JP2004322786A - Drive control device by load distribution - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an easy driving operation corresponding to a human's feeling and to allow stable travelling even when an excessive driving operation or an unintentional driving operation is performed. <P>SOLUTION: It is checked whether or not the absolute value ¾NL-NR¾ of the difference between left motor rotation speed NL and right motor rotation speed NR exceeds a first set value β1 (S7). When NL-NR > β1, further, it is checked whether or not the left motor rotation speed NL or right motor rotation speed NR exceeds a second set value NO (S8). When either of the left and right motor rotation speeds NL and NR exceeds the second set value NO, the turning direction is determined comparing the left and right motor rotation speeds NL and NR with each other (S9). When right turning is performed, the left motor rotation speed NL is limited to the second set value NO or lower (S10). When left turning is performed, the right motor rotation speed NR is limited to the second set value NO or lower (S10). Thus, an increase in motor rotation speed is suppressed to secure travelling stability. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a driving method based on a load distribution that detects a force applied to a predetermined portion by a driver as a driving operation on a traveling device with a sensor and controls a traveling driving source of the traveling device based on a distribution of load data from the sensor. It relates to a control device.
[0002]
[Prior art]
Conventionally, when a traveling device as a means of carrying a person such as a vehicle is manned, a steering wheel, an accelerator, a brake, and the like must be operated, and not only operation requires mastery, but also It may be affected by driving conditions.
[0003]
For this reason, various technologies for assisting the driving operation have been conventionally proposed. For example, Japanese Patent Application Laid-Open No. H11-326084 discloses a method in which pressure sensors are arranged in a matrix on a seat seat surface and a seat back surface of a vehicle. An acceleration sensor for detecting a vehicle body vibration component is disposed in the vehicle body, and a body pressure distribution on a seat seat surface and a seat back surface where the vehicle body vibration component is canceled is obtained from an output signal of the pressure sensor, and a time change of the body pressure distribution is obtained. There is disclosed a technique of detecting the degree of awakening or fatigue of a driver by detecting the degree of awakening and the degree of fatigue of the driver, and issuing an alarm as necessary.
[0004]
[Patent Document 1]
Japanese Patent Application Laid-Open No. H11-326084
[Problems to be solved by the invention]
However, in the related art, only the burden of the driving operation is reduced, and the driving operation itself is the same, so that the operation that does not necessarily match the human senses is still forced.
[0006]
In this case, for example, a two-wheeled vehicle (parallel 2) in which two left and right wheels are arranged in parallel in the traveling direction, rides on a driver's cab provided above the two right and left wheels in a standing posture, and grips a fixed handle. In wheeled electric vehicles, etc., it is possible to perform drive control such as forward, backward, turning, and stopping by recognizing how to push the hands and feet of the driver, weight shift, and the like. If the drive control is performed according to the weight distribution according to the user's operation force, the running stability may be impaired. In particular, at the time of turning, the driver's posture may be disturbed by the lateral acceleration or the inclination of the vehicle body, and an unintended operation force may be applied.
[0007]
SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and is a load capable of performing a stable driving even with an excessive driving operation or an unintended driving operation while making the driving operation easy to match the human sense. It is an object to provide a drive control device based on distribution.
[0008]
[Means for Solving the Problems]
In order to achieve the above object, the present invention provides a method in which a driver detects a force applied to a predetermined portion as a driving operation on a traveling device by a sensor, and is provided in the traveling device based on a distribution of load data from the sensor. A drive control device for controlling the left and right travel drive sources, wherein a means for determining a control amount for the left and right travel drive sources based on the distribution of the load data; and When the output of one of the left and right traveling drive sources exceeds the second set value, and the control amount for the left and right traveling drive sources determined based on the distribution of the load data, Means for limiting the value to the second set value or less.
[0009]
That is, according to the present invention, a sensor detects a force applied to a predetermined portion by a driver, and determines a control amount for the left and right traveling drive sources based on a distribution of load data from the sensor, thereby providing a human sense. The load data distribution is performed when the output operation of the left and right traveling drive sources exceeds a first set value and the output of one of the left and right travel drive sources exceeds a second set value. By limiting the control amounts for the left and right traveling drive sources determined on the basis of the following to a second set value or less, traveling stability is secured even for an excessive driving operation or an unintended driving operation.
[0010]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 to 7 relate to an embodiment of the present invention, FIG. 1 is a configuration diagram of a drive control system, FIG. 2 is an explanatory diagram showing a load distribution pattern by a sheet-shaped pressure sensor, and FIG. FIG. 4 is an explanatory view showing a load state of right and left feet when turning right, FIG. 5 is an explanatory view showing a load state when a load is further applied to the right foot side from the state of FIG. 4, and FIG. FIG. 7 is an explanatory diagram showing the load state of the right and left feet during turning, and FIG. 7 is a flowchart of drive control.
[0011]
The present invention provides a traveling device driven by an electric motor, an engine, or the like, in which a driver grasps an operation intention from a load distribution of a force applied to a predetermined portion and performs drive control such as forward, backward, turning, and stopping. In the following, two left and right wheels driven by an electric motor as a traveling drive source are arranged in parallel in the traveling direction, and ride on a driver's cab provided above the two left and right wheels in a standing posture, and a fixed handle A description will be made by taking a two-wheeled vehicle (parallel two-wheeled electric vehicle) that travels while gripping the vehicle as an example.
[0012]
In FIG. 1, reference numerals 1 </ b> L and 1 </ b> R denote electric motors that drive the left and right wheels of the parallel two-wheel electric vehicle, and are controlled by the controller 2. The controller 2 includes a load distribution sensor 3 for measuring a load distribution of a force applied by the driver, an inclination sensor 4 for detecting an inclination of the vehicle body, a timer 5 for measuring an elapsed time immediately after starting, and the like, Signals from an acceleration sensor (G sensor) 6 for detecting the acceleration / deceleration state of the vehicle body, a vehicle speed sensor 7 for detecting the vehicle speed, and rotation sensors 8L and 8R for detecting the rotational speeds of the left and right electric motors 1L and 1R are input. Then, based on these signals, the driver recognizes how the driver's hands and feet are pressed, shifts in weight, and performs drive control such as forward, backward, turning, and stopping. The timer 5 may use not only a timer external to the controller 2 but also a timer (a hardware timer or a software timer) built in the controller 2.
[0013]
In the present embodiment, an example will be described in which a load distribution (foot pressure distribution) due to stepping on the driver's foot is detected and drive control is performed based on the detection result. It is also possible to substitute the force of pressing the body against the wall, such as the grip strength of the gripping hand, the manner of sitting on the seat, and the like.
[0014]
The detection of the foot pressure distribution is performed by arranging the load distribution sensor 3 on a foot plate of a driver's cab on which the driver puts his / her feet. The load distribution sensor 3 can be configured by a sheet-shaped pressure sensor (sensor sheet) used for measuring a pressure distribution on a sheet surface or the like, or a plurality of load cells.
[0015]
For example, as shown in FIG. 2, a sensor sheet 3A is adopted as the load distribution sensor 3, and when the driver places his / her foot on the sensor sheet 3A provided on the foot plate, the pressing force of the foot is sensed as a pressure value. Then, it is possible to obtain, as a foot pressure distribution pattern, image data of a density distribution in gradations corresponding to a plurality of stages of the measured pressure value from low to high.
[0016]
As shown in FIG. 3, when a plurality of load cells 3B are employed as the load distribution sensor 3, for example, the region is divided into a front part (toe side) and a rear part (heel side), and further, The load cell 3B is arranged at a position representative of each region by dividing the front part into two regions of an outside and an inside, and a foot pressure distribution pattern is obtained from the load cell 3B representative of each region by load data. it can.
[0017]
The left and right foot pressure distribution patterns measured by the load distribution sensor 3 are input to the controller 2 and processed. For example, as shown in the following (1) to (4), control such as forward, backward, turning, and stopping is performed. The pattern is determined. Then, the drive control of the motor is performed according to this control pattern.
[0018]
(1) By applying weight to the toe side of the forward running feet, the load value in the front area (toe side area) becomes larger than that in the rear area (heel side area). Upon detection, the left and right electric motors 1L, 1R are controlled in the forward direction. In this case, the rotation speed of the electric motor can be changed by changing the magnitude of the load value on the toe side to change the traveling speed during forward traveling.
[0019]
(2) When the weight is applied to the heel side of the backward running both feet, the load value in the rear region (heel region) is larger than that in the front region (toe region). Upon detection, the left and right electric motors 1L, 1R are controlled in the backward direction. In this case, it is possible to change the rotation speed of the electric motor and the retreat speed by changing the magnitude of the load value on the heel side.
[0020]
(3) Turn (Right turn, Left turn) Running By applying weight to the right foot side, the load value in the right foot area becomes larger than the load value in the left foot area, and this load distribution pattern was detected. At this time, the right electric motor 1R is set to the neutral state, and the left electric motor 1L is controlled to rotate in the forward direction, thereby turning right. On the other hand, the left turn corresponds to a pattern opposite to the right turn, that is, a foot pressure distribution pattern in which weight is applied to the left foot side, and the left electric motor 1L is in a neutral state, and the right electric motor 1R is rotated in the forward direction. By turning it to the left, the vehicle is turned left.
[0021]
In this case, it is possible to change the rotation speed of the electric motor on the left (right) wheel side by changing the magnitude of the load value in the area on the right (left) toe side, thereby changing the speed. If the motor speed exceeds the set value, the limiter for the motor speed is activated.
[0022]
For example, as shown in FIG. 4, when the weight is applied to the right toe and the load value on the left foot is relatively reduced, and the load ratio on the left and right is 40:60, the rotation speed of the electric motor 1L on the left wheel is changed. Is relatively higher than the rotation speed of the electric motor 1R on the right wheel side, and a right-turn running mode to the right is performed. In addition, when the weight is further applied to the right toe side and the left / right load ratio becomes 20:80 as shown in FIG. 5, the turning speed increases in accordance with the change in the weight ratio.
[0023]
Further, as shown in FIG. 6, when an excessive driving operation such as lifting the left foot and applying the total weight to the right foot, or an unintended driving operation due to lateral acceleration at the time of turning or inclination of the vehicle body, left and right The load ratio is 0: 100, and the load applied to the right foot is twice that of the straight running. Therefore, in such a state, there is a possibility that the turning speed becomes too high. Therefore, the motor speed is not uniquely increased according to the load ratio, and the upper limit of the motor speed is limited to suppress the speed increase during turning. , Ensure running stability and safety.
[0024]
(4) Stop The left and right electric motors 1L and 1R are stopped in a state where the load data of both feet is not detected, that is, in a state where both feet are lowered from the foot plate.
[0025]
Hereinafter, the drive control by the controller 2 will be described with reference to the flowchart shown in FIG.
[0026]
When the drive control program starts, first, in step S1, it is determined whether or not a main switch for enabling the use of the two-wheel electric vehicle 1 is turned on. If the switch is off, the process ends in step S1 to stop the process, and if the switch is on, the process proceeds to step S2, where the signal from the load distribution sensor 3 is fetched to sense the load distribution pattern. I do.
[0027]
Next, the process proceeds to step S3, and it is checked whether or not the elapsed time Time after the switch is turned on has reached the set time T0. This set time T0 determines a reference pattern that determines a neutral state (no operation state) immediately after riding, as in a load distribution pattern shown in FIG. 2, and eliminates the influence of a difference in weight that varies depending on the occupant. This is a pre-processing time for optimizing the control. When Time <T0, the process proceeds from step S3 to step S4, in which a load distribution pattern obtained every time elapses is time-averaged to obtain a reference pattern. Then, the process returns to step S1.
[0028]
Eventually, when Time ≧ T0 after the switch is turned on, the process proceeds from step S3 to step S5. In order to prevent erroneous recognition due to a difference in weight (= integrated value of foot pressure distribution), a load distribution pattern obtained thereafter is used as a reference. Standardization (for example, numerical conversion to 0 to 256) using a pattern. Then, in step S6, a load distribution pattern is recognized using a neural network, a control map, a correlation equation, and the like, and the process proceeds to step S7. The recognition of the load distribution pattern is performed using a neural network, a control map or a correlation equation in which the correlation between each load data and the control pattern is stored in advance, and the motor rotation speed is determined according to the control pattern determined from the recognition result. And torque are controlled.
[0029]
In step S7, the absolute value NL-NR of the difference between the motor speed NL of the left electric motor 1L detected by the rotation sensor 8L and the motor speed NR of the right electric motor 1R detected by the rotation sensor 8R is preset. It is checked whether the value exceeds the first set value β1. That is, by examining the difference between the left and right motor speeds NL and NR, it is determined whether or not the vehicle is turning (turning right or turning left) at a speed exceeding the first set value β1.
[0030]
As a result, when | NL-NR | ≦ β1, it is determined that the vehicle is traveling straight, and the process proceeds from step S7 to step S12 to execute drive control according to the control pattern, and then returns to step S1. For example, when the current load distribution is a load distribution in which the load value in the toe side area is larger than that in the heel side area, the control of forward running is executed, and the change in the stepping load of both feet on the toe side (the change in weight shift). The driving speed is changed by changing the rotation speed of the electric motor according to the strength.
[0031]
On the other hand, if | NL-NR |> β1, the process proceeds from step S7 to step S8 to check whether the left motor speed NL or the right motor speed NR exceeds the second set value N0. Thus, it is determined whether or not the vehicle is in the traveling state in which the turning speed should be limited. The second set value N0 corresponds to a speed lower than the maximum speed and a speed at which traveling stability and safety at the time of turning can be ensured in consideration of the maximum speed at the time of straight running, which is previously limited in the system. This is the motor speed.
[0032]
If both the left and right motor rotational speeds NL and NR do not exceed the second set value N0 in step S8, drive control is executed in accordance with the control pattern in step S12 described above, and the process proceeds to step S1. Return. In this case, the vehicle turns left, turns right, turns left, or turns right at a normal safe speed. If any one of the left and right motor rotation speeds NL and NR exceeds the second set value N0, the process proceeds to step S9, where the left and right motor rotation speeds NL and NR are compared to change the turning direction. to decide.
[0033]
As a result of the comparison of the left and right motor speeds NL and NR in step S9, if NL> NR, that is, if the vehicle is turning right, the left motor speed NL is limited to a second set value N0 or less in step S10. Then, the rise of the motor rotation speed is suppressed, and if NL <NR, that is, if the vehicle is turning left, the right motor rotation speed NR is limited to the second set value N0 or less in step S11.
[0034]
That is, as shown in FIG. 6, even if the left foot is lifted and the right foot is put on the entire weight and the turning operation is performed such that the left / right load ratio becomes 0: 100, the turning speed is not increased according to the load distribution. The increase in the motor speed is suppressed by providing a limiter to the motor speed and limiting the motor speed to the second set value N0 or less. Then, the process proceeds from step S10 or step S11 to step S13 to execute drive control according to the control pattern, and returns to step S1.
[0035]
It should be noted that the torques of the left and right electric motors 1L, 1R may be used instead of the motor rotation speeds NL, NR in the above steps S8 to S12. In that case, the left and right electric motors 1L, 1R are used instead of the rotation sensors 8L, 8R. A sensor that detects the torque of the electric motors 1L and 1R is used.
[0036]
Further, the rotation speeds of the left and right electric motors 1L and 1R may be replaced with motor control instruction values based on load data, and the cost can be reduced by omitting the rotation sensors 8L and 8R. That is, when the sensor sheet 3A is used as the load distribution sensor 3, values obtained by integrating the respective image data of the right and left foot pressure distributions sensed by the sensor sheet 3A are used as left and right load data DL and DR. When a plurality of load cells 3B are used as the sensor 3, values obtained by summing data from the load cells 3B are defined as left and right load data DL and DR, and the left and right motor rotation speeds NL and Replace NR. When the difference between the left and right load data DL and DR exceeds the preset value β2 and one of the right and left load data DL and DR is larger than the set value N1, the electric motor with the larger load data is used. Limit the number of revolutions or torque.
[0037]
As described above, in the present embodiment, the load distribution due to the pressing force of the driver's hand or foot, the weight shift, or the like, such as shifting the weight forward if you want to move forward and shifting the weight to the right if you want to turn right. , The driver's intention to operate is grasped, and forward, backward, turning, stopping, and other controls are performed, so that the force applied by the driver and the rotation of the wheels can be made to match human senses.
[0038]
In other words, it is possible to realize highly flexible traveling drive control with easy operation, and furthermore, when turning, without increasing the rotational speed of the electric motor uniquely according to the load distribution on the left and right, When the rotation speed exceeds the set value N0, the limiter is operated to limit the difference between the left and right motor rotation speeds so as not to increase, so that running stability can be improved and safety can be further improved.
[0039]
【The invention's effect】
As described above, according to the present invention, it is possible to perform stable driving even for an excessive driving operation or an unintended driving operation, while making the driving operation easy and consistent with the human sense.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of a drive control system. FIG. 2 is an explanatory diagram showing a load distribution pattern by a sheet-shaped pressure sensor. FIG. 3 is an explanatory diagram showing an arrangement of load cells. FIG. FIG. 5 is an explanatory view showing a load state when a load is further applied to the right foot side from the state of FIG. 4; FIG. 6 is an explanatory view showing a load state of left and right feet during a right turn; FIG. 7 is a flowchart of drive control.
1L, 1R Electric motor 2 Controller 3 Load distribution sensor 8L, 8R Rotation sensor β1 First set value N0 Second set value

Claims (2)

A drive control that detects a force applied to a predetermined portion by a driver as a driving operation on the traveling device with a sensor, and controls left and right traveling driving sources provided in the traveling device based on a distribution of load data from the sensor. A device,
Means for determining a control amount for the left and right traveling drive sources based on the distribution of the load data,
When the output difference between the left and right traveling drive sources exceeds a first set value and the output of one of the left and right travel drive sources exceeds a second set value, it is determined based on the distribution of the load data. Means for limiting a control amount for the left and right traveling drive sources to a value equal to or less than the second set value. 2. The drive control apparatus according to claim 1, wherein the output of the travel drive source is a rotation speed, a torque, or a control instruction value based on the load data of the travel drive source.

Images