmission path between the steering wheel and the steering wheel is blocked is assumed.

[0020] The battery 10 is a power source for the vehicle's electronic equipment. The battery 10 can supply power via the main power line Lb, as well as via the start switch 12 and the start line Lig. The start switch 12 is a switch that enables the vehicle to run. The start switch 12 can be switched from either the on state or the off state to the other by the vehicle's user. If the vehicle has an internal combustion engine, the start switch 12 may be an ignition switch. If the vehicle has a motor generator, the start switch 12 may be a switch that is linked to the on / off of the system main relay between the inverter connected to the motor generator and the high-voltage battery.

[0021] The steering main control device 100 is a device that controls the state of the steering wheel by operating a reaction force actuator. The reaction force actuator is an actuator that applies a reaction force, which is a force that opposes the operation of the steering wheel. The reaction force actuator is equipped with a reaction force motor, and the reaction force is generated by the torque of the reaction force motor.

[0022] The steering main control device 100 includes an inverter 110 and a steering main microcontroller 120. The inverter 110 applies an AC voltage to the terminals of the motor provided by the reaction force actuator. The steering main microcontroller 120 operates the inverter 110 to control the steering wheel, which is the object of control.

[0023] The steering sub-control device 200 is a device that controls the state of the steering wheel by operating a reaction force actuator. The reaction force actuator is an actuator that applies a reaction force, which is a force that resists the operation of the steering wheel. The steering sub-control device 200 includes an inverter 210 and a steering sub-microcontroller 220. The inverter 210 applies an AC voltage to the terminals of the motor provided by the reaction force actuator. Note that the inverter 110 and inverter 210 may be configured to apply AC voltages to different stator coils of a reaction force motor that shares a rotor. The steering sub-microcontroller 220 operates the inverter 210 to control the steering wheel as the controlled object. The voltage of line Lig at startup is applied to the steering sub-microcontroller 220 via diode 18. Diode 18 has the battery 10 side as the anode and the steering sub-microcontroller 220 side as the cathode. In addition, the terminal voltage of the battery 10 is applied to the steering sub-microcontroller 220 via diode 16 without going through the start switch 12. Diode 16 has the battery 10 side as the anode and the steering sub-microcontroller 220 side as the cathode.

[0024] The steering main control device 300 is a device that controls the state of the steering wheels by operating the steering actuator. The steering actuator is an actuator that steers the steering wheels. The steering actuator is equipped with a steering motor, and the steering wheels are steered by the torque of the steering motor.

[0025] The steering main control device 300 includes an inverter 310 and a steering main microcontroller 320. The inverter 310 applies an AC voltage to the terminals of the motor provided by the steering actuator. The steering main microcontroller 320 operates the inverter 310 to control the steering wheel as the control target.

[0026] The steering sub-control device 400 is a device that controls the state of the steering wheel by operating the steering actuator. The steering sub-control device 400 includes an inverter 410 and a steering sub-microcontroller 420. The inverter 410 applies an AC voltage to the terminals of the motor provided by the steering actuator. Note that the inverter 310 and inverter 410 may be configured to apply AC voltages to different stator coils of a steering motor that shares a rotor. The steering sub-microcontroller 420 operates the inverter 410 to control the steering wheel as the target of control. The voltage of line Lig at startup is applied to the steering sub-microcontroller 420 via diode 22. Diode 22 has the battery 10 side as the anode and the steering sub-microcontroller 420 side as the cathode. In addition, the terminal voltage of the battery 10 is applied to the steering sub-microcontroller 420 via diode 20 without going through the start switch 12. The diode 20 has the battery 10 side as the anode and the steering sub-microcontroller 420 side as the cathode.

[0027] The auxiliary control device 500 is a device that controls the state of the auxiliary power supply 530, which is the device to be controlled. The auxiliary power supply 530 is an energy storage device that stores charge from the battery 10. The auxiliary power supply 530 may be, for example, a capacitor.

[0028] The auxiliary control device 500 includes a switching element 510 that switches the connection between the main power line Lb and the inverters 110 and 310. The auxiliary control device 500 also includes a switching element 512 that switches the connection between the main power line Lb and the auxiliary power supply 530 via the switching element 510. The auxiliary control device 500 includes a diode 516 that connects the auxiliary power supply 530 to the steering main microcontroller 120 and the steering main microcontroller 320. The diode 516 is a rectifier element that uses the positive terminal side of the auxiliary power supply 530 as the anode and the steering main microcontroller 120 and steering main microcontroller 320 side as the cathode. The auxiliary control device 500 also includes a diode 518 that connects the startup line Lig to the steering main microcontroller 120 and the steering main microcontroller 320. Diode 518 is a rectifier element that uses the battery 10 side as the anode and the steering main microcontroller 120 and steering main microcontroller 320 side as the cathode. Specifically, the steering main microcontroller 120 is connected to the cathode side of diodes 516 and 518 via diode 517. Diode 517 is a rectifier element that uses the cathode side of diodes 516 and 518 as the anode and the steering main microcontroller 120 side as the cathode. Also, the steering main microcontroller 320 is connected to the cathode side of diodes 516 and 518 via diode 519. Diode 519 is a rectifier element that uses the cathode side of diodes 516 and 518 as the anode and the steering main microcontroller 320 side as the cathode. The auxiliary control device 500 includes a switching element 514 that opens and closes the connection between the anode side of diode 516 and the auxiliary power supply 530.

[0029] The auxiliary control device 500 includes an auxiliary microcontroller 520. The auxiliary microcontroller 520 detects the voltage and current of the auxiliary power supply 530 and monitors the status of the auxiliary power supply 530. The auxiliary microcontroller 520 controls the supply of power from the battery 10 to the inverters 110 and 310 by opening and closing the switching element 510. The auxiliary microcontroller 520 also controls the exchange of power between the auxiliary power supply 530 and the battery 10, and between the inverters 110 and 310 and the auxiliary power supply 530 by opening and closing the switching element 512. The auxiliary microcontroller 520 also controls the supply of power from the auxiliary power supply 530 to the steering main microcontroller 120 and the steering main microcontroller 320 by opening and closing the switching element 514. The auxiliary microcontroller 520 maintains the switching element 14 in the closed state while the auxiliary microcontroller 520 is running.

[0030] The steering main microcontroller 120 and the steering sub-microcontroller 220 can communicate via local line 30. The steering main microcontroller 320 and the steering sub-microcontroller 420 can communicate via local line 32. The steering main microcontroller 120 and the steering main microcontroller 320 can communicate via main-to-main communication line 40. The steering main microcontroller 120 and the steering sub-microcontroller 220 are connected to the gateway 70 via bus line 50. The steering main microcontroller 320 and the steering sub-microcontroller 420 are also connected to the gateway 70 via bus line 60. The auxiliary microcontroller 520 and the steering main microcontroller 120 can communicate via local line 80.

[0031] Figure 2 shows the configuration of the steering main microcontroller 120, steering sub-microcontroller 220, steering main microcontroller 320, steering sub-microcontroller 420, and auxiliary microcontroller 520. In Figure 2, the variable i is set to "1 to 5". That is, when the variable i is "1", "i20" represents "120".

[0032] As shown in the figure, each of the five microcontrollers is equipped with PU122,222,322,422,522. Each of the five microcontrollers is also equipped with ROM124,224,324,424,524. Each of the five microcontrollers is also equipped with RAM126,226,326,426,526. PU122,222,322,422,522 is a software processing unit equipped with at least one processing unit such as a CPU, GPU, or TPU. ROM124,224,324,424,524 stores the programs that PU122,222,322,422,522 executes.

[0033] "Control of subsystems" Figure 3 shows the processing steps performed by the PU222 of the steering sub-microcontroller 220 and the PU422 of the steering sub-microcontroller 420. The processing shown in Figure 3 is achieved by the PU222 repeatedly executing a program stored in the ROM224, for example, at a predetermined period. Similarly, the processing shown in Figure 3 is achieved by the PU422 repeatedly executing a program stored in the ROM424, for example, at a predetermined period. In the following, the step number of each process will be represented by a number preceded by "S". For the sake of explanation, the processing performed by the PU222 will be used as an example. In the following explanation, the processing performed by the PU422 will be the same as the processing performed by the PU422, with voltage Vss replaced by voltage Vst.

[0034] In the series of processes shown in Figure 3, the PU222 first detects the voltage Vss (S10). The voltage Vss is the voltage of the startup line Lig connected to the steering sub-control device 200. That is, the voltage Vss is the voltage on the anode side of the diode 18. Next, the PU222 determines whether the logical AND of the following conditions (SS1) and (SS2) is true or not (S12).

[0035] Condition (SS1): This condition indicates that a command signal for turning the start switch OFF has been received. In Figure 3, this is labeled "IGOFF command received". This command signal is input to the steering sub-microcontroller 220 via the bus line 50. The command signal may be a signal generated by another control device, for example, not shown in Figure 1.

[0036] Condition (SS2): This condition states that the voltage Vss is less than or equal to the threshold Vth. Here, the threshold Vth may be set to less than the maximum voltage that the startup line Lig can take when the startup switch 12 is in the open state.

[0037] If PU222 determines that the above logical AND is true (S12:YES), it performs an IG off determination, which means that the start switch is off (S14). Then, PU222 sends a sub-side off determination, which is the result of the determination that the start switch is off, to the steering main microcontroller 120 via the local line 30 (S16). Then, PU222 determines whether it is confirmed that the start switch is off (IG off) (S18). Here, PU222 determines that IG off is confirmed, for example, if information that the steering main microcontroller 120 has determined that the start switch is off is sent from the steering main microcontroller 120 via the local line 30. If PU222 determines that IG off is confirmed (S18:YES), it executes a process to stop the steering sub-microcontroller 220 (S20).

[0038] Furthermore, when PU222 executes the process in S20, or when it makes a negative determination in the processes of S12 and S18, it temporarily terminates the series of processes shown in Figure 3. "Control of the steering main microcontroller 1" Figure 4 shows the procedure of processing executed by the PU122 of the steering main microcontroller 120. The processing shown in Figure 4 is achieved by the PU122 repeatedly executing a program stored in the ROM124, for example, at a predetermined period.

[0039] In the series of processes shown in Figure 4, PU122 first detects the cathode voltage Vms of diodes 516 and 518 (S30). Note that voltage Vms is the anode voltage of diode 517. Next, PU122 determines whether the logical AND of the following conditions (MS1) and (MS2) is true or not (S32).

[0040] Condition (MS1): This condition indicates that a command signal for turning the start switch OFF has been received. In Figure 3, this is labeled "IGOFF command received". This command signal is input to the steering main microcontroller 120 via the bus line 50. The command signal may be a signal generated by another control device, for example, not shown in Figure 1.

[0041] Condition (MS2): This condition states that the voltage Vms is less than or equal to the threshold Vth. If PU122 determines that the above logical AND is true (S32: YES), it makes an IG off determination, which is a determination that the start switch is off (S34). Then, PU122 determines whether or not the determination that the start switch is off (IG off determination) is confirmed (S36). PU122 confirms the determination that the start switch is off, for example, by determining that a sub-side off determination has been sent. Then, PU122 executes a process to stop the steering main microcontroller 120 (S38).

[0042] Furthermore, when PU222 executes the process in S38, or when it makes a negative determination in the processes of S32 and S36, it temporarily terminates the series of processes shown in Figure 4. "Processing by auxiliary microcontroller 520, steering main microcontroller 120, and steering main microcontroller 320" Figure 5 shows the procedures for processing performed by the auxiliary microcontroller 520, the steering main microcontroller 120, and the steering main microcontroller 320. One of the three series of processes shown in Figure 5 is implemented by the PU 522 repeatedly executing a program stored in ROM 524, for example, at a predetermined period. Another of the three series of processes shown in Figure 5 is implemented by the PU 122 repeatedly executing a program stored in ROM 124, for example, at a predetermined period. The remaining of the three series of processes shown in Figure 5 is implemented by the PU 322 repeatedly executing a program stored in ROM 324, for example, at a predetermined period. The series of processes shown in Figure 5 will be described below in the order of the time that may actually occur.

[0043] In the series of processes shown in Figure 5, PU522 first detects the voltage Vpgs of the startup line Lig connected to the auxiliary control device 500 (S50). The voltage Vpgs is the voltage on the anode side of diode 518. Next, PU522 transmits the voltage Vpgs to the steering main microcontroller 120 via the local line 80 (S52).

[0044] In response, the PU122 of the steering main microcontroller 120 receives the voltage Vpgs (S60). Then, the PU122 determines whether the voltage Vpgs is less than or equal to the threshold Vth (S62). This process determines whether the start switch 12 is in the off state. If the PU122 determines that it is less than or equal to the threshold Vth (S62: YES), it assigns "1" to the determination flag Fpgs (S64). On the other hand, if the PU72 determines that it is greater than the threshold Vth (S62: NO), it assigns "0" to the determination flag Fpgs (S66). When the PU72 completes the processes in S64 and S66, it transmits the value of the determination flag Fpgs to the steering main microcontroller 320 via the main-to-main communication line 40 (S68).

[0045] In response, the PU322 of the steering main microcontroller 320 determines whether or not it has received the value of the judgment flag Fpgs (S80). If the PU322 determines that it has received the value (S80: YES), it detects the voltage Vmt on the cathode side of diodes 516 and 518 (S82). Note that the voltage Vmt is the voltage on the anode side of diode 519. Next, the PU422 determines whether or not the logical AND of the following condition (MT1), the condition that the logical OR of condition (MT2) and condition (MT3) is true is true (S84).

[0046] Condition (MT1): This condition indicates that a command signal for turning the start switch OFF has been received. In Figure 5, this is labeled "IGOFF command received". This command signal is input to the steering main microcontroller 320 via the bus line 60. The command signal may be a signal generated by another control device, for example, not shown in Figure 1.

[0047] Condition (MT2): This condition states that the voltage Vmt is less than or equal to the threshold Vth. Condition (MT3): The condition is that the judgment flag Fpgs is "1". If PU322 determines that the logical AND is true (S84: YES), it determines that the start switch is off (IG off determination) and stores this information in RAM326 (S86). On the other hand, if PU322 determines that the result is negative in the process of S84, it determines that the start switch is on and stores this information in RAM326 (S88).

[0048] When PU322 completes processing S86 and S88, or when it makes a negative determination in processing S80, it determines whether the result of the power switch being turned off is stored in RAM326 (S90). If PU322 determines that the off determination result is stored (S90: YES), it sends a message via the main communication line 40 to the steering main microcontroller 320 indicating that the IG has been turned off (S92).

[0049] In response, the PU122 of the steering main microcontroller 120 determines whether or not it has received a determination result from the steering main microcontroller 320 indicating that the activation switch is off (S70). If the PU122 determines that it has received the determination result (S70: YES), it sends a permission signal via the local line 80 to allow the auxiliary microcontroller 520 to be turned off (S72). The PU122 then terminates the series of processes shown in Figure 5 when it completes the process in S72, or when it makes a negative determination in the process of S70.

[0050] In response, the auxiliary microcontroller 520's PU522 determines whether the logical AND of the following conditions (AS1) and (AS2) is true (S54). Condition (AS1): This is the condition that a permission signal has been received.

[0051] Condition (AS2): The condition is that the voltage Vpgs is less than or equal to the threshold Vth. If PU522 determines that the above logical AND is true (S54: YES), it executes a process to stop the auxiliary microcontroller 520 (S56). The process to stop the auxiliary microcontroller 520 includes a process in which the auxiliary microcontroller 520 opens the switching element 514. Note that when PU522 completes the process in S56, or when it determines that the process in S54 is negative, it terminates the series of processes shown in Figure 5.

[0052] Meanwhile, when the steering main microcontroller 320 completes the processing in S92, the PU322 determines whether the start switch is confirmed to be in the off state (S94). Here, the PU322 confirms that the start switch is off if it has met certain conditions, such as receiving a determination result from the steering sub-microcontroller 420 indicating that the start switch is in the off state through the processing in S16 in Figure 3. If the PU322 confirms that the start switch is off (S944: YES), it turns off the steering main microcontroller 320 (S96).

[0053] Furthermore, when PU322 completes the process in S96, or when it makes a negative determination in the processes of S90 and S94, it temporarily terminates the series of processes shown in Figure 5. "Setting initial values" Figure 6 shows the procedure for setting the initial value of the memory area of ​​RAM326 that stores the result of determining the state of the power switch. The process shown in Figure 6 is realized by PU322 repeatedly executing a program stored in ROM324, for example, at a predetermined period.

[0054] In the series of processes shown in Figure 6, PU322 first determines whether or not the steering main microcontroller 320 is being started (S100). If PU320 determines that it is being started (S100: YES), it sets the value of the memory area of ​​RAM326 that stores the result of the determination of the state of the start switch to indicate that the start switch is ON (S102). Note that PU322 terminates the series of processes shown in Figure 6 when it completes the process in S102, or when it makes a negative determination in the process in S100.

[0055] Now, the operation and effects of this embodiment will be described. When the auxiliary microcontroller 520's PU522 detects a voltage Vpgs, it transmits the voltage Vpgs to the steering main microcontroller 120 via the local line 80. The steering main microcontroller 120's PU122 assigns the result of comparing the voltage Vpgs with the threshold Vth to the value of the determination flag Fpgs. The PU122 then transmits the value of the determination flag Fpgs to the steering main microcontroller 320 via the main-to-main communication line 40. The steering main microcontroller 320's PU322 determines that the start switch is off if the logical OR of the value of the determination flag Fpgs being "1" and the voltage Vmt being less than or equal to the threshold Vth is true, and an IG off command has been received. The PU322 then stores the determination result in the RAM 326. Furthermore, if the determination result stored in the RAM 326 indicates that the start switch is off, the PU322 transmits this to the steering main microcontroller 120 via the main-to-main communication line 40. When the steering main microcontroller 120 receives a determination result from the steering main microcontroller 320 indicating that it is in an off state, it sends a permission signal to the auxiliary microcontroller 520. The PU522 of the auxiliary microcontroller 520 turns off the auxiliary microcontroller 520 upon receiving the permission signal.

[0056] In this way, by using the voltage Vpgs detected by the auxiliary control device 500, the PU 122 of the steering main microcontroller 120 can determine the state of the start switch based on the voltage Vpgs of the start line Lig. That is, the cathode voltage of diodes 516 and 518 is applied to the steering main microcontroller 120 and the steering main microcontroller 320. Therefore, when the start switch 12 is in the off state, if the voltage of the start line Lig drops, the terminal voltage of the auxiliary power supply 530 is applied to the steering main microcontroller 120 and the steering main microcontroller 320. Consequently, the steering main microcontroller 120 and the steering main microcontroller 320 cannot directly detect the voltage of the start line Lig.

[0057] Incidentally, when the start switch 12 switches from the open state to the closed state during startup, there may be variations in the startup timing of the steering main microcontroller 120, the steering main microcontroller 320, and the auxiliary microcontroller 520. For this reason, it may take some time for communication between the steering main microcontroller 120 and the auxiliary microcontroller 520, and between the steering main microcontroller 120 and the steering main microcontroller 320 to be established. On the other hand, microcontrollers generally initialize the data they store when they start up. If, as a result of this initialization, the value indicating the state of the start switch stored in RAM 326 is set to an off state, the PU 322 sends the off state determination result to the steering main microcontroller 120 due to delays in establishing communication, etc. As a result, when a permit signal is sent from PU 122 to the auxiliary microcontroller 520, PU 522 stops the auxiliary microcontroller 520. In other words, during normal startup when the start switch 12 is switched from the open state to the closed state, there is a concern that the auxiliary microcontroller 520 may unintentionally stop. In that case, if the power supply from the battery 10 is interrupted, such as by a disconnection of the startup line lig, the power from the auxiliary power supply 530 that should be used cannot be utilized. This condition may persist from the time the start switch 12 is opened until it is closed again.

[0058] In contrast, in this embodiment, when the steering main microcontroller 320 is started, the PU 322 switches the determination result of the state of the start switch to an ON state during the initialization process of the RAM 326. Therefore, it is possible to suppress the transmission of an permission signal to the auxiliary microcontroller 520 unintentionally due to the above-mentioned communication delay, etc.

[0059] According to the embodiment described above, the following effects and benefits can be obtained. (1) A communication line that interposes the gateway 70 was not provided between the auxiliary control device 500 and the outside. This reduces the number of parts in the steering control system and lowers costs. However, in this case, the auxiliary microcontroller 520 cannot receive an off command for the start switch from the outside. Furthermore, if the PU522 of the auxiliary microcontroller 520 itself determines the state of the start switch only from the voltage Vpgs, the reliability of the determination result is reduced compared to when the reception of the off command is taken into account. For this reason, the advantage of generating an enable signal by determining the state of the start switch outside of the auxiliary control device 500 is particularly significant.

[0060] <Correspondence> The correspondence between the matters in the above embodiment and the matters described in the "Means for Solving the Problems" section is as follows. Below, the correspondence is shown for each number of the solution means described in the "Means for Solving the Problems" section. [1] The drive control device corresponds to the steering main control device 100 and the steering main control device 300. The auxiliary control device corresponds to the auxiliary control device 500. The main power supply corresponds to the battery 10. The auxiliary power supply corresponds to the auxiliary power supply 530. The supply path corresponds to the startup line Lig. The memory processing corresponds to the processing of S86 and S88. The permission signal transmission processing corresponds to the processing of S72. The initial value processing corresponds to the processing of S102. The memory device corresponds to the RAM 326. The permission signal reception processing corresponds to the processing of S54. The stop processing corresponds to the processing of S56. [2] The processing of S80 corresponds to the ability to execute the processing of S86 and S88 after receiving the value of the judgment flag Fpgs. [3] The voltage transmission processing corresponds to the processing of S52. [4] Voltage reception processing corresponds to processing S60. Off-determination processing corresponds to processing S62-S66 and S84. [5] Voltage detection processing corresponds to processing S82. [6] The output voltages of diodes 516 and 518 are applied to the steering main microcontroller 120 and the steering main microcontroller 320. [7] In Figure 1, the auxiliary control device 500 is connected only to the steering main control device 100 via the local line 80. [8] The drive circuit for the reaction force actuator corresponds to inverter 110. The drive circuit for the steering actuator corresponds to inverter 310. Steering side determination processing corresponds to processing S62-S66. Steering side determination processing corresponds to processing S84. Steering side determination result transmission processing corresponds to processing S68. Steering side determination result reception processing corresponds to processing S80. Steering side determination result transmission processing corresponds to processing S92. Steering side determination result reception processing corresponds to processing S70.

[0061] <Other Embodiments> Furthermore, this embodiment can be implemented with the following modifications. This embodiment and the following modifications can be combined with each other to the extent that they do not contradict each other technically.

[0062] "Regarding the process for determining the direction of steering" The steering direction determination process is not limited to the process in S84. For example, condition (MT1) may be deleted. In other words, it may be a process that determines whether the logical OR of conditions (MT2) and (MT3) is true or not. Alternatively, for example, it may be a process that determines whether the logical AND of conditions (MT1) and (MT3) is true or not.

[0063] "Regarding steering side determination processing" The steering side determination process is not limited to the processes in S62-S66. For example, the process may proceed to S64 if the logical OR of the fact that voltage Vpgs is less than or equal to threshold Vth and voltage Vms is less than or equal to threshold Vth is true.

[0064] "Regarding the stopping process for auxiliary control devices" The execution conditions for the stop process are not limited to a condition where the logical AND of condition (AS1) and condition (AS2) is true. For example, only condition (AS1) may be used.

[0065] "Regarding communication paths" For example, the main communication line 40 between the steering main control device 100 and the steering main control device 300 may be routed via the gateway 70.

[0066] It is not essential that the auxiliary control device 500 communicates directly only with the steering main control device 100. "Regarding the control device for operating the reaction force actuator" The control devices for operating the reaction force actuator are not limited to the steering main control device 100 and the steering sub-control device 200. For example, the steering main control device 100 alone may be used. Also, for example, when redundancy is provided by using multiple control devices for operating the reaction force actuator, it is not limited to having two control devices. For example, three or more control devices for operating the reaction force actuator may be provided.

[0067] "Regarding the control device for operating the steering actuator" The control devices for operating the steering actuator are not limited to the steering main control device 300 and the steering sub-control device 400. For example, the steering main control device 300 alone may be used. Also, for example, when redundancy is provided by using multiple control devices for operating the steering actuator, it is not limited to having two control devices. For example, three or more control devices for operating the steering actuator may be provided.

[0068] "Regarding the drive control device" It is not mandatory for the drive control device to include a steering main control device 100 and a steering main control device 300. For example, they may be combined into a single control device. In that case, the PU, ROM, and storage device can be shared. Also, for example, as described in the section "About the equipment mounted on the vehicle" below, if the steering wheel is mechanically connected to the steering wheels, the drive control device may be a device that operates an electric motor to assist in the steering of the steering wheels.

[0069] The drive control device is not limited to one that includes a PU and a ROM and executes software processing. For example, it may include a dedicated hardware circuit (e.g., an ASIC) that performs hardware processing on at least a portion of what is processed by software in the above embodiment. In other words, the drive control device may have any of the following configurations (a) to (c): (a) It includes a processing unit that executes all of the above processing according to a program and a program storage device such as a ROM that stores the program. (b) It includes a processing unit and a program storage device that execute a portion of the above processing according to a program and a dedicated hardware circuit that executes the remaining processing. (c) It includes a dedicated hardware circuit that executes all of the above processing. Here, there may be multiple software processing circuits equipped with a processing unit and a program storage device, or multiple dedicated hardware circuits. In other words, the above processing may be executed by a processing circuit that includes at least one of one or more software processing circuits and one or more dedicated hardware circuits.

[0070] "Regarding auxiliary control devices" The auxiliary control device 500 is not limited to one that includes a PU 522 and a ROM 524 and executes software processing. For example, it may include a dedicated hardware circuit (e.g., an ASIC) that performs hardware processing on at least a portion of what is processed by software in the above embodiment. In other words, the auxiliary control device may have any of the following configurations (a) to (c): (a) It includes a processing unit that executes all of the above processing according to a program and a program storage device such as a ROM that stores the program. (b) It includes a processing unit and a program storage device that execute a portion of the above processing according to a program and a dedicated hardware circuit that executes the remaining processing. (c) It includes a dedicated hardware circuit that executes all of the above processing. Here, there may be multiple software processing circuits that include a processing unit and a program storage device, or multiple dedicated hardware circuits. In other words, the above processing may be executed by a processing circuit that includes at least one of one or more software processing circuits and one or more dedicated hardware circuits.

[0071] "Regarding equipment installed in vehicles" The devices whose state is controlled by the drive control device are not limited to the steering wheel and the steering wheels. For example, in a configuration where the steering wheel is mechanically connected to the steering wheels, only the steering wheels may be considered.

[0072] • It is not necessary for the equipment whose state is controlled by the drive control device to be equipment in the vehicle's steering system. [Explanation of Symbols]

[0073] 10…Battery 12... Activation switch 30... Local Line 32... Local Line 40…Main inter-communication line 50... Bus line 60…Bus Line 70…Gateway 80... Local Line 100... Main steering control device 110... Inverter 120... Steering main microcontroller 200... Steering sub-control device 210... Inverter 220... Steering sub-microcontroller 300... Main steering control device 310... Inverter 320... Main microcontroller for steering 400... Steering sub-control device 410...Inverter 500... Auxiliary control device 520... Auxiliary microcontroller 530…Auxiliary power supply

Claims

1. The vehicle is equipped with a drive control device and an auxiliary control device, The aforementioned Vehicle is equipped with a main power supply, an auxiliary power supply, and a supply path. The aforementioned auxiliary power supply is a power supply that stores the power supplied from the aforementioned main power supply, The supply path is a path that supplies power from the main power source to the electronic equipment inside the vehicle and is configured to open and close according to the state of the vehicle's start switch. The aforementioned drive control device is a device that controls the state of equipment mounted on the vehicle while using either the main power supply or the auxiliary power supply as its power source. The auxiliary control device is a device that controls the state of the auxiliary power supply, The drive control device is configured to perform memory processing, permission signal transmission processing, and initial value processing. The aforementioned storage process is a process of storing the state of the start switch, determined based on an external signal from the drive control device, in a storage device. The permission signal transmission process is a process of transmitting a permission signal when the state of the activation switch stored in the storage device is in the off state. The initial value processing is a process in which, when the drive control device is started, the initial value of the state of the start switch stored in the storage device is set to a value indicating the ON state. The auxiliary control device is configured to perform permission signal reception processing and stop processing. The permission signal reception process is a process for receiving the permission signal, The aforementioned stop process is a power supply device that, upon receiving the permission signal, turns off the power supply control from the auxiliary power supply to the drive control device.

2. The power supply device according to claim 1, wherein the storage process is configured to be started when communication between the drive control device and the outside becomes possible.

3. The auxiliary control device is configured to perform voltage transmission processing, The aforementioned drive control device is configured to perform voltage reception processing and off determination processing. The voltage transmission process is a process that transmits the detected voltage of the main power supply. The voltage reception process is a process for receiving the detected value, The off determination process is a process that determines that the start switch is in the off state based on the detection value being below a threshold. The power supply device according to claim 1, wherein the storage process is a process of storing the determination result of the off determination process.

4. The drive control device is configured to perform voltage detection processing, The voltage detection process is a process in which the drive control device detects the power supply voltage of the drive control device, The power supply device according to claim 3, wherein the off determination process determines that the start switch is in the off state based on the fact that the power supply voltage detected by the voltage detection process is less than or equal to a predetermined value and the detected value is less than or equal to the threshold value, and the result of this logical OR is true.

5. The power supply device according to claim 4, wherein the power supply voltage is the higher of the voltage of the main power supply and the voltage of the auxiliary power supply.

6. The aforementioned off determination process is a process that determines that the start switch is off, on the condition that it receives a command signal that puts the start switch into an off state. The power supply device according to claim 3, wherein the command signal is not transmitted to the communication line connected to the auxiliary control device.

7. The vehicle comprises a reaction force actuator that applies a reaction force to the steering wheel and a steering actuator that steers the steering wheels, The aforementioned drive control device includes a steering control device and a steering control device, The steering control device is a device that controls the state of the steering wheel by operating the drive circuit of the reaction force actuator. The steering control device is a device that controls the state of the steering wheel by operating the drive circuit of the steering actuator. The aforementioned off-determination process includes steering-side determination process and steering-side determination process, The steering side determination process is a process performed by the steering control device to determine whether the detected value is less than or equal to the threshold value, The steering-side determination process is a process performed by the steering control device to determine whether the logical OR of the power supply voltage detected by the voltage detection process being less than or equal to a predetermined value and the steering-side determination process determining that the detected value is less than or equal to the threshold is true. The steering control device is configured to perform, in addition to the permission signal transmission process, a steering side determination result transmission process and a steering side determination result reception process. The steering control device is configured to perform, in addition to the memory processing, initial value processing, and voltage detection processing, steering side determination result reception processing and steering side determination result transmission processing. The steering side determination result transmission process is a process of transmitting the determination result obtained by the steering side determination process. The steering side determination result receiving process is a process for receiving the determination result from the steering side determination process, The memory processing is a process of storing the determination result obtained by the steering side determination processing. The steering side determination result transmission process is a process of transmitting the determination result of the state of the activation switch stored in the storage device, The power supply device according to claim 4, wherein the steering side determination result receiving process is a process of receiving a determination result of the state of the start switch stored in the storage device.

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