JP2018190007A - vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow a crew of a sub-mobility to adjust automatic operation in accordance with his/her taste and convenience regarding operation of a vehicle.SOLUTION: A movable vehicle 1 mounting a sub-mobility 50 on which a crew is riding detects or determines that the vehicle 1 approaches the sub-mobility 50 or its crew's destination or the vicinity thereof or its near drop-in place. Based on its detection or determination, operation of the vehicle 1 is succeeded by the crew of the sub-mobility 50.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a vehicle that can move by loading sub-mobility on which an occupant is riding.

Conventionally, wheelchairs are used for elderly people and handicap persons who have difficulty walking on their own.
In recent years, personal mobility such as a wheelchair that can be self-propelled by an electric motor or the like has begun to be proposed.
In order to create a society where people who have difficulty walking on their own can easily work, personal mobility can be used not only for people who have difficulty walking on their own but also for people who can walk on their own. It is important to have
Therefore, for example, as disclosed in Patent Documents 1 and 2, for example, a wheelchair, it is considered important that a person can get into a vehicle such as an automobile while riding on personal mobility.

JP 2006-006702 A JP 2004-11495 A

  Then, by loading the sub-mobility loaded on the vehicle to the vehicle and transporting it to the destination or a nearby stop, the convenience of the sub-mobility is enhanced and the use of the sub-mobility can be expected.

  On the other hand, however, the sub-mobility occupant may want to adjust the vehicle operation according to his / her preference and convenience. For example, there are cases where it is desired to determine the parking position, stop position, or alighting position of a vehicle at a destination or nearby stop according to his / her convenience.

  The vehicle according to the present invention is a vehicle that can move by loading sub-mobility on which an occupant is boarded, and the vehicle approaches the sub-mobility, a destination of the occupant, a vicinity thereof, or a nearby stop. A proximity detection unit that detects or determines the occurrence of the event, and a takeover control unit that allows the occupant of the submobility to take over the driving of the vehicle based on the detection or determination of the proximity detection unit.

  Preferably, approaching the vicinity of the destination is detected or determined based on a specific area or road existing near the destination, a distance from the destination, or an estimated arrival time to the destination. It is good.

  Preferably, the takeover control unit specifies a plurality of sub-mobilities loaded on the vehicle toward the destination, and takes over the driving of the vehicle to the specified sub-mobility occupant. It is good to notify.

  Preferably, when the sub-mobility occupant has responded to the notification of taking over the driving of the vehicle, the takeover control unit performs control to take over the driving of the vehicle to the sub-mobility occupant. It is good to do.

  Preferably, the handover control unit may notify the other sub-mobilities loaded on the vehicle that the operation of the vehicle is to be taken over by a passenger of the sub-mobility.

In the present invention, it is detected or determined that the vehicle has approached the sub-mobility or its occupant destination, or a nearby stop nearby, and based on the detection or determination, the driving of the vehicle is transferred to the sub-mobility occupant. Make it.
Therefore, the sub-mobility occupant can drive the vehicle based on his / her preference and convenience and park at the destination or a nearby stop. In addition, it is possible to get off the vehicle at the parked and stopped place.

FIG. 1 is an overview of an example of sub-mobility applied to the present invention. FIG. 2 is an explanatory diagram of an example of the electric circuit of the submobility of FIG. FIG. 3 is a schematic overview of the automobile according to the embodiment of the present invention. FIG. 4 is a block diagram of an example of an electric circuit of the automobile shown in FIG. FIG. 5 is a block diagram of a control circuit for switching the operation of the automobile from, for example, automatic operation to manual operation. FIG. 6 is a flowchart of processing executed by the switching control unit when the driving state of the vehicle is switched from automatic driving to manual driving during automatic driving of the vehicle.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[First Embodiment]
FIG. 1 is an overview of an example of a sub-mobility 50 applied to the present invention.
As shown in FIG. 1, the sub-mobility 50 has an egg-shaped body 51. A seat 52 on which an occupant is seated is disposed inside the body 51. Armrests 53 are disposed on the left and right sides of the seat 52. An operation lever 54 is disposed at the tip of the armrest 53. A plurality of wheels 55 are provided at the lower portion of the body 51.

FIG. 2 is an explanatory diagram of an example of an electric circuit of the submobility 50 of FIG.
As shown in FIG. 2, the sub-mobility 50 of FIG. 1 includes a sub-power motor 65 that drives a sub power receiving connector 61, a sub charger 62, a sub battery 63, a sub converter 64, and a plurality of wheels 55 as power system circuits. , An auxiliary braking motor 66, an auxiliary steering motor 67, and an auxiliary equipment device 68 are provided.

The sub power receiving connector 61 is connected to a commercial power source by a power cord, for example. The sub charger 62 charges the sub battery 63 with the power supplied from the sub power receiving connector 61.
The sub-converter 64 converts the stored electric power of the sub-battery 63 and supplies it to load devices such as the sub-power motor 65, the sub-braking motor 66, the sub steering motor 67, and the sub facility equipment 68.
When the auxiliary power motor 65 is driven, the plurality of wheels 55 rotate, and the submobility 50 can move forward or backward.
By driving the sub steering motor 67, the direction of the wheels 55 is changed, and the sub mobility 50 can be deployed left and right.
By driving the auxiliary braking motor 66, the rotation of the plurality of wheels 55 is braked. Thereby, the submobility 50 can be stopped.
Thus, the sub-mobility 50 can travel with the passenger on the seat 52 using the stored power of the sub-battery 63 charged by the power supplied from the sub-power receiving connector 61.

  Further, in FIG. 2, as a control system circuit, a sub power monitoring unit 71, a sub power control unit 72, a sub GPS (Global Positioning System) receiving unit 73, a sub input unit 74, a sub communication unit 75, a sub display unit 76 are provided. A sub sensor unit 77, a sub route generation unit 78, and a sub automatic operation unit 79. The sub power control unit 72, the sub route generation unit 78, and the sub automatic operation unit 79 may be realized by a CPU (Central Processing Unit) 80 executing a program. This control system circuit may receive power supply from the sub-converter 64 as a part of the sub-equipment device 68 described above.

The sub power monitoring unit 71 monitors the state of the sub battery 63. Examples of the state of the sub battery 63 include a charging voltage and a temperature.
The sub power control unit 72 controls the sub charger 62 and the sub converter 64 based on the information from the sub power monitoring unit 71. For example, when the power cord is connected to the sub power receiving connector 61 and the sub battery 63 can be charged by the sub charger 62, the charging by the sub charger 62 is controlled until the voltage of the sub battery 63 reaches a predetermined maximum voltage. To do. When the voltage of the sub battery 63 is lower than the predetermined minimum voltage, the power conversion by the sub converter 64 is stopped. When the voltage is lower than the predetermined minimum voltage, the power supplied from the sub-converter 64 to each load device is reduced. The sub power control unit 72 notifies the sub route generation unit 78 and the sub automatic operation unit 79 of the power control state and the state of the sub battery 63 as appropriate or periodically.

The sub GPS receiver 73 receives radio waves from GPS satellites. The position of the submobility 50 can be calculated by receiving radio waves from a plurality of GPS satellites.
The sub input unit 74 is a device to which an occupant's operation is input, and includes the operation lever 54 described above, for example.
The sub-communication unit 75 communicates with other devices, for example, the main communication unit 35 of the automobile 1 to transmit and receive data. Further, the location information of the base station can be acquired by communicating with the base station.
The sub display unit 76 is, for example, a touch panel type liquid crystal device. This touch panel can function as a part of the sub input unit 74.
The sub sensor unit 77 detects the position, speed, ambient environment, and the like of the sub mobility 50.
The sub route generation unit 78 generates a patrol route from the current position of the sub-mobility 50 to the destination by inputting, for example, a destination.
The auxiliary automatic driving unit 79 outputs control signals to the auxiliary power motor 65, the auxiliary braking motor 66, and the auxiliary steering motor 67, for example, according to the generated patrol route. Thereby, the submobility 50 can automatically move to the destination by following the patrol route.

By the way, in order to create a society in which sub-mobility 50 is widely spread and, as a result, people who are unable to walk on their own are easily active, sub-mobility 50 is used not only for people who are unable to walk on their own but also for those who can walk on their own. It is important to have
For this reason, it is considered important that a person can get into a vehicle such as the automobile 1 while getting on the sub-mobility 50. In addition, convenience can be further enhanced by allowing the sub-mobility 50 to be charged in the automobile 1.
As a result, use promotion of the next-generation transportation system in which the automobile 1 and the submobility 50 cooperate can be expected.

FIG. 3 is a schematic overview of the automobile 1 according to the embodiment of the present invention. FIG. 3A is a side view. FIG. 3B is a plan view.
3 includes a vehicle body 3 having a passenger compartment 2 and wheels 4 provided at a lower portion of the vehicle body 3. In the passenger compartment 2, two sub-mobilities 50 are boarded in two rows of two each.
FIG. 3 also shows a main power receiving coil 12 provided on the floor surface of the vehicle body 3 and a power transmission coil 101 provided on a travel lane 100 on the road surface on which the automobile 1 can travel. The power transmission coil 101 can supply electric power to the automobile 1 running on the road lane 100 on the road surface in a contactless manner. The main power receiving coil 12 receives power supply from the power transmitting coil 101 outside the automobile 1.

FIG. 4 is a block diagram of an example of an electric circuit of the automobile 1 in FIG. The automobile 1 is an example of a vehicle.
As shown in FIG. 4, the car 1 of FIG. 3 drives a main power receiving connector 11, a main power receiving coil 12, a main charger 13, a main battery 14, a main converter 15, and a plurality of wheels 4 as power system circuits. A main power motor 16, a main brake motor 17, a main steering motor 18, a main equipment 19 and a main power supply connector 20 are provided.

The main power receiving connector 11 is used when the automobile 1 is parked, and is connected to, for example, a commercial power source and a power cord. The main charger 13 charges the main battery 14 with electric power supplied from the main power receiving coil 12 or the main power receiving connector 11.
Main converter 15 converts the stored electric power of main battery 14 and supplies it to load devices such as main power motor 16, main braking motor 17, main steering motor 18, main equipment 19, and main power supply connector 20. The main converter 15 supplies the power supplied to the main power receiving connector 11 and the main power receiving coil 12 or the stored power of the main battery 14 to the power feeding connector.
The main power feeding connector 20 is connected to the sub power receiving connector 61 of the loaded sub mobility 50 by a power cord or the like. This is used to supply electric power of the automobile 1 to the loaded sub-mobility 50.
When the main power motor 16 is driven, the plurality of wheels 4 rotate, and the automobile 1 can move forward or backward.
When the main steering motor 18 is driven, the direction of the wheels 4 is changed, and the automobile 1 can be deployed left and right.
By driving the main braking motor 17, the rotation of the plurality of wheels 4 is braked. Thereby, the automobile 1 can be stopped.
Thus, the automobile 1 can travel with the sub-mobility 50 using the stored power of the main battery 14 charged by the power supplied from the main power receiving coil 12 or the main power receiving connector 11.

  Further, in FIG. 4, a main power monitoring unit 31, a main power control unit 32, a main GPS receiving unit 33, a main input unit 34, a main communication unit 35, a main display unit 36, and a main sensor unit 37 are provided as control system circuits. The main route generation unit 38 and the main automatic operation unit 39 are provided. The main power control unit 32, the main route generation unit 38, and the main automatic operation unit 39 may be realized by the CPU 40 as the control unit executing a program. The CPU 40 may be provided in the automobile 1 as an ECU. Each part of these control systems may receive power supply from the main converter 15 as a part of the main equipment 19 described above.

The main power monitoring unit 31 monitors the state of the main battery 14. Examples of the state of the main battery 14 include a charging voltage and a temperature.
The main power control unit 32 controls the main charger 13 and the main converter 15 based on information from the main power monitoring unit 31. The main power control unit 32 controls power supply to the submobility 50 through the main power supply connector 20 by the main converter 15. For example, when the main power connector is connected to the main power receiving connector 11 and the main battery 14 can be charged by the main charger 13, the charging by the main charger 13 is controlled until the voltage of the main battery 14 reaches a predetermined maximum voltage.

The main GPS receiver 33 receives radio waves from GPS satellites. The position of the automobile 1 can be calculated by receiving radio waves from a plurality of GPS satellites. Note that the main GPS receiving unit 33 may receive other radio waves and obtain a corrected position, for example.
The main input unit 34 is a device to which an occupant's operation is input.
The main communication unit 35 communicates with other devices, for example, the sub communication unit 75 of the sub mobility 50, and transmits and receives data. Further, the location information of the base station can be acquired by communicating with the base station.
The main display unit 36 is, for example, a touch panel type liquid crystal device. This touch panel can function as a part of the main input unit 34. The touch panel type liquid crystal device is disposed on the front surface of the passenger compartment 2, for example. Thereby, the passenger | crew who boarded the some submobility 50 can browse a common display.
The main sensor unit 37 detects the position, speed, ambient environment, and the like of the automobile 1.
The main route generation unit 38 generates a patrol route from the current position of the automobile 1 to a stop-by place, for example, by inputting a destination or the like. The stop-off place may be the same as the destination or a parking place near the destination.
The main automatic driving unit 39 outputs a control signal to the main power motor 16, the main braking motor 17, and the main steering motor 18, for example, according to the generated patrol route. Thereby, the automobile 1 can automatically move to the destination by following the patrol route.

  Thus, the convenience of the submobility 50 is dramatically improved by using the automobile 1 on which the submobility 50 can be loaded. For example, it is possible to get on the sub-mobility 50 and start moving, get on the car 1 together with the sub-mobility 50 and move to the destination or a nearby stop by automatic driving of the car. In addition, the passenger can get off from the parked automobile 1 while traveling on the sub-mobility 50 and can move at the destination.

However, on the other hand, the passenger of the submobility 50 may want to adjust the operation of the automobile 1 according to his / her preference and convenience. For example, there is a case where it is desired to decide the parking position, stop position, or getting off position of the automobile 1 at the destination or a nearby stop depending on one's convenience.
In this case, the driving of the automobile 1 may be switched from automatic driving to manual driving, for example, and the final movement may be controlled by the occupant's manual driving.

FIG. 5 is a block diagram of a control circuit for switching the operation of the automobile 1 from automatic operation to manual operation, for example.
FIG. 5 illustrates a main GPS receiving unit 33, a main automatic driving unit 39, a main driving assist unit 41, a main input unit 34, a switching control unit 42, and a main communication unit 35.
Further, as a circuit of each submobility 50, a sub communication unit 75, a sub display unit 76, a sub input unit 74, and a sub route generation unit 78 are illustrated.

The main automatic driving unit 39 controls the traveling of the automobile 1 based on, for example, the route to the destination of the sub-mobility 50 generated in the automobile 1 or the sub-mobility 50 or a stop nearby. The main automatic driving unit 39 controls the main power motor 16, the main braking motor 17, and the main steering motor 18 of the automobile 1 so that the automobile 1 travels according to the route. Thereby, the automobile 1 can move to a destination or a stop-off place by following a route by automatic driving.
The main input unit 34 includes an operation member of the automobile 1 such as a steering wheel. The main input unit 34 outputs an occupant's operation input to the main input unit 34 of the automobile 1 to the main driving assist unit 41.
The main driving assist unit 41 controls the traveling of the vehicle 1 based on the input from the operation member of the vehicle 1 by the occupant or the sub input unit 74 of the submobility 50. The main driving assist unit 41 controls the main power motor 16, the main braking motor 17, and the main steering motor 18 of the automobile 1 so that the automobile 1 travels according to the operation input. Thereby, the motor vehicle 1 can move based on a passenger | crew's operation input.

The switching control unit 42 executes control for switching the driving state of the automobile 1 between automatic driving and manual driving, and the movement control of the automobile 1 is performed between automatic driving of the automobile 1 and manual driving by a passenger of the submobility 50. Perform control to switch between. Moreover, you may perform switching control of the manual driving | operation between the passenger | crew of the some submobility 50. FIG.
For example, when a switching signal is input from the main automatic driving unit 39, the switching control unit 42 executes control for switching the driving state of the automobile 1 from automatic driving to manual driving.
Further, when a switching signal is input from the main driving assist unit 41, the switching control unit 42 executes control for switching the driving state of the automobile 1 from manual driving to automatic driving.

FIG. 6 is a flowchart of processing executed by the switching control unit 42 when the driving state of the automobile 1 is switched from automatic driving to manual driving during the automatic driving of the automobile 1.
In the switching control of FIG. 6, the switching control unit 42 determines whether or not the vehicle has approached the next destination or stop-off place for automatic driving based on, for example, the position information of the main GPS receiving unit (step ST1).
Then, when approaching the next destination or stopover, the switching control unit 42 identifies one or more sub-mobilities 50 loaded on the automobile 1 that are heading to the destination. (Step ST2).
Next, the switching control unit 42 confirms whether or not driving handover has been set in advance for the identified sub-mobility 50 (step ST3).
When the driving takeover has not been set in advance, the switching control unit 42 notifies the specified sub-mobility 50 of the taking over of the driving of the automobile 1 (step ST4).
Thereafter, when there is an acknowledgment response from the identified sub-mobility 50 occupant (step ST5), the switching control unit 42 notifies the other occupants of the other sub-mobility 50 that the driver is taking over. (Step ST6).
Next, the switching control unit 42 performs takeover control for switching the driving of the automobile 1 from the automatic driving to the driving of the occupant of the specified sub-mobility 50 (step ST7).
In addition, even when the driving takeover is set in advance, notification (step ST6) and takeover control (step ST7) to the passengers of the other submobility 50 are executed.

In the takeover control, the switching control unit 42 instructs the main driving assist unit 41 to start assisting, and instructs the main automatic driving unit 39 to end driving.
Thereby, the automatic driving of the automobile 1 by the main automatic driving unit 39 is completed, and the manual driving based on the operation of the occupant supported by the main driving assist unit 41 is disclosed. The driving state of the automobile 1 is switched from automatic driving to manual driving.

As described above, in this embodiment, it is detected or determined that the vehicle 1 has approached the destination of the sub-mobility 50 or its occupant or a nearby stop, and the driving of the vehicle 1 is performed based on the detection or determination. Let the passenger of sub-mobility 50 take over.
Therefore, the occupant of the submobility 50 can drive the automobile 1 based on his / her preference and convenience and park at the destination or a nearby stop. In addition, it is possible to get off from the automobile 1 at the parked and stopped place.

  In the present embodiment, when a plurality of sub-mobilities 50 are loaded on the automobile 1, a vehicle heading toward the destination that is approached is identified from among the plurality of sub-mobilities 50. Notification of the takeover of driving of the automobile 1 is given. Therefore, the passenger of the sub-mobility 50 heading to the destination can know that the automobile 1 has approached his / her destination and can prepare for manual driving near the destination. In addition, the occupants of other sub-mobilities 50 are not notified of irrelevant notifications such as taking over driving.

In the present embodiment, when there is a response from the occupant of the submobility 50 to the notification of taking over the driving of the automobile 1, control is performed so that the occupant of the submobility 50 takes over the driving of the automobile 1.
Therefore, it is possible to take over the driving in a state where the occupant who is taking over the driving approves the taking over. It is possible to reliably take over driving.
In addition, when the occupant who is going to take over the driving of the automobile 1 is not ready and cannot take over, the movement to the destination or the like can be continued by automatic driving without taking over the driving.

  In the present embodiment, the sub-mobility 50 loaded in the automobile 1 is notified that the driver of the sub-mobility 50 can take over the driving of the automobile 1. Therefore, an occupant who does not take over driving can know and understand that driving of the automobile 1 is taken over by another occupant.

  The above embodiment is an example of a preferred embodiment of the present invention, but the present invention is not limited to this, and various modifications or changes can be made without departing from the scope of the invention.

In the above-described embodiment, the switching control unit 42 detects or determines that the automobile 1 is approaching the sub-mobility 50 or the destination of the passenger or a stopover nearby, and takes over the driving.
In addition to this, for example, the switching control unit 42 may detect or determine that the vehicle has approached the vicinity of the destination and may take over the operation.
In this case, approaching the vicinity of the destination is detected or determined based on a specific area or road existing near the destination, a predetermined distance from the destination, or a predetermined estimated time to reach the destination. Good. Moreover, you may detect or judge by the predetermined elapsed time from a boarding place or a departure place. When the switching control unit 42 determines switching based on these, the driving of the automobile 1 can be taken over by the passenger of the submobility 50 near the destination.

  DESCRIPTION OF SYMBOLS 1 ... Motor vehicle (vehicle), 2 ... Passenger compartment, 3 ... Vehicle body, 4 ... Wheel, 11 ... Main power receiving connector, 12 ... Main power receiving coil, 12 ... Main power receiving part, 13 ... Main charger, 14 ... Main battery, 15 DESCRIPTION OF SYMBOLS ... Main converter, 16 ... Main power motor, 17 ... Main brake motor, 18 ... Main steering motor, 19 ... Main equipment, 20 ... Main power supply connector, 21 ... Automatic operation part, 22 ... Driving assist part, 31 ... Main electric power Monitoring unit, 32 ... main power control unit, 33 ... main GPS receiving unit, 34 ... main input unit, 35 ... main communication unit, 36 ... main display unit, 37 ... main sensor unit, 38 ... main route generation unit, 39 ... Main automatic driving unit, 40 ... CPU (control unit), 41 ... main driving assist unit, 42 ... switching control unit, 50 ... sub-mobility, 51 ... body, 52 ... seat, 53 ... armrest, 54 ... operating lever, 55 ... Wheel, 61 ... Sub power receiving connector, 62 Sub charger, 63 ... sub battery, 64 ... sub converter, 65 ... sub power motor, 66 ... sub brake motor, 67 ... sub steering motor, 68 ... sub equipment, 71 ... sub power monitor, 72 ... sub power control , 73 ... Sub GPS receiving unit, 74 ... Sub input unit, 75 ... Sub communication unit, 76 ... Sub display unit, 77 ... Sub sensor unit, 78 ... Sub route generation unit, 79 ... Sub automatic operation unit, 100 ... Running Lane, 101: power transmission coil.

Claims (5)

It is a vehicle that can be loaded and moved with sub-mobility on which passengers are riding,
A proximity detection unit that detects or determines that the vehicle has approached the sub-mobility, a passenger's destination, a vicinity thereof, or a nearby stop;
Based on the detection or determination of the proximity detection unit, a takeover control unit for taking over the driving of the vehicle to a passenger of the submobility,
Having a vehicle. Having approached the vicinity of the destination is detected or determined by a specific area or road existing near the destination, a distance from the destination, or an estimated arrival time to the destination.
The vehicle according to claim 1. The takeover control unit
Identifying a plurality of sub-mobilities loaded on the vehicle toward the destination,
Notifying the identified sub-mobility occupant of the takeover of driving of the vehicle,
The vehicle according to claim 1 or 2. The takeover control unit
When there is a response from the sub-mobility occupant in response to the notification of taking over the driving of the vehicle, control is performed to take over the driving of the vehicle to the occupant of the sub-mobility.
The vehicle according to claim 3. The takeover control unit
Notifying other sub-mobilities loaded on the vehicle that the driving of the vehicle is to be taken over by a passenger of the sub-mobility,
The vehicle according to any one of claims 3 to 5.