JP2007112339A - Controller and control method of driving device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a controller and a control method of a driving device for preventing deterioration in operability caused by an incorrect operation. <P>SOLUTION: The controller of the driving device includes a detection means 54 for detecting whether an operation lever 12 and/or a steering wheel 60 are/is grasped; and a drive control means 52 for restricting travel control for a vehicle through the operation lever 12 on the basis of the detection result from the detection means when the operation lever 12 and/or the steering wheel 60 are/is not grasped in a controller to control the driving device having a lever to issue a travelling instruction to the vehicle. Thereby, the controller prevents the deterioration in operability caused by the incorrect operation. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a control device and a control method for controlling a driving device having a lever that is manually operated by a driver and gives a traveling instruction to a vehicle.

The device for assisting driving of a vehicle by a physically handicapped person with lower limbs includes an operation lever that is manually operated by the driver to selectively instruct the operation of the braking system and acceleration system of the vehicle. There is known a driving device composed of an operation unit, a brake driving system for driving a brake pedal, an accelerator driving system for driving an accelerator pedal, a control device for controlling the brake driving system and the accelerator driving system in accordance with an operation amount of an operation lever, and the like. (See Patent Document 1).
JP-A-8-216737

  However, in a vehicle equipped with a driving device as described above, an operating lever is installed near the steering wheel, so that when the steering wheel is operated, the driver's elbow contacts the operating lever and the operating lever is erroneous. May work. Further, if the operation lever easily moves when the handle is not gripped, the vehicle may be accelerated without controlling the steering angle of the vehicle. In addition, since the shift lever is installed adjacent to the normal operation lever, when operating the operation lever, the driver's elbow or the like accidentally contacts the shift lever, causing the shift lever to malfunction. In some cases. Similarly, when operating the shift lever, the operation lever may malfunction. Due to such malfunction of the operation lever, the drivability may be impaired.

  Therefore, in view of the above problems, an object of the present invention is to provide a control device and a control method for a driving device that prevent deterioration of drivability due to malfunction.

An object of the present invention is to provide a control device for controlling a driving device having a lever for giving a driving instruction to a vehicle, a detection means for detecting whether the lever and / or a handle is gripped, and a detection result of the detection means. On the basis of this, when the lever and / or the handle are not gripped, it can be achieved by a control device for a driving device provided with drive control means for prohibiting the travel control to the vehicle by the lever.
With this configuration, it is possible to prevent deterioration in drivability due to a malfunction of the lever in a state where the lever and / or the handle are not gripped.

Further, the drive control means prohibits the travel control to the vehicle by fixing the position of the lever based on the detection result of the detection means, or the travel control to the vehicle without an instruction by the lever. This can also be achieved by a control device for a driving device that prohibits the above.
With this configuration, it is possible to prevent deterioration in drivability due to malfunction.

In addition, an operation force detection unit that detects an operation force to the lever is provided, and the drive control unit is configured to detect a predetermined force by the operation force detection unit when the driving control to the vehicle is prohibited. When it is detected that the vehicle is operated in a predetermined direction with the above force, it can also be achieved by a control device of the driving device that cancels the prohibition of the travel control.
With this configuration, even when traveling control to the vehicle is prohibited, the prohibition of traveling control can be released without gripping the lever.

In addition, a position detection unit that detects the position of the lever is provided, and the drive control unit holds the lever by the detection unit when the drive control unit prohibits travel control to the vehicle by the lever. If it is detected that the lever has moved beyond a predetermined range by the detection means, it can also be achieved by a control device of an operating device that controls the brake to drive.
With this configuration, the brake can be driven even in a situation where the lever cannot be gripped.

Further, in a control device for controlling a driving device having an operation lever for controlling the accelerator and / or brake of the vehicle and a shift lever for controlling the transmission of the vehicle, the driver moves the shift lever. When detecting that the shift lever is being gripped based on the detection means for detecting whether or not the vehicle is gripped, and prohibiting the control of the accelerator and / or brake of the vehicle by the operation lever. This can also be achieved by a control device for an operating device provided with a drive control means.
With this configuration, it is possible to prevent deterioration in drivability due to a malfunction of the operation lever in a state where the shift lever is being gripped.

Further, the drive control means prohibits the control of the accelerator and / or brake of the vehicle by fixing the position of the operation lever based on the detection result of the detection means, or without depending on an instruction by the operation lever. This can also be achieved by a control device for a driving device that prohibits control of the accelerator and / or brake of the vehicle.
With this configuration, it is possible to prevent deterioration in drivability due to malfunction.

In addition, an operation force detection unit that detects an operation force of the operation lever is provided, and the drive control unit prohibits the control of the accelerator and / or the brake of the vehicle by fixing the operation lever. When the operation force detecting means detects that the operation lever is operated in a predetermined direction with a force greater than or equal to a predetermined force, it can be achieved also by a control device of the driving device that releases the fixation of the operation lever. .
With this configuration, even when accelerator and / or brake control is prohibited, the prohibition can be canceled based on the driver's intention.

Further, in a control device for controlling a driving device having an operation lever for controlling the accelerator and / or brake of the vehicle and a shift lever for controlling the transmission of the vehicle, the driver moves the operation lever. Detecting means for detecting whether or not the vehicle is gripped, and drive control for prohibiting control of the transmission of the vehicle by the shift lever when it is detected that the operating lever is being gripped based on the detection result of the detecting means It can also be achieved by a control device for an operating device provided with means.
With this configuration, it is possible to prevent deterioration in drivability based on a malfunction of the shift lever.

The drive control means can also be achieved by a control device of a driving device that prohibits control of the transmission of the vehicle by fixing the position of the shift lever based on the detection result of the detection means.
With this configuration, it is possible to prevent deterioration in drivability due to malfunction.

The drive control means can also be achieved by a control device for an operating device that performs a process of notifying the occupant that the control is prohibited by the notification means.
Further, the drive control means can also be achieved by a control device of an operating device that performs a process of notifying an occupant that the brake is driven by the notification means.

  ADVANTAGE OF THE INVENTION According to this invention, the control apparatus and control method of a driving device which prevent the deterioration of the drivability based on a malfunction can be provided.

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

  FIG. 1 is a block diagram of an operation device 100 including a control device 50 according to the first embodiment. The driving device 100 includes an operating device 10, a control device 50 (FM-ECU), a brake drive system 20 that controls a brake pedal 29, an accelerator drive system 30 that controls an accelerator pedal 39, and a shift lever portion 40 of an automatic transmission. , A mode switch 56 for switching between a disabled person's driving mode and a healthy person's driving mode, and a handle 60 are provided.

  The operating device 10 includes an operating lever 12 that is manually operated by a driver to instruct the operation of the accelerator driving system 30 or the brake driving system 20, and the operating position (operating amount) of the operating lever 12 is controlled by the control device 50. Output to.

  The operating lever 12 is swingably guided to a brake area side and an accelerator area side by a support mechanism (not shown). The operation lever 12 is urged from both the brake area side and the accelerator area side by an urging means such as a spring (not shown), and is held in a neutral area between the brake area and the accelerator area when not operated.

  The operation lever position sensor 14 is electrically connected to the control device 50 through a cable, detects the operation position of the operation lever 12, and outputs it to the control device 50 as a detection signal composed of a digital signal. The operation lever position sensor 14 can be configured using, for example, a rotary encoder, a resolver, or the like, but is not particularly limited thereto, and may be any structure that can detect the operation position of the operation lever 12.

  The brake drive system 20 drives a brake pedal 29. The brake drive system 29 includes a motor 22, a brake position sensor 24 that detects the rotation amount of the motor 22, a drive circuit 26 that drives the motor 22, a connecting member 28 that connects the output shaft of the motor 22 and the brake pedal 29, and the like. ing. The motor 22 rotates the connecting member 28 to drive the brake pedal 29 to operate a brake provided in the vehicle. The drive circuit 26 performs feedback control using the target operation amount instructed from the drive control means 52 as the target amount, the operation amount detected by the brake position sensor 24 as the control amount, and the instruction output to the motor 22 as the operation amount. When the brake drive system 20 is not operating, the brake pedal 29 is set to return to a state where it is not depressed by a spring or the like (not shown).

  The mechanism by which the vehicle is braked by the operation of the brake pedal 29 is the same as that of a normal vehicle. That is, when the brake pedal 29 is driven by the brake drive system 20, the operation is transmitted to the brake cylinder. The brake pad is driven by the hydraulic pressure generated in the brake cylinder, and the braking force is applied to the brake disc by the operation amount of the brake pedal 29.

  The accelerator driving system 30 drives an accelerator pedal 39. The accelerator drive system 30 includes a motor 32, an accelerator position sensor 34 that detects the amount of rotation of the motor 32, a drive circuit 36 that drives the motor 32, a connecting member 38 that connects the output shaft of the motor 32 and the accelerator pedal 39, and the like. ing. The motor 32 rotates the connecting member 38 to drive the accelerator pedal 39 to operate the accelerator provided in the vehicle. The drive circuit 36 performs feedback control using the target operation amount instructed from the drive control means 52 as the target amount, the operation amount detected by the accelerator position sensor 34 as the control amount, and the instruction to output to the motor 32 as the operation amount. When the accelerator driving system 30 is not operating, the accelerator pedal 39 is set to return to a state where it is not depressed by a spring or the like (not shown).

  The configuration in which the vehicle is accelerated by the operation of the accelerator pedal 39 is the same as that of a normal vehicle. That is, when the accelerator pedal 39 is driven by the accelerator drive system 30, the operation is detected by an accelerator opening sensor, and the detected control amount is output to an engine ECU (not shown). The engine ECU drives the throttle drive system in accordance with the operation amount of the accelerator pedal 39 to adjust the intake air amount. Thereby, the output of the engine is controlled according to the operation amount of the accelerator pedal 39.

  The control device 50 includes a drive control unit 52, a position / operation force detection unit 53, and a detection unit 54, which include a ROM (Read Only Memory), a CPU (Central Processing Unit), and a RAM (Random Access Memory). ) Etc. and necessary software, and controls the entire driving apparatus 100. The drive control means 52 controls the accelerator drive system 30 or the brake drive system 20 instructed according to the operation amount of the operation lever 12. Further, the position / operation force detection means 53 detects the angle of the operation lever 12 based on information from the operation lever position sensor 14 that detects the position of the operation lever 12.

  Further, the drive control means 52 controls the running state of the vehicle based on the determination of the detection means 54. Specifically, the drive control unit 52 prohibits the travel control to the vehicle by the operation lever 12 based on the determination of the detection unit 54. Details will be described later.

  The detecting means 54 determines whether or not the lever and / or handle 60 is being gripped. Specifically, the detection means 54 is based on signals from the contact sensor 16 provided on the operation lever 12, the contact sensor 46 provided on the shift lever 42, and the contact sensor 66 provided on the periphery of the handle 60. It is determined whether the operating lever 12, the shift lever 42, and the handle 60 are gripped by the driver. Details will be described later.

FIG. 2 is a diagram for explaining the configuration and operation of the controller device 10. FIG. 2A is a front view of the operating device 10, and FIG. 2B is a side view of the operating device 10.
In the operating device 10, the operating lever 12 is manually operated by the driver. When the accelerator drive system 30 is operated, the operation lever 12 is tilted backward, and when the brake drive system 20 is operated, the operation lever 12 is tilted forward. The position of the operating lever 12 that operates the accelerator driving system 30 is the accelerator area, and the position of the operating lever 12 that operates the brake operating system 20 is the brake area. The left side of FIG. 2B corresponds to “front” and the right side corresponds to “rear”. When neither the accelerator driving system 30 nor the brake driving system 20 is operated, the position of the operation lever 12 is set to a neutral area between the accelerator area and the brake area. The position of the operation lever 12 is detected by detecting the angle with the operation lever position sensor 14. The detected position of the operation lever 12 is output to the control device 50 as an operation amount for instructing the operation amount to the accelerator drive system 30 or the brake drive system 20.

  The drive control means 52 of the control device 50 converts the operation amount of the operation device 10 into a corresponding target operation amount. More specifically, when the position (operation amount) of the operation lever 12 is in the accelerator region, the target operation amount of the accelerator drive system 30 is set larger as the position of the operation lever 12 is later. In the brake region, the target operation amount of the brake drive system 20 is set to be larger as the position of the operation lever 12 is in front. In the case of the neutral region, the target motion amount is set to zero.

FIG. 3 is an enlarged view of the AA cross section of FIG.
As shown in FIGS. 2 and 3, the operating device 10 further includes a spring 15, a contact sensor 16, an iron metal plate 17, an electromagnet 18, a rubber plate 18 a, and a shaft 19. The electromagnet 18 is fixed to the operation lever 12 via the shaft 19. The metal plate 17 is provided with a hole portion 17 a through which the shaft 19 is passed by the operation of the operation lever 12. The metal plate 17 contains a ferromagnetic material such as an iron plate.
The spring 15 is wound around the shaft 19, and the end of the spring 15 is connected to the electromagnet 18 and the other end is connected to the operation lever 12. Normally, the electromagnet 18 and the metal plate 17 do not come into contact with each other due to the biasing force of the spring 15. Therefore, the electromagnet 18 and the metal plate 17 are in a state as shown in FIG.

When the driver does not hold the operating lever 12 during driving, that is, based on the information from the contact sensor 16 provided on the operating lever 12, it is determined by the detecting means 54 that the operating lever 12 is not held. The drive control unit 52 causes a current to flow through the electromagnet 18. When a current flows through the electromagnet 18, a magnetic field is generated around the electromagnet 18, and the electromagnet 18 comes into contact with the metal plate 17 through a rubber 18 a provided on the side surface of the electromagnet 18. As described above, the position of the operation lever 12 is fixed.
When the driver determines that the driver does not hold the handle 60 based on information from the contact sensor 66 provided on the handle 60 during driving, or when the driver is driving, the shift lever Even when it is determined that the shift lever 42 is being gripped by the detection means 54 based on information from the contact sensor 46 provided in the drive 42, the drive control means 52 sends an electric current to the electromagnet 18 and controls the operation lever 12. The position of is fixed. Accordingly, the electromagnet 18 and the metal plate 17 are in a state as shown in FIG. Details will be described later.

  The contact sensors 16, 46, 66 may be a switch type that is pressed when touched by the driver, an infrared type, or a pressure type.

  FIG. 4 is a diagram for explaining the shift lever portion 40. The shift lever 42 is manually operated. The position of the shift lever 42 is detected by the shift lever position sensor 44 and output to the drive control means 52 of the control device 50. When the shift lever position is parking (P), the vehicle is stopped. In the case of neutral (N), the engine drive is not transmitted to the wheels. In the case of the drive (D), the drive of the engine is transmitted to the wheels so that the vehicle moves forward. In the case of the rear (R), the drive of the engine is transmitted to the wheels so that the vehicle moves backward. The drive control means 52 recognizes the position of the shift lever 42 based on the position of the shift lever 42 output from the shift lever position sensor 44.

  The shift lever 42 is also fixed by contacting the electromagnet 48 and the metal plate 47 with the same configuration as the operation lever 12. However, when the shift lever 42 is fixed, when the driver holds the operation lever 12 during driving, that is, based on information from the contact sensor 16 provided on the operation lever 12, the detection means 54 operates the operation lever 12. This is a case where it is determined that the lever 12 is held.

  FIGS. 5A and 5B are explanatory views of a release mechanism when the operation lever 12 is fixed. The shape of the hole 18 b provided in the electromagnet 18 is an oval shape in which an extra space is provided in the moving direction of the operation lever 12. A spring 15 a is installed between the inner side surface of the hole 18 b where a space is provided and the side surface of the shaft 19. The shaft 19 is arranged at the center of the hole 18b by the spring 15a. Thereby, even when the operation lever 12 is fixed, the operation lever 12 can be moved only in a portion where an extra space is provided in the hole 18b.

  When the operation lever 12 is fixed, if the position / operation force detection means 53 detects that the operation lever 12 is operated in a predetermined direction with a force greater than a predetermined force, the drive control means 52 Cancels the prohibition of traveling control. That is, the driver moves the operating lever 12 to the brake side to release the fixing of the operating lever 12. Even if the driver does not grasp the operating lever 12, the fixing of the operating lever 12 is released by moving it to the brake side with an elbow or the like.

(C) of FIG. 5 is explanatory drawing of the modification of a cancellation | release mechanism. As shown in (c) of FIG. 5, a spring 15 a is provided so as to connect the inner side surface on the brake side and the side surface of the shaft 19 in a portion where an extra space is provided in the hole 18 b. With this spring 15a, the shaft 19 is arranged in contact with the side of the hole 18b where the spring 15a is not provided. Thereby, even when the operation lever 12 is fixed, the operation lever 12 can be moved to the brake side only in a portion where an extra space is provided in the hole 18b. Even in such a mechanism, the operation lever 12 is unlocked by moving the operation lever 12 to the brake side. Details will be described later.
The force required to operate the operating lever 12 at this time is proportional to the magnitude of the spring constant of the spring 15a, and is necessary to operate the operating lever 12 by exchanging with a spring having a different spring constant. You can set the power. Further, the shift lever 42 is not provided with such a release mechanism.

  Next, the processing of the control device 50 until the operation lever 12 is prohibited from operating based on the state of the handle 60 will be described. FIG. 6 is a flowchart of the process of the control device 50 until the operation lever 12 is prohibited from being operated based on the state of the handle 60. This process is repeated at a constant period while the vehicle is driven.

The detecting means 54 detects whether or not the driver is holding the operation lever 12 by the contact sensor 16 (step S101).
When the driver is holding the operation lever 12 (Yes in Step S101), the detection unit 54 detects whether or not the driver is holding the handle 60 by the contact sensor 66 (Step S102). When the driver is holding the handle 60 (Yes in Step S102), the detection unit 54 determines whether or not the operation lever 12 is inhibited (Step S103). When the operation lever 12 is prohibited from operating (Yes in step S103), the prohibition is released (step S104). When the operation lever 12 is not prohibited from operation (No in step S103), the process is terminated.
As described above, when the driver holds the operation lever 12 and the handle 60, the drive control means 52 does not fix the operation lever 12. Accordingly, the operation lever 12 can be operated as usual.

When the driver does not hold the operation lever 12 (No in step S101) or does not hold the handle 60 (No in step S102), the drive control means 52 determines whether or not the operation lever 12 is prohibited from operating. Judgment is made (step S105). When the operation lever 12 is not prohibited from operation (No in step S105), the operation of the operation lever 12 is prohibited (step S106). Specifically, the drive control unit 52 causes the current to flow through the electromagnet 18, thereby fixing the position of the operation lever 12.
Thus, based on the detection result of the detection means 54, driving control to the vehicle is prohibited by fixing the position of the operation lever 12. As a result, it is possible to prevent a deterioration in drivability based on a malfunction of the operation lever 12 when the operation lever 12 or the handle 60 is not grasped.

When the operation lever 12 is in the operation prohibition state, the drive control means 52 outputs a warning signal to the notification means 70 to notify the occupant that the operation lever 12 is in the operation prohibition state (step S107). . Further, when the operation lever 12 is prohibited from operating (Yes in step S105), the occupant is notified that the operation lever 12 is disabled (step S107).
In this way, the drive control means 52 can notify the occupant that the traveling state of the vehicle is being controlled by performing a process of notifying the occupant that the vehicle traveling instruction is prohibited by the notifying means 70. it can.
The notification means 70 notifies the occupant that the operation lever 12 is in an operation-inhibited state by turning on the lamp or outputting a warning sound with a buzzer. Further, the notification means 70 may notify the occupant by blinking a warning mark on the liquid crystal display part of the car navigation system installed in the vehicle. Further, in the flowchart of FIG. 6, the operation of the shift lever 42 can be similarly prohibited.

  Next, processing of the control device 50 when the operation prohibition state of the operation lever 12 is released will be described. FIG. 7 is a flowchart of processing of the control device 50 when the operation prohibition state of the operation lever 12 is released. This process is repeated at a constant period while the vehicle is driven.

The detecting means 54 determines whether or not the operation lever 12 is prohibited from operating (step S201). If the operation lever 12 is not prohibited from operation (No in step S201), the process is terminated.
When the operation lever 12 is prohibited from operating (Yes in step S201), the detection unit 54 detects whether or not the operation lever 12 is being gripped (step S202).
If the operation lever 12 is being gripped (Yes in step S202), the prohibition of the operation lever 12 is released (step S205). When the driver holds the operation lever 12 in this way, the operation of the operation lever 12 is canceled because there is little risk of malfunction. Therefore, the driver can operate the operation lever 12 as usual.
When the operation lever 12 is not grasped (No in step S202), the position / operation force detection means 53 detects the operation amount of the operation lever 12, and determines whether or not the operation amount of the driver is equal to or greater than a predetermined amount ( Step S203). If the operation amount is greater than or equal to the predetermined amount (Yes in step S203), the position / operation force detection means 53 determines whether or not the operation lever 12 has been operated to the brake side (step S204). When operated to the brake side (Yes in step S204), the prohibition of the operation lever 12 is released (step S205).
As described above, even when traveling control to the vehicle is prohibited, the prohibition of traveling control can be canceled without gripping the lever. Therefore, even in a situation in which the driver cannot hold the operation lever 12, the prohibition of the traveling control can be canceled by pushing down the operation lever 12 with an elbow or a knee, so that the case of a saddle can be dealt with. .

  When the amount of operation of the operation lever 12 by the driver is less than the predetermined amount (No in Step S203), when the operation is not performed on the brake side (No in Step S204), the operation lever 12 is prohibited from being operated. This process is terminated without performing the release process.

  Next, the processing of the control device 50 for prohibiting the operation lever 12 and the shift lever 42 and releasing them will be described. FIG. 8 is a flowchart of the processing of the control device 50 for prohibiting and releasing the operation lever 12 and the shift lever 42. This process is repeated at a constant period while the vehicle is driven.

The detection means 54 detects whether the driver is holding the operation lever 12 (step S301). When the driver is holding the operation lever 12 (Yes in step S301), the drive control means 52 determines whether the operation of the operation lever 12 is prohibited (step S302). When the operation of the operation lever 12 is prohibited (Yes in Step S302), the inhibition of the operation of the operation lever 12 is canceled (Step S303),
The operation of the shift lever 42 is prohibited (step S304). Even when the operation of the operation lever 12 is not prohibited (No in step S302), the operation of the shift lever 42 is prohibited (step S304).
Specifically, the drive control means 52 prohibits the control of the vehicle transmission by fixing the position of the shift lever 42. In this way, the operation of the shift lever 42 is prohibited when the operation lever 12 is being gripped, thereby preventing the deterioration of drivability due to the malfunction of the shift lever 42 when the driver is gripping the operation lever 12. be able to.
In addition, the drive control means 52 notifies a passenger | crew by the alerting | reporting means 70 that the action | operation of the shift lever 42 is prohibited (step S305). Thereby, the passenger can know that the operation of the shift lever 42 is in a prohibited state.

If the driver does not grasp the operation lever 12 (No in step S301), the detection means 54 determines whether or not the shift lever 42 is grasped (step S306). When the shift lever 42 is gripped (Yes in Step S306), the drive control means 52 determines whether or not the operation of the shift lever 42 is prohibited (Step S307). When the operation of the shift lever 42 is prohibited (Yes at Step S307), the prohibition of the operation of the shift lever 42 is canceled (Step S308), and the operation of the operation lever 12 is prohibited (Step S309). Even when the operation of the shift lever 42 is not prohibited (No in step S307), the operation of the operation lever 12 is prohibited (step S309).
Specifically, when it is detected that the shift lever 42 is being gripped, the position of the operation lever 12 is fixed, and the control of the accelerator and / or brake of the vehicle by the operation lever 12 is prohibited. By prohibiting the operation of the operation lever 12 when the shift lever 42 is being gripped in this way, deterioration of drivability due to a malfunction of the operation lever 12 when the driver is gripping the shift lever 42 is prevented. be able to.
In addition, the drive control means 52 notifies a passenger | crew by the alerting | reporting means 70 that the action | operation of the operation lever 12 is prohibited (step S310). Thereby, the passenger can know that the operation of the operation lever 12 is in a prohibited state.

When the driver does not hold the operation lever 12 and the shift lever 42 (No in step S301, No in step S306), it is determined whether the operation of the operation lever 12 is prohibited (step S311). When the operation of the operation lever 12 is prohibited (Yes in step S311), the drive control unit 52 cancels the inhibition of the operation lever 12 (step S312). When the operation of the operation lever 12 is not prohibited (No in step S311) or after the prohibition of the operation of the operation lever 12 is released, the drive control means 52 determines whether the operation of the shift lever 42 is prohibited. (Step S313). When the operation of the shift lever 42 is prohibited (Yes in step S313), the drive control unit 52 cancels the prohibition of the operation of the shift lever 42 (step S314). If the operation of the shift lever 42 is not prohibited (No in step S313), this process ends.
As described above, when the driver does not grasp the operation lever 12 and the shift lever 42, the prohibition of the operation lever 12 and the prohibition of the operation of the shift lever 42 are canceled.

  Only when the mode switch 56 is in the disabled person mode (when the disabled person mode is selected), the control device 50 performs the above processing. Thereby, malfunction can be prevented by said method only when a handicapped person drives. The selection of the disabled person mode and the driver mode is not limited to the mode switch 56 as in the first embodiment, and is a method of selecting the mode by authenticating the driver by user ID, fingerprint or vein authentication, for example. Also good.

Next, a control device for a driving device according to the second embodiment will be described. The basic configuration of the control device for the driving device is the same as that of the control device for the driving device according to the first embodiment. However, the control device according to the first embodiment fixes the position of the operation lever 12 by energizing the electromagnet 18 with the operation lever 12, whereas the control device according to the second embodiment is based on an instruction from the operation lever. Without controlling the running state of the vehicle. That is, the control device according to the first embodiment mechanically fixes the operation lever 12, whereas the control device according to the second embodiment controls the software in a software manner so that the operation lever 12 is erroneously operated under a predetermined condition. Prevent it from working.
Note that the processing of the control device until the operation lever 12 is in an operation-prohibited state is the same as in the first embodiment. Details will be described below.

  The control device 50 puts the operation lever 12 in a software-inhibited state. Specifically, the drive control means 52 prohibits travel control to the vehicle without being instructed by the operation lever 12. Therefore, when the operation lever 12 is in an operation-prohibited state due to the above processing, even if the driver moves the operation lever 12 within a predetermined range, the accelerator pedal 39 and / or the brake pedal based on the movement is moved. The 29 drive amount instruction is not reflected in the vehicle.

Next, a method for canceling the prohibition of the operation of the operation lever 12 according to Example 2 will be described with reference to FIG.
FIG. 9 is a diagram for explaining the operating device 10A according to the second embodiment. The basic configuration of the operating device 10A is the same as that of the operating device 10 according to the first embodiment. Therefore, the same parts as those of the controller device 10 are denoted by the same reference numerals, and redundant description is omitted.

FIG. 9A is a side view of the operating device 10A. As for operating device 10A, iron metal plate 17A is provided with brake end switch 18A. The brake end switch 18A is fixed to the brake region side of the metal plate 17A. The brake end switch 18A is formed such that the switch is pushed when the operating lever 12 is moved to the brake region side to the maximum extent. When the brake end switch 18A is pressed, the control device 50 detects the signal and releases the prohibition of the operation of the operation lever 12.
Further, when the prohibition of the operation of the operation lever 12 is released, the operation lever 12 is at a position moved to the maximum in the brake region side. Accordingly, the prohibition of the operation of the operation lever 12 is released and the brake is driven to the maximum.

FIG. 9B is an enlarged view of the brake end switch 18A. The brake end switch 18A includes a spring 19A and a button portion 191A. The button portion 191A is biased so as to be pushed up by a spring 19A. Therefore, even when the operation lever 12 and the button portion 191A are in contact with each other, if the operation force to the operation lever 12 is smaller than a predetermined force, the button portion 191A is not pushed down by the biasing force of the spring 20A. On the other hand, when the operating force to the operating lever 12 is a force greater than or equal to a predetermined force, the button portion 191A is pushed down.
Thus, when it is detected that the operation lever 12 has moved beyond a predetermined range, the brake is controlled to be driven. As a result, even if the elbow or the like of the driver accidentally contacts the operation lever 12 and the operation lever 12 moves to the brake side, the brake end switch 18A is not turned on, and it is inadvertent. It is possible to prevent the prohibition of traveling control from being released.

Next, a description will be given of the processing of the control device for the case where the operation lever 12 is prohibited from operating in software and the release thereof.
FIG. 10 is a flowchart illustrating processing of the control device when the control device according to the second embodiment prohibits the operation lever 12 from being operated in a software manner and when the operation lever 12 is released.

The detection means 54 detects whether or not the operation lever 12 is gripped by the driver (step S401). When the operation lever 12 is gripped (Yes in step S401), the detection unit 54 detects whether the handle 60 is gripped (step S402). When the handle 60 is not gripped (No in step S402), the drive control means 52 outputs a warning signal to the notification means 70 to notify the occupant that the operation lever 12 is in an operation-inhibited state (step). S403).
When the handle 60 is being gripped (Yes in step S402), it is determined whether the operation of the operation lever 12 is prohibited (step S404). If the operation of the operation lever 12 is not prohibited (No in step S404), this process ends.
When the operation of the operation lever 12 is prohibited (Yes in Step S404), the drive control unit 52 cancels the inhibition of the operation of the operation lever 12 (Step S405). That is, when the driver holds the operation lever 12 and the handle 60, the prohibition of the operation of the operation lever 12 is released.

In step S401, when the operation lever 12 is gripped by the driver, the position / operation force detection means 53 detects the operation amount of the operation lever 12, and determines whether or not the operation amount of the driver is equal to or greater than a predetermined amount. (Step S406). If it is less than the predetermined value (Yes in step S406), the drive control means 52 outputs a warning signal to the notification means 70 to notify the occupant that the operation lever 12 is in an operation-inhibited state (step S407). .
If the operation amount of the driver is equal to or greater than the predetermined amount (Yes in step S406), the drive control unit 52 outputs a warning signal to the notification unit 70 to notify the driver that the operation lever 12 is malfunctioning. (Step S408), and the brake is driven to the maximum (Step S409). Thereby, even in a situation where the operation lever cannot be gripped, the brake can be driven.

  As described above, when the drive control unit 52 prohibits travel control to the vehicle regardless of the travel instruction of the operation lever 12, the driver may not hold the operation lever 12 by the detection unit 54. If it is detected and the position / operation force detection means 53 detects that the operation lever 12 has moved beyond a predetermined range, the brake is driven regardless of the travel instruction based on the movement of the operation lever 12. To control.

  Further, the drive control means 52 performs a process of notifying the occupant by the notifying means 70 that the brake is controlled so that the brake is driven without depending on the traveling instruction based on the movement of the operation lever 12. Can be informed that it is controlling to drive. Further, it is possible to notify the occupant that the operation lever 12 is malfunctioning.

Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the specific embodiments, and various modifications, within the scope of the gist of the present invention described in the claims, It can be changed.
For example, in the above embodiment, the description has been made on the assumption that the driving assistance device can be mounted on a normal vehicle. However, the present invention can also be applied to a normal vehicle, and for a disabled person who is not provided with a brake pedal from the beginning. It can also be applied to vehicles made in
Even when the operation lever 12 or the like is operated using a body part other than the hand, it may be determined that the operation lever 12 is held and the above processing may be performed. For example, the operation lever 12 is operated by a mouth or the like.

It is a block diagram of the operating device containing a control apparatus. FIG. 2A is a front view of the operating device. FIG. 2B is a side view of the operating device. Fig.3 (a) is an enlarged view of the AA cross section of FIG.2 (b). FIG. 3B is an enlarged view of the AA cross section of FIG. 2B when the operation lever is fixed. It is a schematic diagram of a shift lever part. FIG. 5A is a schematic diagram of a mechanism for releasing the operation prohibition state of the operation lever. FIG. 5B is a schematic diagram of the operation lever when the operation prohibition state is released. FIG. 5C is a view showing a modification of the mechanism for releasing the operation lever operation prohibition state. It is a flowchart figure which shows the process of the control apparatus until an operation lever will be in the operation prohibition state based on the state of a handle | steering-wheel. It is a flowchart figure which shows the process of a control apparatus in case the operation prohibition state of an operation lever is cancelled | released. It is a flowchart figure which shows the process of the control apparatus about the operation | movement prohibition and the cancellation | release of an operation lever and a shift lever. FIG. 6 is a diagram for explaining an operating device according to a second embodiment. It is a flowchart figure which shows the process of the control apparatus about the case where operation of a control lever is prohibited by software, and the cancellation | release.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Operation part 12 Operation lever 14 Operation lever position sensor 15, 15a, Spring 16 Contact sensor 17 Metal plate 18 Electromagnet 18A Brake end switch 18a Rubber 19 Shaft 19A Spring 191A Button part 20 Brake drive system 22 Motor 24 Brake position sensor 26 Drive circuit DESCRIPTION OF SYMBOLS 28 Connection member 29 Brake pedal 30 Accelerator drive system 32 Motor 34 Accelerator position sensor 36 Drive circuit 38 Connection member 39 Accelerator pad 40 Shift lever part 42 Shift lever 44 Shift lever position sensor 46 Contact sensor 47 Metal plate 48 Electromagnet 50 Controller 52 Drive Control means 53 Position / operation force detection means 54 Detection means 56 Mode switch 60 Handle 66 Contact sensor 70 Notification means 100 Driving device

Claims (11)

In a control device for controlling a driving device having a lever for giving a traveling instruction to a vehicle,
Detection means for detecting whether the lever and / or handle is being grasped;
A driving control means for prohibiting travel control to the vehicle by the lever when the lever and / or the handle are not grasped based on a detection result of the detection means; Control device. The drive control means prohibits travel control to the vehicle by fixing the position of the lever based on the detection result of the detection means, or prohibits travel control to the vehicle without being directed by the lever. The control device for an operating device according to claim 1. An operation force detecting means for detecting an operation force to the lever;
When the drive control means prohibits traveling control to the vehicle, the operation force detection means detects that the lever is operated in a predetermined direction with a force greater than a predetermined force. The control device for a driving device according to claim 2, wherein the prohibition of the travel control is canceled. A position detecting means for detecting the position of the lever;
The drive control means detects that the driver is not grasping the lever when the control means prohibits traveling control to the vehicle by the lever, and the detection means detects that the lever is The control device for a driving device according to claim 2, wherein when it is detected that the vehicle has moved beyond the range, control is performed so that the brake is driven. In a control device for controlling a driving device having an operation lever for controlling an accelerator and / or a brake of a vehicle and a shift lever for controlling a transmission of the vehicle,
Detecting means for detecting whether the driver is holding the shift lever;
Drive control means for prohibiting the control of the accelerator and / or brake of the vehicle by the operation lever when it is detected that the shift lever is being gripped based on the detection result of the detection means. A control device for a driving device. The drive control means prohibits the control of the accelerator and / or brake of the vehicle by fixing the position of the operation lever based on the detection result of the detection means, or the vehicle does not depend on an instruction by the operation lever. 6. The control device for a driving device according to claim 5, wherein control of the accelerator and / or the brake is prohibited. An operation force detecting means for detecting an operation force of the operation lever;
In the case where the control of the accelerator and / or brake of the vehicle is prohibited by fixing the operation lever, the drive control means is predetermined by the operation force detection means with a force greater than a predetermined force. The operation device control device according to claim 6, wherein the operation lever is unlocked when it is detected that the operation lever is operated in the direction of the direction. In a control device for controlling a driving device having an operation lever for controlling an accelerator and / or a brake of a vehicle and a shift lever for controlling a transmission of the vehicle,
Detecting means for detecting whether a driver is holding the operation lever;
A driving control means for prohibiting control of the transmission of the vehicle by the shift lever when it is detected that the control lever is grasped based on the detection result of the detection means; Control device for the device. 9. The control device for a driving device according to claim 8, wherein the drive control unit prohibits control of the transmission of the vehicle by fixing a position of the shift lever based on a detection result of the detection unit. . The control device for a driving device according to claim 1, 6 or 9, wherein the drive control means performs a process of notifying an occupant that the control is prohibited by a notification means. 5. The control device for a driving device according to claim 4, wherein the drive control unit performs a process of notifying an occupant that the brake is driven by the notification unit.

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