JP2004078715A - Vehicle speed controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle speed controller which can surely detect a sign and permits inputting of information from outside the vehicle, for a vehicle which a driver drives by operating a steering wheel manually on a track with the buried sign indicating an indicated vehicle speed or the like. <P>SOLUTION: In the vehicle speed controller comprising the vehicle 30 driven by the driver, the predetermined track 33 on which the vehicle 30 travels, information input means 34 provided on the track 33, and the vehicle speed controller having sensors 35a, 35b provided on a vehicle side for reading information from the information input means 34, and a control circuit for automatically controlling a braking device based on the read information, the information input means 34 are provided over a predetermined width on the track 33. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a vehicle speed control device that automatically controls the speed of a vehicle such as a golf cart.
[0002]
[Prior art]
The golf cart is automatically speed-controlled so that the golf cart travels along a predetermined course at a speed less than or equal to a preset instruction speed. Such a golf cart travels by burying a guide line in a traveling path along a predetermined course and automatically steering a steering system by detecting the guide line on the vehicle side. Therefore, the driver does not need to operate the steering wheel. In such a golf cart traveling system, an instruction speed is set in advance in order to limit the maximum speed according to the gradient or curve state of the traveling road, and the instruction speed is indicated from outside the vehicle by a fixed point marker (for example, a magnet). Information input means) is embedded in the traveling path. A fixed point sensor for reading the sign is provided on the vehicle side, and the braking device is automatically controlled based on the read instruction speed and the vehicle travels at or below the instruction speed.
[0003]
In this case, since the vehicle is automatically driven along the guide line, the sign is buried at a predetermined position along the guide line, and a sensor is provided on the vehicle side at a position passing this sign to ensure the sign. The vehicle can be made to travel in accordance with the set instruction speed read and set.
[0004]
Generally, vehicle speed control of a vehicle is performed by a driver operating an accelerator and a brake. However, a vehicle such as a golf cart has a brake motor for automatically applying a brake separately from a brake pedal. The vehicle is provided with a control circuit (CPU) for driving and controlling a vehicle drive source (for example, an engine). The CPU automatically drives the brake motor based on the difference between the instructed vehicle speed with the maximum speed limited and the actual vehicle speed during normal running. As a result, the maximum vehicle speed is limited to a certain speed (instructed vehicle speed) or less.
[0005]
Such a golf cart can be manually steered along a travel path by switching from an autopilot mode in which the vehicle is guided by a guide line to a manual mode in which the driver operates the steering wheel.
[0006]
[Problems to be solved by the invention]
However, when the golf cart is switched to the manual mode and the vehicle is steered by the driver's steering operation to drive the vehicle, or when the vehicle travels only by the steering wheel operation without a device that originally detects the guide line and automatically travels. However, the sensor of the vehicle does not always pass on the sign of the designated speed embedded in the traveling path depending on which position of the road width of the traveling path the vehicle travels. Therefore, when traveling manually, the sign may not be detected, and in this case, there is no input of the command speed from the outside on the vehicle side. Therefore, automatic speed control based on the designated speed cannot be performed. For this reason, for example, when there is a sharp curve ahead of a descending slope, the external input of the instruction vehicle speed for lowering the upper limit speed of the automatic speed control is not detected, and the vehicle may travel on a sharp curve with the instruction vehicle speed set to be high. was there.
[0007]
The present invention has been made in consideration of the above-described conventional technology, and in a vehicle in which a driver manually operates a steering wheel on a traveling road on which a sign indicating information such as an instruction vehicle speed is embedded, the sign is reliably detected. It is an object of the present invention to provide a vehicle speed control device capable of inputting information from outside the vehicle.
[0008]
[Means for Solving the Problems]
In order to achieve the above object, according to the present invention, a vehicle driven by a driver, a predetermined traveling path on which the vehicle travels, information input means provided on the traveling path, In a vehicle speed control device having a sensor provided on a vehicle side for reading information and a control circuit for automatically controlling a braking device based on the read information, the information input means is provided over a predetermined width of the traveling path. A vehicle speed control device is provided.
[0009]
According to this configuration, since the information input means for transmitting information to the vehicle is attached over a predetermined width of the traveling path on which the vehicle travels, the sensor attached to the vehicle even if the vehicle performs a meandering operation during traveling. Since the information passes over the information input means, the information can be reliably read. Here, the predetermined width is a range in which a sensor provided on the vehicle moves when the vehicle moves between a right end position and a left end position of the traveling road. That is, it is the detection range covered by the sensor, and varies depending on the width of the vehicle and the mounting position and number of the sensors.
[0010]
In a preferred configuration example, the information input means is a magnet provided in two or more rows along the traveling direction of the traveling path.
[0011]
According to this configuration, since information signals from the outside of the vehicle are configured using magnets arranged in two rows or more, the construction can be simplified with no inexpensive configuration requiring electric power and the like. Thus, a plurality of pieces of information can be easily input to the vehicle.
[0012]
In a preferred configuration example, there is an area on the traveling road where the vehicle speed needs to be reduced, and the information input means is provided at an entrance of this area.
[0013]
According to this configuration, it is possible to set the designated speed and control the vehicle speed in an area where the vehicle speed needs to be reduced, such as a vehicle landing or a rest area provided in the middle of the traveling path.
[0014]
BEST MODE FOR CARRYING OUT THE INVENTION
FIG. 1 is a side view of a vehicle having a vehicle speed control device according to the present invention.
The vehicle 30 constituting the golf cart has an engine (not shown) as an example of a driving unit mounted in a vehicle body 31 and has a handle 32 at a front portion. An electric motor may be used as the driving means instead of the engine. The vehicle 30 travels on a predetermined traveling path 33 along the course as the driver operates the steering wheel 32 (steering operation by operating the steering wheel). Two rows of fixed point magnets 34 for inputting information are embedded in the traveling path 33 along the traveling direction.
[0015]
The magnets 34 have magnetic poles formed in the vertical direction, and are arranged at a distance such that mutual magnetic fields do not interfere with each other. The indicated vehicle speed on the traveling path 33 at that position is displayed by the combination of the order of N and S of the magnetic poles on the road surface side of these two rows of magnets 34. These two rows of magnets 34 are disposed so as to cover a predetermined range in the road width direction of the traveling path 33. Fixed point sensors 35a and 35b for sequentially reading two rows of magnets 34 are provided on the front lower surface of the vehicle body 31 of the vehicle 30. These fixed point sensors 35a and 35b are provided with a slight shift in the front-rear direction and with a slight shift in the vehicle width direction.
[0016]
FIG. 2 is a plan view of the embodiment of FIG.
As shown in the figure, two rows of magnets 34 buried in the running path 33 are provided in a row in each example over substantially the entire length of the road in this example. With this arrangement, even when the vehicle 30 travels on the right end or left end of the traveling path as indicated by a dotted line by manual driving, one of the fixed point sensors 35a and 35b sequentially operates the two rows of magnets 34. Can be detected.
[0017]
FIG. 3 is a schematic diagram of another example of the vehicle speed control device according to the present invention.
In this example, two rows of magnets 25a and 25b are formed by integral magnet members, respectively, and are embedded in the entire road width. In each of the embodiments of FIGS. 2 and 3, the vehicle 30 is provided with one or more fixed point sensors 35a and 35b for detecting a magnetic field such as a coil (two in the example of FIGS. 2 and 3). The fixed point sensors in these examples include a main fixed point sensor 35a at the center of the vehicle 30 and a sub fixed point sensor 35b on the left side of the vehicle 30. Note that the fixed point sensor is mounted at a position where the vehicle passes over the magnet regardless of where the vehicle 30 passes on the traveling path. For example, the fixed point sensor may be mounted on both sides of the vehicle 30 or at the center and both sides. You may attach it to three places.
[0018]
As shown, a magnet is buried in the traveling path 33 over substantially the entire width of the road. Accordingly, even if the vehicle 30 passes through any position on the traveling path 33 as described above, either (or both) of the fixed point sensors 35a and 35b provided in the vehicle 30 can detect them. The magnets are arranged along the traveling path 33 such that two rows of magnets have the same magnetic pole on the upper surface. By changing the magnetism (N, S) of the magnetic poles of these two rows of magnets, the indicated vehicle speed can be displayed according to the combination of N and S. For example, the first instruction vehicle speed (SN)> the second instruction vehicle speed (NN)> the third instruction vehicle speed (SS)> the fourth instruction vehicle speed (NS) are set in the order of the instruction vehicle speed. be able to. In this case, the signal of the first instruction vehicle speed (S-N) can be used as a release signal for releasing the previous instruction vehicle speed and setting it to a default value.
Note that magnets may be provided in three rows to increase the amount of information.
[0019]
As the information (instructed vehicle speed) input means, for example, a transmitter may be used in addition to the magnet, and a plurality of different pieces of information are transmitted or displayed by electric, optical, or sound or vibration. What is necessary is just to be able to receive or read information with a sensor. Further, a structure may be used in which the instructed vehicle speed is set when the vehicle travels in a predetermined place using a device that recognizes the position of the vehicle. Alternatively, the instruction vehicle speed may be detected by describing the color, the number, and the like on the traveling path, performing image processing using a camera provided in the vehicle, and reading the processed image.
[0020]
FIG. 4 is a block diagram of a vehicle provided with the vehicle speed control device according to the present invention.
A vehicle such as a golf cart is provided with an accelerator pedal 1 and a brake pedal 2, and the operation amounts of these by a driver are input to a CPU (control circuit) 3 mounted on the vehicle. The engine 9 has a carburetor 11 and a throttle opening sensor 8 for detecting the opening of a throttle valve (not shown). The engine 9 is provided with an engine speed sensor 12. The detection outputs of the throttle opening sensor 8 and the engine speed sensor 12 are input to the CPU 3. The output of the engine 9 is transmitted to the transmission 6 via the automatic transmission 13 of a belt type, and drives the rear wheels 14. The transmission 6 is provided with vehicle speed sensors 4 and 5, and vehicle speed detection data is input to the CPU. The transmission 6 is provided with a parking brake 10 composed of an electromagnetic brake.
[0021]
The brake pedal 2 is connected to a brake drive mechanism 15, and operates a drum brake 18 of a front wheel 17 and a drum brake 19 of a rear wheel 14 via wires 16. A brake motor 20 is further connected to the brake drive mechanism 15. The brake motor 20 is driven by a brake motor driver 21. The brake motor driver 21 is driven by the CPU 3. The CPU 3 is connected to an engine speed sensor 12, a throttle opening sensor 8, vehicle speed sensors 4 and 5, an accelerator opening sensor 21 for detecting the amount of depression of the accelerator pedal 1, and a depression amount detection sensor (not shown) for the brake pedal 2. Based on these detection signals, the traveling state of the vehicle is recognized, and the drive of the throttle valve and the brake motor 20 of the carburetor 11 is controlled to control the vehicle speed.
[0022]
In such a configuration, the basic instruction vehicle speed that regulates the maximum speed during normal traveling is set in advance (for example, the above-described first instruction vehicle speed). The CPU compares the vehicle speed actually measured by the vehicle speed sensor with the indicated vehicle speed, and drives the brake motor if the actual vehicle speed is higher than the indicated vehicle speed. If the actual vehicle speed is lower than the indicated vehicle speed, the CPU operates according to the accelerator depression amount. Increase speed and speed. As a result, the braking system is automatically controlled so that the vehicle always runs at or below the instructed vehicle speed.
[0023]
In the above configuration, the CPU determines the driving state on a downhill or the like based on the operation amount of the accelerator pedal or the brake pedal, and controls the vehicle speed control (downhill) so as to switch to the instructed vehicle speed lower than the basic instructed vehicle speed. Downhill vehicle speed control) is also possible.
[0024]
In the present invention, a fixed point marker (information input means) such as a magnet indicating a designated speed is buried in the traveling path as described above, and the fixed point sensors 35a and 35b detect this and read the designated vehicle speed and input it to the CPU. . The CPU controls the vehicle speed by automatically driving a braking system such as a brake motor based on the input vehicle speed information so as not to exceed the vehicle speed. The vehicle speed control based on the vehicle speed indicated by the fixed point marker has priority over the downhill vehicle speed control and the accelerator state.
[0025]
FIG. 5 is a flowchart illustrating an example of vehicle speed control according to the present invention.
For example, when the vehicle is traveling at a first designated vehicle speed at which the vehicle can safely travel on a flat road, a fixed point sensor attached to the vehicle first reads a signal by passing over a first magnet (a first row of magnets), and this signal is sent to a CPU. It is input (step S1). Since the two rows of magnets are buried close to each other (about 50 cm to 1 m), if the vehicle is traveling normally, the fixed point sensor detects the first row of magnets and subsequently detects the second row of magnets. Here, it is determined whether or not an input has been made from the magnet in the second column (step S2). If there is no input, it is determined that there is some abnormality such as a malfunction of the sensor, the data of the signal from the first magnet is cleared (step S3), and the vehicle travels with the designated vehicle speed kept at the first designated vehicle speed. When the signal from the magnet in the second row is read, the second signal is input to the CPU (step S4).
[0026]
When the signals from the two rows of magnets are in the order of NN (step S5), the designated vehicle speed of the vehicle is set to the second designated vehicle speed lower than the first designated vehicle speed. Similarly, when the input signals are in the order of SS (step S6) and NS (step S7), the maximum speed of the vehicle is limited to the third instruction vehicle speed lower than the second instruction vehicle speed. , The fourth instruction vehicle speed lower than the third instruction vehicle speed. If the signals are in the order of SN, this is set as a release signal (step S8), and the indicated vehicle speed up to that point is released and set to the first indicated vehicle speed which is a default value.
When the designated vehicle speed is reduced by a signal input from the fixed point magnet, the vehicle is decelerated for a predetermined time (for example, several seconds) according to the designated vehicle speed.
[0027]
FIG. 6 is a schematic diagram illustrating an example of a traveling path according to the present invention.
In a golf course where a golf cart is operated, an area 26 where many people pass, such as a cart landing and a rest area, is provided in the middle of the traveling path 33. In such a place, since it is necessary to surely reduce the speed of the vehicle, two rows of magnets indicating the indicated vehicle speed described above (FIGS. 2 and 3) are embedded in the traveling paths 33 at all the entrances and exits in the area 26. When it is desired to set the indicated vehicle speed in the area 26 to, for example, the fourth indicated vehicle speed, the arrangement of the magnets for the incoming vehicle is set in the order of NS, so that when the vehicle enters the area, the fourth indicated vehicle speed is obtained. Is set to When exiting from the area 26, the order is SN, so the fourth instruction vehicle speed is canceled and set to the first instruction vehicle speed.
In this case, the SS and NN signals can be used as the second and third instructed vehicle speeds at the intermediate speed, and as the instructed speed when traveling beside the course.
[0028]
Although the figure shows an example in which the entrance and exit of the area 26 are shared, the designated vehicle speed may be set separately for the entrance and exit travel paths.
[0029]
【The invention's effect】
As described above, according to the present invention, since the information input means for transmitting information to the vehicle is attached over a predetermined width of the traveling path on which the vehicle travels (the range covered by the sensor), the vehicle performs a meandering operation while traveling. Even if this is done, the sensor attached to the vehicle passes over the information input means, so that the information can be reliably read.
[0030]
Also, by providing magnets in two or more rows along the traveling direction of the traveling path, construction can be simplified without the need for electric power and the like with an inexpensive configuration, and a plurality of information can be easily obtained by combining the magnetic pole arrangement of the magnets. It can be input to the vehicle.
[0031]
Further, by providing the input means at the entrance of an area where the vehicle speed needs to be reduced, the vehicle speed can be controlled in such an area based on the indicating vehicle side.
[Brief description of the drawings]
FIG. 1 is a side view of a vehicle having a vehicle speed control device according to the present invention.
FIG. 2 is a plan view of the embodiment of FIG.
FIG. 3 is a schematic diagram of another example of the vehicle speed control device according to the present invention.
FIG. 4 is a block diagram of a vehicle provided with a vehicle speed control device according to the present invention.
FIG. 5 is a flowchart showing an example of vehicle speed control according to the present invention.
FIG. 6 is a schematic diagram showing an example of a traveling path according to the present invention.
[Explanation of symbols]
1: accelerator pedal, 2: brake pedal, 3: CPU, 4: vehicle speed sensor,
5: vehicle speed sensor, 6: transmission, 7: brake motor driver,
8: throttle opening detector, 9: engine, 10: electromagnetic brake,
11: vaporizer, 12: rotation speed sensor, 13: automatic transmission, 14: rear wheel,
15: brake drive mechanism, 16: wire, 17: front wheel,
18: drum brake, 19: drum brake, 20: brake motor,
21: accelerator opening sensor, 22: fixed point sensor,
25a, 25b: magnet, 26: area,
30: vehicle, 31: body, 32: steering wheel, 33: running path,
34: magnet, 35a, 35b: fixed point sensors.

Claims (3)

A vehicle driven by the driver,
A predetermined traveling path on which the vehicle travels;
Information input means provided on the travel path;
A sensor provided on the vehicle side for reading information from the information input means,
A control circuit for automatically controlling the braking device based on the read information;
The vehicle speed control device, wherein the information input means is provided over a predetermined width of the travel path. The vehicle speed control device according to claim 1, wherein the information input unit is a magnet provided in two or more rows along a traveling direction of the traveling path. 3. The vehicle speed control device according to claim 1, further comprising an area in which the vehicle speed needs to be reduced in the middle of the travel path, wherein the information input unit is provided at an entrance of the area. 4.

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