JP2000313350A - Driving operation device for automobile - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving operation device for an automobile with no sense of incompatibility for a driver at any car speed capable of stably operat ing any of a large operation and a fine operation and imparting an operation reaction force with a less operation burden. SOLUTION: A manipulated variable of a joy stick 10 detects a steering operation angle and a longitudinal operation angle, i.e., respective angles in the lateral direction and the longitudinal direction by two detection means provided on a center axis of the joy stick 10. The signal is inputted to a control means 50 and the control means 50 operates a front wheel steering angle to be driven, a throttle angle and braking amount based on the signal and a value of a car speed detected by a car speed detection means and drives each of a steering driving means 60, a throttle driving means 70 and a brake driving means 80.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving operation device for a motor vehicle which performs steering using a joystick.

[0002]

2. Description of the Related Art As a conventional vehicle driving operation device that performs steering using a joystick, for example, Japanese Unexamined Patent Publication No.
As disclosed in Japanese Patent No. 34353, there is a structure as shown in FIG. In this prior art, a joystick is arranged on an armrest beside a driver's seat. The steering gain (front wheel steering angle / joystick operation amount), which is the relationship between the joystick operation amount and the front wheel steering angle, is changed according to the vehicle speed. The gain is large at a low vehicle speed, and the gain decreases as the vehicle speed increases. Conversely, the operation reaction force has such a characteristic that it increases as the vehicle speed increases, that is, increases.

[0003]

However, if the operation reaction force is simply increased as the speed of the operation is increased as in such a conventional vehicle driving operation device, the muscle load for operation and holding increases. In addition, it can be expected that operation stability in a minute operation such as correction steering is impaired. Further, the operation reaction force needs to be generated with a characteristic that does not cause uncomfortable feeling at any vehicle speed together with the steering gain.

SUMMARY OF THE INVENTION The present invention has been made in view of such a conventional problem. In a driving operation device for a vehicle which performs steering by using a joystick, the driver does not feel uncomfortable at any speed and has a large feeling. It is an object of the present invention to provide a driving operation device for a vehicle which can be operated stably even with an operation and a small operation, and which gives an operation reaction force with a small operation load.

[0005]

The present invention has the following features in order to solve the above-mentioned problems. (1) The steered wheel angle is calculated by joystick operation amount × steering gain, and the steering gain has a characteristic that changes according to the vehicle speed, and the magnitude of the joystick operation force is a characteristic proportional to the yaw rate gain at the vehicle speed.

(2) The steering gain is substantially constant at a vehicle speed lower than the constant vehicle speed V1, and gradually decreases as the vehicle speed increases above the constant vehicle speed V1 and lower than the constant vehicle speed V2.
In the above description, the characteristic is such that the joystick operating force increases almost linearly at a constant vehicle speed V1 or less, gradually increases at a constant vehicle speed V1 or more and a constant vehicle speed V2 or less, and increases at a constant vehicle speed V2 or more. It has a characteristic that becomes almost constant as the vehicle speed increases.

(3) The joystick operation force has a characteristic that is generated at least in proportion to the joystick operation speed.

(4) When the joystick operation speed becomes higher than a certain value, the joystick operation force is rapidly increased to a constant value.

The operation of the present invention will be described below. ADVANTAGE OF THE INVENTION According to the present invention, in a vehicle driving operation device that performs steering using a joystick, the driver does not have a sense of incongruity at any vehicle speed, can operate stably even in large operation and small operation, and has a small operation load. It is possible to provide an automobile driving operation device that gives an operation reaction force.

[0010]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a driving operation device for a vehicle according to the present invention. FIG. 1 is a configuration diagram showing one embodiment of a vehicle driving operation device according to the present invention. First, the configuration will be described. This is a device in which the driver operates the right joystick 10 in the left-right direction and the front-back direction to drive. Here, it is assumed that a right operation is commanded to the right, a left steering is commanded to the left, a forward command is for deceleration, and a backward command (for the driver) is commanded for acceleration.

The amount of operation of the joystick 10 can be determined by two detecting means (steer operation angle detecting means 15, front / rear operating angle detecting means 13) provided on the center axis of the joystick 10.
(See FIG. 2)), the steering angle and the front-back operation angle, which are the respective angles in the left-right direction and the front-back direction, are detected. This signal enters the control means 50. The control means 50 calculates the front wheel steering angle to be driven, the throttle angle, and the brake amount based on the signal and the value of the vehicle speed detected by the vehicle speed detection means. The driving unit 60, the throttle driving unit 70, and the brake driving unit 80 are driven.

Further, the present apparatus has left and right armrests 20 for supporting the elbows of the arms to be operated, and on the left armrest 20b, an equipment operation for operating equipment such as an air conditioner, a radio, and a navigation. A switch 25 is provided.

FIG. 2 shows a detailed configuration of the joystick 10. The grip 11 rotates around the axes of the accelerator / brake direction and the steering direction, and a steering operation angle detecting means 15 provided at the end of each axis.
The operation angle is detected by the front / rear operation angle detection means 13.

Each axis is provided with a reaction force generating means for generating an operation reaction force, and generates an arbitrary reaction force by an electric command of the control means. The reaction force in the left-right direction is generated by the steering reaction force generation means 16, and the reaction force in the front-rear direction is generated by the front-rear reaction force generation means 14.

This embodiment is characterized in that the steering gain and the steering reaction force are changed according to a certain rule according to the vehicle speed.

FIG. 3 shows a steering gain characteristic with respect to the vehicle speed in the present embodiment. Low speed (V1 or less; for example, 20 km
/ H or less. ), It is necessary to cut the front wheel steering to the maximum, so that the steering wheel angle is the maximum and the front wheel steering angle is the maximum.
The steering gain is a constant value. In addition, in order to avoid a feeling of strange operation at a high speed (V2 or more), a gain characteristic is set so that the yaw rate (hereinafter, referred to as a yaw rate gain) of the vehicle generated at a constant operation angle is reduced with the vehicle speed so as to be constant. The yaw rate gain represents the ease of changing the direction of the vehicle,
When the vehicle speed is equal to or higher than V2, the easiness of changing the direction of the vehicle is kept constant even if the vehicle speed changes, and the operability is maintained. At a medium speed (V1 or more, V2 or less), the gain characteristic is such that the low speed and the high speed are connected by a curve characteristic so that the change in the yaw rate gain does not become sharp.

FIG. 4 shows the relationship between the vehicle speed and the yaw rate gain of the vehicle having the gain characteristics. At a very low speed, it increases temporarily, changes in a smooth curve at a medium speed, and becomes constant at a high speed.

For the steering gain characteristic described above, the steering reaction force is generated by the following logic. The basic idea is that a constant yaw rate is generated for a constant input amount of the driver at any vehicle speed. Here, the input amount is simply “the steering operation angle required for constant steering operation × operation reaction force” as the driver energy required for the operation. Therefore, the operation reaction force was set to an operation reaction force proportional to the yaw rate gain.

FIG. 5 shows the relationship between the vehicle speed and the vehicle speed reaction force coefficient Kf (representing the magnitude of the reaction force. The coefficient is multiplied by the reaction force characteristic described below). The characteristics are almost the same as the characteristics of the yaw rate gain shown in FIG. 4, but the gradient of the low speed is slightly different from that of FIG. 4 so that the reaction force does not become zero at the vehicle speed of 0 km / h.

The coefficient for the vehicle speed V1 is assumed to be 1.0. Here, as the characteristic of the operation reaction force, a characteristic proportional to the operation angular velocity (that is, a viscous characteristic) is added in addition to a characteristic dependent on the operation angle (here, mainly elastic characteristic). The viscous characteristic has an effect of suppressing a fast operation such as a wobble operation and a reaction force is generated at the time of the operation even if the elasticity characteristic is reduced, so that the holding load can be reduced.

FIG. 6 shows the reaction force characteristic depending on the steering angle. The characteristic has hysteresis like a general steering system.

FIG. 7 shows a reaction force characteristic corresponding to the viscosity characteristic. Basically, it is proportional to the steering operation angular velocity. Here, the steering operation angular velocity is not less than a certain value (S1 or more)
In this case, it is determined that the operation is abnormal, and the weight is rapidly increased (Td2 constant).

The reaction force finally generated by the steering reaction force generation means 16 is obtained by multiplying the reaction force shown in FIGS. 6 and 7 by the vehicle speed reaction force coefficient Kf.

As shown in FIG. 8, the reaction force on the front-rear operation side has a constant elasticity regardless of the vehicle speed.

FIG. 9 shows a flowchart of the control means 50. First, in step S1, the operation angle and the vehicle speed are read, and in step S2, the steering gain is calculated using the relationship shown in FIG. 3, and in step S3, the front wheel steering angle is calculated from the formula of steering operation angle × steering gain. , The steering driving means 60 is driven. In step S4, the throttle driving means 7
0: The brake driving means 80 is driven in proportion to the front-back operation angle.

Next, in step S5, a vehicle speed reaction force coefficient is extracted using the relationship shown in FIG. 5, and in step S6, the basic steering reaction force is calculated using the relationship shown in FIG.
In steps S7 and S8, the basic steering reaction force is calculated using the relationship shown in FIG. 7, and in step S9, the final reaction force value is obtained by the above-described calculation to drive the steering reaction force generating means 16.
In step S10, the longitudinal reaction force is calculated using the longitudinal operation angle and the relationship shown in FIG.
4 is driven.

[0027]

As described above in detail, according to the present invention, in a driving operation device for a vehicle which performs steering by using a joystick, a driver does not feel uncomfortable at any vehicle speed, and a large operation and minute operation can be performed. It is possible to provide a driving operation device for a vehicle that can be operated stably even with an operation and that gives an operation reaction force with a small operation load.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of an embodiment of a vehicle driving operation device according to the present invention.

FIG. 2 is a configuration diagram of a joystick unit in the present embodiment.

FIG. 3 is a characteristic diagram showing a relationship between a vehicle speed and a steering gain.

FIG. 4 is a characteristic diagram showing a relationship between a vehicle speed and a yaw rate gain.

FIG. 5 is a characteristic diagram showing a relationship between a vehicle speed and a vehicle speed reaction force coefficient.

FIG. 6 is a characteristic diagram illustrating a relationship between a steering operation angle and a basic steering reaction force.

FIG. 7 is a characteristic diagram showing a relationship between a steering operation angular velocity and a steering basic viscous reaction force.

FIG. 8 is a characteristic diagram illustrating a relationship between a front-rear operation angle and a front-rear reaction force.

FIG. 9 is a flowchart of a control unit.

FIG. 10 is a configuration diagram of a vehicle driving operation device according to a conventional technique.

[Explanation of symbols]

 REFERENCE SIGNS LIST 10 joystick 11 gripping part 13 front / rear operation angle detecting means 14 front / rear reaction force generating means 15 steer operation angle detecting means 16 steer reaction force generating means 20a right armrest 20b left armrest 25 equipment operation switch 30 right door 50 control means 60 steering drive means 70 Throttle drive means 80 Brake drive means

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification code FI Theme coat ゛ (Reference) B62D 117: 00

Claims (4)

[Claims] 1. A joystick disposed at least in the vicinity of a driver's seat and operable at least to the left and right, an operation amount detection unit for detecting an operation amount of the joystick left and right, a vehicle speed detection unit for detecting a vehicle speed, and an operation force of the joystick. A driving force generating means for generating a steering wheel angle and a joystick operating force using the detected value, and an operation system adjusting means for adjusting the steering wheel angle and the joystick operating force. Calculating by joystick operation amount × steering gain, the steering gain has a characteristic that varies with vehicle speed, and the magnitude of the joystick operation force is a characteristic proportional to the yaw rate gain at that vehicle speed. apparatus. 2. The driving operation device for a vehicle according to claim 1, wherein the steering gain is substantially constant at a vehicle speed lower than a constant vehicle speed V1, and gradually decreases as the vehicle speed increases at a constant vehicle speed V1 or more and a constant vehicle speed V2 or less. At a constant vehicle speed V2 or higher, the characteristic is such that the joystick operation force decreases substantially linearly as the vehicle speed increases. A vehicle driving operation device having a characteristic that becomes substantially constant as the vehicle speed increases at a vehicle speed V2 or higher. 3. The driving operation device for a vehicle according to claim 1, further comprising an operation speed detecting means for detecting a left and right operation speed of the joystick, wherein the joystick operation force is generated at least in proportion to the joystick operation speed. A driving operation device for a vehicle, characterized in that the driving operation device has the following characteristics. 4. The driving operation device for a vehicle according to claim 3, wherein the joystick operation force suddenly becomes a heavy constant value when the joystick operation speed is higher than a certain value. Driving operation device.