JP2007223564A - Vehicle and operation device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To facilitate designation of a rotating center and a turning operation in a four-wheel-independent-steering vehicle. <P>SOLUTION: The designation of a rotating position and a rotating direction, and the designation of the direction of parallel displacement are performed by the same controller. In the controller, any one place is designatably composed as a designatable rotating position among four positions of respective driving wheels, four central positions between adjacent driving wheels, and one position of gravity center of a vehicle area, that is totally 9 positions. The controller selects the rotating position by depressing the operation part in a state where the operation part is tiltably composed in 8 directions except the gravity center and tilted in any of the directions. After the central position is selected, the rotation direction is selected by rotating the operation part to the right or to the left direction. When the rotating center is selected, a vehicle control part steers respective driving wheels to the approximately right angle direction to the selected direction of the rotating center regarding respective wheels at no rotating center position and the pivotal turn around the designated rotating center is performed by driving the driving wheels to the designated rotating direction. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a vehicle and a vehicle operating device, and more particularly to a multiple-wheel independent steering vehicle capable of independently steering all of a plurality of wheels.

A steering system for a vehicle capable of steering four wheels is proposed in Patent Document 1.
In Patent Document 1, as a steering system, an operation such as turning is performed by a turning knob that indicates a turning direction and an operation lever that indicates a moving direction and a speed according to an inclined direction and amount.
By this turning knob and operation of the operation lever, it is possible to easily instruct movement such as a normal two-wheel steering vehicle and parallel movement such as front and rear, left and right.
JP-A-4-287776

However, in the case of the steering method described in Patent Document 1, in order to rotate around an arbitrary point, a complicated operation in which the turning knob and the operation lever are linked is necessary.
In particular, when performing a belief rotation that rotates around a specific point in an area surrounded by each wheel position (hereinafter referred to as a vehicle area), an advanced operation technique using a turning knob and an operation lever is required.
For this reason, in the steering system described in Patent Document 1, it is difficult for the driver to select the center of rotation.

Further, since the conventional automobile has a rotation center point outside the vehicle, the driver is accustomed to the image of the movement rotating around the point outside the vehicle with a large arc and the steering thereof.
However, in a four-wheel independent steering vehicle, the vehicle movement cannot be accurately imaged when performing a belief rotation.
For this reason, when there is an obstacle around the vehicle, it is impossible to accurately determine whether or not to collide (contact) because it is impossible to imagine the movement caused by the rotation of the belief.

Therefore, a first object of the present invention is to easily specify a rotation center and perform a turning operation around a specified position in a vehicle capable of independently steering a plurality of wheels.
A second object of the present invention is to make it possible to recognize obstacles around the vehicle that may collide when turning around a designated position.

(1) In the invention described in claim 1, the vehicle includes a plurality of wheels, each wheel being independently controllable, and a rotation center designating unit for designating a rotation center of the vehicle, and the designated rotation A rotation direction specifying means for specifying a rotation direction around the center; and a turning control means for controlling the wheels to turn the vehicle in the specified rotation center and rotation direction. Achieve the goal.
(2) In the invention described in claim 2, in the vehicle described in claim 1, the rotation center designating means and the rotation direction designating means are constituted by the same user interface.
(3) In the invention described in claim 3, in the vehicle described in claim 1 or 2, the user interface is a steering wheel, an image display device, or a vehicle that is instructed by rotating and translating or tilting. It is characterized by comprising an operating device provided independently of the steering for steering the front wheels.
(4) In the invention described in claim 4, in the vehicle described in claim 1, claim 2, or claim 3, the rotation center is any one wheel position, the center-of-gravity position of all wheels, and adjacent. It is the position of any one of the center positions of the two wheels.
(5) In the invention described in claim 5, in the vehicle described in claim 1, claim 2, claim 3, or claim 4, the turning control means is a wheel not located at the designated rotation center position. Is steered in a direction substantially perpendicular to the direction of the rotation center.
(6) In the invention described in claim 6, in the vehicle according to any one of claims 1 to 5, an image display device and a vehicle diagram representing the vehicle in the image display device And a display control means for displaying the designated center of rotation.
(7) In the invention described in claim 7, in the vehicle according to claim 6, the vehicle includes obstacle recognition means for recognizing an obstacle existing outside the vehicle, and the display control means includes the recognized obstacle. Is displayed so that the positional relationship with the displayed vehicle can be recognized, thereby achieving the first and second objects.
(8) In the invention described in claim 8, in the vehicle operating device for operating a vehicle having a plurality of wheels, each wheel being independently controllable, wherein the rotation center specifies the rotation center of the vehicle The first object is achieved by comprising designation means and rotation direction designation means for designating a rotation direction around the designated rotation center.
(9) The invention described in claim 9 is the vehicle operating device according to claim 8, wherein the rotation center designating means and the rotation direction designating means are configured by the same user interface. And

According to the first to ninth aspects of the present invention, the rotation center designating unit that designates the rotation center of the vehicle and the rotation direction designating unit that designates the rotation direction around the designated rotation center, Since the center of rotation and the direction of rotation are designated independently, the designation of the center of rotation and the turning operation around the designated position can be easily performed.
According to the seventh aspect of the present invention, since an obstacle existing outside the vehicle is recognized and the positional relationship with the vehicle is displayed in a recognizable manner, it is easy to determine the possibility of collision during rotation.

Hereinafter, preferred embodiments of the vehicle and the vehicle operation device of the present invention will be described in detail with reference to FIGS. 1 to 11.
(1) Outline of Embodiment The vehicle according to the present embodiment is a four-wheel independent steering vehicle. A motor is disposed on each of the four drive wheels (wheels) and the vehicle can be steered independently. Yes.
The independent steering traveling is mainly used for short-distance vehicle movement such as parking, and each drive wheel is driven and controlled so as to move at a predetermined speed (for example, 4 km / h) or less.
The traveling in the independent steering traveling includes a belief rotation that rotates around the vehicle area and a parallel movement (movement in which all driving wheels face the same direction).
The operation of independent steering traveling is performed by a controller.

  The mode selection switch selects normal driving for normal driving and independent steering driving during parking or the like. Furthermore, either mode rotation or parallel movement in independent steering traveling is selected by a mode selection switch.

The controller of this embodiment functions as a vehicle operating device, and designates a rotational position and a rotational direction and designates a direction of parallel movement through the same interface.
In the controller according to the present embodiment, the rotational positions that can be specified are 4 positions of each drive wheel, 4 center positions between adjacent drive wheels, and 1 center of gravity position of the vehicle area, a total of 9 positions. Any one of them can be specified.
The controller is configured so that the operation unit can be tilted in eight directions excluding the position of the center of gravity, and is selected by pressing the operation unit while tilting in any direction. Note that the position of the center of gravity is selected by pressing the center of gravity without tilting.

Then, after the center position is selected, the rotation direction is selected by turning the operation unit clockwise or counterclockwise.
When the rotation center is selected, the vehicle control unit steers each drive wheel in a direction substantially perpendicular to the direction of the selected rotation center for each drive wheel that is not at the rotation center position. The “substantially right angle” direction in this case includes a direction that is exactly perpendicular to the direction of the center of rotation, and means a direction that is exactly perpendicular when steering is possible in the exact right angle direction. If the right angle cannot be accurately set due to the limitation on the steering mechanism, it means the maximum angle close to the right angle possible on the mechanism.
After the rotation direction is selected and the steering of the driving wheel is completed, the vehicle control unit drives the driving wheel in the selected rotation direction, thereby performing the belief rotation around the designated rotation center.

  On the other hand, when the parallel movement mode is selected, the driving wheels are driven after steering each driving wheel in the selected moving direction, thereby moving in parallel in a total of eight directions including front and rear, left and right, and driving wheels. .

In the vehicle of the present embodiment, when the independent steering travel mode is selected, a vehicle diagram representing the vehicle outer shape is displayed on the display device.
When the rotation center is selected, the rotation center and the rotatable direction are clearly shown in the vehicle diagram.
When the independent steering travel mode is selected, the presence and position of obstacles around the vehicle, the distance from the vehicle, and the like are detected, and the obstacles are displayed on the display device.
The obstacle is displayed so that the positional relationship with the position of the displayed vehicle and the distance can be recognized.

(2) Details of Embodiment FIG. 1 shows the configuration of a control system in a vehicle according to this embodiment.
In addition, about each mechanism etc. of the vehicle in this embodiment, the structure currently used for the well-known four-wheel independent steering vehicle is employ | adopted.

  As shown in FIG. 1, the vehicle according to the present embodiment includes a vehicle control unit 10, a current position detection device 11, map data 12, a vehicle speed sensor 13, an obstacle detection unit 14, a display device 15, an input device 16, and a steering mechanism. A control unit 17, a drive control unit 18, a controller 19, and other various devices, a control unit, and the like are provided.

The vehicle control unit 10 includes a computer system that includes an ECU (electronic control unit), a ROM, a RAM, and the like.
The vehicle control unit 10 includes a vehicle travel control function in the normal travel mode, a navigation function including current position detection (including current position display, destination setting, route search, route guidance, etc.), and independent steering travel in the independent steering travel mode. Various programs and data for realizing the control function are stored in the ROM and RAM.

A part of the navigation function and the independent steering travel control function is realized by separate ECU, ROM, and RAM, and various data such as detection signals and judgment results and command signals are shared between the ECUs by communication. It may be configured to do.
In this case, various detection functions by the controller 19 are made independent as part of the independent steering travel control function.

The current position detection device 11 is a device that detects the current position of the vehicle (absolute coordinate values composed of latitude and longitude).
The current position detection device 11 includes a GPS (Global Positioning Systems) sensor that measures the position of the vehicle using an artificial satellite.
Note that the current position detection device 11 includes a vehicle speed sensor and a gyro sensor as a device for supplementing the current position detection by the GPS sensor.
Furthermore, a geomagnetic sensor or the like that detects geomagnetism and determines the direction of the vehicle may be provided.

The map data 12 is a database in which information related to various maps such as map information and road information is stored.
The road information is used to detect a road currently running and a position on the road by map matching between the current position of the vehicle detected by the current position detection device 11 and the road information.
The map data 12 uses map information for displaying various maps and roads around the current location of the vehicle and around the destination on the display device, and road information is used for route search to the destination.
The map data 12 further stores facility information (POI information) in which information for each facility is stored.

  The vehicle speed sensor 13 detects the current speed of the vehicle, but may be shared with the vehicle speed sensor in the current position detection device 11.

The obstacle detection unit 14 includes a plurality of sensors such as an infrared (IR) sensor and an ultrasonic sensor, and each sensor is disposed on the outer periphery of the vehicle.
Then, when traveling at a low speed such as in a parking lot, the surroundings of the vehicle including the blind spots are sensed, and obstacles (obstacles, people, grooves, etc.) existing around the vehicle are prevented.
As the infrared sensor, a pyroelectric human detection sensor that detects a person from a change in infrared rays that occurs when a person (thing) having a temperature difference from the surroundings moves is used. As described above, it is possible to determine whether a person existing around the vehicle is an object or an object from the detection results of the pyroelectric human detection sensor and the ultrasonic sensor.
The obstacle detection unit 14 may include one or a plurality of imaging devices and an image recognition processing unit. The obstacle detection unit 14 may capture the entire circumference of the vehicle and recognize the obstacle from the captured image.
The distance to the obstacle is detected by an ultrasonic sensor.

As the display device 15, various display devices such as a liquid crystal display device, a CRT, and a head-up display are used.
When the independent steering travel mode is selected, the display device 15 displays a vehicle diagram that displays the outer shape of the vehicle.
In addition, when the belief rotation is selected in the independent steering travel mode, nine selectable rotation center positions are displayed. When the rotation center is selected, the selected rotation center is displayed (the display of other rotation centers is deleted), and the rotation direction that can be operated around the selected rotation center is displayed. .
On the other hand, when parallel movement is selected in the parallel steering travel mode, a vehicle diagram and eight movable directions are displayed.

  On the display device 15, in the navigation function, a map around the current position of the vehicle detected by the current position detection device 11 is read from the map data 12 and displayed, and the current position of the vehicle is displayed on the map. Further, when a travel route to the destination is being searched, the travel route being guided is also displayed.

Various devices such as a touch panel (functioning as a switch), a keyboard, a mouse, a light pen, a joystick, an infrared remote controller, a touch panel attached to the display screen of the display device, a remote controller, and a voice recognition device are used as the input device 16. This is possible and constitutes an input means for inputting various information.
The input device 16 is used for setting a destination in this embodiment.
Note that mode selection may be performed by the input device 16.

The steering mechanism control unit 17 steers each of the four drive wheels independently, and the drive control unit 18 controls the drive of each drive wheel.
Regarding the steering mechanism and drive mechanism of each drive wheel whose steering and drive are controlled by the steering mechanism control unit 17 and the drive control unit 18, for example, various mechanisms such as the mechanism described in JP-A-2001-322557 as the steering mechanism. Can be adopted.

The controller 19 is an interface for performing various operations for independent steering traveling in the present embodiment.
The controller 19 includes a mode selection switch 191, a rotation center designation unit 192, a rotation direction designation unit 193, and a parallel movement direction designation unit 190.
In the present embodiment, as will be described later, the rotation center designating unit 192 and the parallel movement direction designating unit 190 are common, and when the belief rotation is selected by the mode selection switch 191, the rotation center designating unit 192 is used. When the parallel movement is selected, the parallel movement direction specifying unit 190 functions.

In addition, in the vehicle of the present embodiment, although not shown, a voice output device composed of a plurality of speakers and a voice control device arranged in the vehicle, a voice recognition device, and the like are arranged.
The sound output device outputs a warning sound or a warning sound when the distance between the obstacle and the vehicle is equal to or less than a predetermined distance in the independent steering traveling.

FIG. 2 shows an external configuration of the controller 19.
As shown in FIG. 2, the controller 19 includes a stage 194 and an operation unit 195, and a mode selection switch 191 is disposed on the stage 194.
In the stage 194, a rotation center designation unit 192 (parallel movement direction designation unit 190) and a rotation direction designation unit 193, which are designated by the operation unit 195 and detect a rotation center, a rotation direction, a parallel movement direction, and the like, are arranged. ing.

  In the present embodiment, the controller 19 is disposed between the driver's seat and the passenger seat, but may be disposed at an arbitrary position such as the right or left side of the steering wheel or the center of the steering wheel on the dashboard.

As described above, the mode selection includes selection between the normal traveling mode and the independent steering traveling mode (selection of traveling mode), and selection of the belief rotation mode and the parallel movement mode in the independent steering traveling mode.
In this embodiment, the mode selection switch 191 includes three switches: a normal travel mode switch, a belief rotation mode switch in the independent steering travel mode, and a parallel movement mode switch in the independent steering travel mode. It is supposed to be.

The mode selection switch 191 may be configured to select the belief rotation mode and the parallel movement mode after selecting the travel mode.
Further, the mode selection switch 191 may be arranged by selecting one switch and selecting the normal travel mode, the belief rotation mode, and the parallel movement mode each time the switch is selected (pressed).
Further, a switch for selecting the belief rotation mode and the parallel movement mode may be arranged on the stage 194, and a switch for selecting the traveling mode may be separately arranged around the handle.

The operation in the operation unit 195 includes a tilt operation 196 (196a, 196b,... 196h) for tilting the operation unit 195 in the direction of the center position of the belief rotation, and a stage in a state where the operation unit 195 is tilted or not tilted. There are a pressing operation 197 for pressing in the 194 direction and a rotating operation 198 for rotating the operation unit 195 in the left or right direction.
The direction of the tilting operation that can be performed by the tilting operation 196 is 196a (front of the vehicle), 196b (right front wheel direction), 196c (right direction), 196d (right rear wheel direction), 196e (rear direction), 196f (left rear) There are 8 directions: wheel direction), 196 g (left direction), and 196 h (left front wheel direction).
The operated tilt direction is detected by the rotation center designation unit 192 or the parallel movement direction designation unit 190.
The rotation center designation unit 192 detects the rotation center position corresponding to the operation direction, and the parallel movement direction designation unit 190 detects the direction of translation.

By the pressing operation 197 in the operation unit 195, the designation of the direction of the tilt operation 196 is confirmed.
In addition, when the pressing operation 197 is performed without tilting, the designation of the center of gravity position of the vehicle area is confirmed.

By the rotation operation 198 of the operation unit 195, either clockwise or counterclockwise around the designated rotation center is selected.
In the present embodiment, the rotation operation 198 of the operation unit 195 instructs the rotation direction and the vehicle speed according to the rotation amount. In this respect, the tilting operation 196 in the parallel movement similarly indicates the direction of the parallel movement and the speed of the vehicle according to the operation amount.
In this case, the rotation or parallel movement of the vehicle in independent steering traveling has a predetermined speed v1 (for example, 4 km / h) as a maximum value, and a speed of 0 km / h according to the operation amount of the rotation operation 198 (the rotation angle of the operation unit 195). The drive control unit 18 controls the vehicle so as to move at a vehicle speed between h and the speed v1.
However, the rotation operation 198 may instruct only the rotation direction, and the vehicle speed may be set to a predetermined constant speed v2.

Next, the operation of independent steering traveling by the vehicle of this embodiment will be described.
FIG. 3 shows the display image of the display device 15 and the operation of the controller 19 in the belief rotation mode.
3 (a), (c), and (e) show the vehicle diagram, the selected center of rotation, and the direction of rotation displayed on the display device 15, and the corresponding operation procedure. The thing is FIG.3 (b), (d), (f).

First, an operation and image display when the left front driving wheel position is selected as the center of rotation of rotation will be described with reference to FIGS.
When the independent steering travel mode is selected, the display device 15 displays a vehicle diagram 151 that displays the outer shape of the vehicle, as shown in FIG. The vehicle diagram 151 displays a steering wheel diagram 154 for clearly indicating the driver's seat.
When the belief rotation mode is selected, nine selectable rotation center positions 152a to 152i (inclination operations 196a to 196h and corresponding to the center of gravity of the vehicle area) are displayed (not shown).

Next, as shown in FIG. 3B, a tilting operation 196h is performed in the left front direction with the operation unit 195 (operation A), and a pressing operation 197 is performed in this state (operation B), thereby moving to the left front wheel position. The specification of the center of rotation is confirmed.
When the designation of the center of rotation is confirmed, the determined rotation center 152h is highlighted in the vehicle FIG. 151, and the rotation direction 153 that can be operated around the selected rotation center is displayed.
Note that the display of the rotation center other than the determined rotation center may be deleted.

  When the specification of the center of rotation is confirmed, information indicating the determined rotation center is output from the controller 19, and the driving mechanism control unit 17 causes each drive wheel other than the drive wheel at the rotation center position to be substantially perpendicular to the rotation center direction. It is steered as follows.

When the operation unit 195 is rotated 198 in the right direction or the left direction, information indicating the rotation direction is output from the controller 19, and the drive control unit 18 determines each drive wheel except the drive wheel at the rotation center position. Driven in the manipulated direction.
And about the driving wheel in a rotation center position, it fixes so that it may not rotate with a brake etc.

Similarly, when the center of gravity of the vehicle area (vehicle center) is designated as the belief rotation, the pressing operation 197 (operation A) is performed without tilting the operation unit 195 as shown in FIG. Thus, the designation of the rotation center 152i is confirmed, and the rotation center 152i is displayed in the vehicle FIG. 151 and the rotation direction 153 is displayed (FIG. 3C).
As described above, when the center of gravity of the vehicle area is designated as the belief rotation, the designation is completed with one operation (operation A).

  When the right rear driving wheel of the vehicle is designated as the center of rotation, as shown in FIG. 3F, the pressing operation is performed after the tilting operation 196d (operation A) in the right rear direction of the operation unit 195. By performing 197 (operation B), the designation of the rotation center 152d is confirmed, the rotation center 152d is displayed in the vehicle FIG. 151, and the rotation direction 153 is displayed (FIG. 3 (e)).

  3D and 3F, the rotation direction is designated by operating the operation unit 195 to rotate 198, and the drive wheel steered by the designation confirmation of the rotation center 152 is rotated in the designated rotation direction. Driven.

  Although not shown, for example, when the middle point of the right front and rear wheels is set as the rotation center, the operation unit 195 is tilted to the right 196c (operation A) and the pressing operation 197 (operation B) is performed. Specify the center of rotation with.

FIG. 4 is a flowchart showing the operation of the controller 19 in the independent steering traveling.
This independent steering traveling is executed when the independent steering traveling mode is selected by the mode selection switch 191.
First, the controller 19 determines which of the belief rotation mode and the parallel movement mode is selected by the mode selection switch 191 (step 10).

When the belief rotation mode is selected (step 10; belief rotation mode), the controller 19 detects the tilt direction (any one of 196a to 196i) of the operation unit 195 by the rotation center designation unit 192 (step 11). ).
Then, the controller 19 detects the pressing operation 197 to determine the center position (152a to 152i) of the belief rotation from the inclination direction at that time, and outputs the determined rotation center information to the vehicle control unit 10 ( Step 12).
The determined rotation center may be output as operation information in step 17 described later.

Next, the controller 19 obtains the rotation direction restriction information from the vehicle control unit 10 (step 13).
The rotation direction restriction information obtained by the controller 19 is determined by the vehicle control unit 10 based on the presence / absence of obstacles around the vehicle detected by the obstacle detection unit 14 and its distance, and the direction (obstacles) restricts rotation. Is provided).

  In other words, the vehicle control unit 10 calculates the rotation angle θ1 when the signal is rotated until it touches the obstacle at the rotation center determined and output in step 12 with reference to the state before the rotation, and the rotation angle θ1. Is a predetermined reference value θ2 (for example, 20 degrees) or less, a direction that cannot be rotated is supplied to the controller 19 as rotation direction restriction information.

The controller 19 determines whether or not there is an operation restriction in the rotation direction (step 14). If there is an operation restriction (step 14; Y), in order to prevent the operation unit 195 from rotating in the restricted direction, Reaction force control is performed on the operation unit 195 (step 15).
That is, when the operation unit 195 is operated in the rotation limiting direction, the controller notifies the user that the operation in the obstacle direction cannot be performed by generating torque in the direction opposite to the rotation operation direction.
In addition, you may make it notify that the rotation operation to an applicable direction is restrict | limited by not only reaction force torque but vibration.

  Next, the controller 19 detects the rotation amount by the rotation operation 198 of the operation unit 195 (step 16), outputs the detected rotation amount to the vehicle control unit 10 as operation information (step 17), and returns to the main routine.

On the other hand, when the parallel movement mode is selected, the controller 19 obtains movement direction restriction information from the vehicle control unit 10 (step 21).
The movement direction restriction information obtained by the controller 19 is determined by the vehicle control unit 10 based on the presence / absence of an obstacle present around the vehicle detected by the obstacle detection unit 14 and the distance thereof, and the direction (obstacle The direction in which the object is present).

  That is, the vehicle control unit 10 supplies the controller 19 with a direction that cannot be moved as the movement direction restriction information when the distance L1 from the vehicle to the detected obstacle is equal to or less than a predetermined value L2 (for example, 40 cm).

The controller 19 determines whether or not there is a restriction on parallel movement (step 22). If there is a movement restriction (step 22; Y), the controller 19 operates to prevent the operation unit 195 from tilting in the restricted direction. Reaction force control is performed on the unit 195 (step 23).
That is, when the operation unit 195 is tilted in the movement limit direction, the controller notifies the user that the tilt operation in the direction of the obstacle cannot be performed by generating torque in the direction opposite to the tilt operation direction.
In addition, you may make it notify that the inclination operation to an applicable direction is restrict | limited not only by reaction force torque but by the vibration.

  Next, the controller 19 detects the amount of inclination by the inclination operation 196 of the operation unit 195 (step 24), outputs the detected rotation amount to the vehicle control unit 10 as operation information (step 25), and returns to the main routine.

When the operation information is output from the controller 19, the vehicle control unit 10 causes the steering mechanism control unit 17 to drive wheels that coincide with the rotation center according to the rotation center output in step 12 if the rotation is a belief. The drive wheels except for are steered, and in the case of parallel movement, all the wheels are steered in a direction parallel to the movement direction.
And the vehicle control part 10 drives a driving wheel so that it may become the direction according to the operation information, and a vehicle speed by the drive control part 18. FIG.

FIG. 5 shows a display image of the display device 15 in the independent steering travel mode.
As shown in FIG. 5A, when the independent steering travel mode is selected, the vehicle control unit 10 displays the vehicle FIG. 151 and obstacles around the vehicle detected by the obstacle detection unit 14 on the display device 15. To display.
When the belief rotation mode is further selected, the vehicle control unit 10 displays nine rotation centers 152a to 152i that can be selected as the belief rotation.

Next, when the tilting operation 196 is performed by the operation unit 195 and the rotation center is determined by the pressing operation 197 (see FIG. 2) and the rotation center is output from the controller 19 (step 12), the vehicle control unit 10 performs the operation shown in FIG. As shown in a), the determined center of rotation (152h in FIG. 5A) is highlighted. At this time, the display of the rotation centers that are not selected may be deleted.
Then, the vehicle control unit 10 calculates the rotation angle θ1 when the belief is rotated at the center of rotation determined until contact with the obstacle based on the state before the rotation, and according to the magnitude of the calculated rotation angle θ1. The rotation direction 153 is displayed.

  In the example shown in FIG. 5A, since the rotation angle θ1 when the right rotation is performed around the designated left front rotation center 152a is equal to or less than the predetermined angle θ2, the right rotation of the operation unit 195 is the controller. 19 (see step 15 in FIG. 4), the vehicle control unit 10 displays the rotation direction 153 of the left rotation direction arrow on the display device 15.

If the vehicle control unit 10 can rotate in both directions, the vehicle control unit 10 indicates that it can rotate in both directions by displaying arrowheads at both ends of the rotation direction 153 as shown in FIG. To do.
The length of the arrow in the rotation direction 153 may be changed according to the rotatable angle θ3 (<θ1). That is, as shown in FIG. 5 (b), the arrow in the direction of rotating to the obstacle side (in the figure, the clockwise arrow) is displayed shorter than when there is no obstacle.
The angle θ3 is set to θ1-5 degrees, but may be an angle until the shortest distance between the vehicle body and the obstacle becomes a predetermined distance L3 (for example, 40 cm).

Next, another example of the controller 19 used in this embodiment will be described.
FIG. 6 shows a case where the controller 19 is constituted by a handle.
As shown in FIG. 6, the handle 199 functions in the same manner as the operation unit 195, and the tilting operation 196 in eight directions of the tilting directions 196 a to 196 h and the pressing operation 197 (196 i, And it is comprised so that rotation operation 198 can be performed.
The tilt operation 196, the push operation 197, and the rotation operation 198 described above are possible when the independent steering travel mode is selected, and are locked so that the tilt operation and the push operation cannot be performed in the normal travel operation.
Further, even when an obstacle is present, the handle 199 is controlled by the reaction force with respect to the rotation operation 198 similarly to the operation unit 195.

FIG. 7 shows still another example of the controller 19.
As shown in FIG. 7, the controller 19 includes a display device 15 and a touch panel disposed on the surface thereof.
In the case of this controller 19, the vehicle control unit 10 displays the vehicle diagram 151 on the display device 15 when the independent steering travel mode is selected. Although not displayed in FIG. 7, when an obstacle is detected, the obstacle is also displayed as in FIG.

Then, as illustrated in FIG. 7A, the user touches (presses) the display screen with the fingertip 155 to specify the rotation center 156.
When the display device 15 and the touch panel are used in this way, the rotation center 156 can be designated outside the vehicle area, not limited to the belief rotation.

  The vehicle control unit 10 displays a mark of the rotation center 156 at a designated position on the display screen, and the steering mechanism control unit 17 causes each drive wheel to be substantially perpendicular to a straight line connecting the rotation center 156 and each drive wheel. Steer so that

Next, as shown in FIG. 7B, the user releases the fingertip 155 from the designated rotation center 156 and touches another part of the touch panel, and designates the designated rotation direction as indicated by a dotted arrow. The fingertip 155 is moved to 157.
The vehicle control unit 10 detects the moving direction of the touched fingertip 155 and drives the drive wheel that has been steered in the corresponding direction to rotate the vehicle in the designated rotation direction.

When the controller 19 is configured by the display device 15 and the touch panel, the mode selection switch 191 may be displayed on the screen and selected by the user.
Further, a cancel key (displayed as “cancel” or “return”) for correcting the rotation center 156 once designated may be displayed on the screen.
Further, a confirmation key (corresponding to the pressing operation 197) for confirming the touched rotation center 156 may be displayed. In this case, if another location is touched before the confirmation key is pressed, the rotation center 156 is moved.

FIG. 8 illustrates another example of the controller 19 using the display device 15 and the touch panel.
In this example, one of the fingertips (thumb in the figure) 155a designates the rotation center 156 first, and then the rotation center 156 remains designated (touched) and the other fingertip (index finger in the figure) 155b rotates. Specify the direction 157.
When the rotation direction 157 is designated, the fingertip 155b is designated by moving in the rotation direction 157 while touching the touch panel, as in FIG.

Also in the example of FIG. 8, the mode selection switch 191 may be displayed on the screen.
However, since the rotation center 156 and the rotation direction 157 are determined when they are touched at the same time, if the fingertip 155a leaves the touch panel before specifying the rotation direction 157, it is treated as a cancel. For this reason, the cancel button is unnecessary.

FIG. 9 shows another example of the controller.
In this controller 19, a guide 198b for moving the position of the operation unit 195b is formed on a stage 194 on which a mode selection switch 191 is arranged.
The guide unit 198b functions as a guide that moves to positions 152a to 152i corresponding to the center of rotation of the belief rotation by moving the operation unit 195b back and forth and from side to side.
Similar to the operation unit 195 described with reference to FIG. 2, the operation unit 195 b can instruct a rotation direction by a rotation operation 198.

Next, a second embodiment will be described.
A four-wheel independent steering vehicle can be steered and traveled in the same way as a normal two-wheel steering vehicle. Further, by selecting an independent steering traveling mode by four-wheel independent steering, it is possible to perform rotation and parallel movement. it can.
In the first embodiment described above, the places where such independent steering travel is performed are unlimited, and independent steering travel is possible even on public roads and intersections.
However, from the viewpoint of a driver of a two-wheel steering vehicle on a general public road or the like, the other vehicle is driving while predicting the movement of the other vehicle on the assumption that the normal two-wheel steering vehicle operates. For this reason, if the four-wheel independent steering vehicle makes an unexpected movement such as a parallel movement or a movement of belief rotation, it will confuse the driver of the two-wheel steering vehicle.

Therefore, in the second embodiment, a configuration in which independent steering traveling is possible when a predetermined condition is satisfied.
The predetermined condition is that the vehicle speed is not more than a predetermined vehicle speed v5 (for example, 10 km / h) and the current position of the vehicle is within the permitted area.
Here, the permission area is a place where there is a parking space around the parking lot, a parking space with a parking meter provided on the road, or a place designated in a parking area such as a home.
The vehicle speed condition can be omitted, and the condition may be satisfied when the vehicle is at a predetermined place such as a parking lot.

In the second embodiment, the user can designate a parking area such as a home or a company, but the user designated location is registered in a storage unit such as a RAM of the vehicle control unit 10.
The user specified location is, for example, a method of displaying a map around the specified location on the display device 15 and specifying the corresponding location on the touch panel, a method of inputting an address, and a telephone number in the same manner as the destination setting of the navigation function The address may be specified by any of the methods for specifying the corresponding address.

Next, the permission / refusal processing of independent steering travel in the second embodiment will be described with reference to the flowchart of FIG.
The vehicle control unit 10 acquires the current vehicle speed from the output of the vehicle speed sensor 13, and determines whether or not the vehicle speed is equal to or higher than a predetermined vehicle speed V3 (for example, 10 km / h) (step 31).
When the vehicle speed is equal to or higher than the predetermined vehicle speed V3 (step 31; Y), the process proceeds to step 36.

  On the other hand, when the vehicle speed is less than the predetermined vehicle speed V3 (step 31; N), the vehicle control unit 10 acquires the current position of the vehicle from the current position detection device 11 (step 32) and maps the map data 12 with the road map data. It is determined by matching whether the current position is in the parking lot, in the parking meter installation area, or in the designated place (hereinafter referred to as the parking lot or the like) (step 33).

If the current position is in a parking lot or the like (step 33; Y), the process moves to step 39 because independent steering is possible.
On the other hand, when it is not in the parking lot or the like (step 33; N), the vehicle control unit 10 confirms from the detection result of the obstacle detection unit 14 whether there is an open parking space near the current vehicle position ( Step 34), it is determined whether or not it is in the vicinity of an empty space (step 35).
In addition, in the case of parallel parking, whether there is a parking space is not only the parking space of the own vehicle, but also whether there is enough space for the following vehicle to move, assuming that the vehicle parked behind is a two-wheel steering vehicle Judge whether or not.

If the vehicle position is in the vicinity of an empty parking space (step 35; Y), the process shifts to step 39 because independent steering travel is required to park in the parking space.
On the other hand, when it is not in the vicinity of the empty parking space (step 35; N), the vehicle control unit 10 determines whether or not the user has turned on (selected) the independent steering travel mode by the mode selection switch 191 (step 36). .

  When the independent steering travel mode is turned on (step 36; Y), the vehicle control unit 10 turns the independent steering travel mode off (not selected) (step 37), or is not turned on (step 36). N) The use of the independent steering mode is prohibited as it is (step 38), and the process returns to the main routine.

  On the other hand, when the current vehicle position is in a parking lot or the like at step 33 (step 33; Y), or when the current vehicle position is in the vicinity of an empty parking space (step 35; Y), the vehicle control unit 10 performs independent steering. The use of the travel mode is permitted, the belief rotation or translation described in the first embodiment is enabled (step 39), and the process returns to the main routine.

FIG. 11 is a flowchart showing the second operation in the second embodiment.
The vehicle control unit 10 determines whether or not use of the independent steering travel mode is permitted (step 41).
Here, the use permission state corresponds to a state where the use of the independent steering travel mode is permitted in step 39 of FIG. 10 or a state where the use of the independent steering travel mode is permitted under other conditions.
As other conditions, for example, in the process of FIG. 10, use of the independent steering travel mode is permitted within a parking lot, but determination within the parking lot is not a permission condition (regardless of whether it is a parking lot or not). The use of the independent steering travel mode may be permitted only when it is in the vicinity of an empty space. In this case, the condition for determining whether or not the vehicle speed is equal to or lower than the predetermined vehicle speed V3 can be either determined or not determined.

When the use permission state of the independent steering travel mode is set (step 41; Y), the vehicle control unit 10 determines whether or not the user has turned on (selected) the independent steering travel mode by the mode selection switch 191 (step). 42).
When the independent steering travel mode is ON (step 42; Y), the vehicle control unit 10 turns on the hazard lamp (step 43) and notifies other vehicles that the independent steering travel is performed.
In addition, as a notification method of independent steering traveling, the blinker may be blinked alternately left and right instead of the hazard lamp. Further, the warning lamp and the blinker may be changed to alternate blinking on the left and right, or in addition, an announcement may be made by voice.
The voice notification is by outputting a voice such as “the vehicle rotates” or “the vehicle moves in parallel in the ** direction”.

  Next, the vehicle control unit 10 sets the independent steering travel mode to the ON (selected) state (step 44), and returns to the main routine.

  On the other hand, when the use of the independent steering travel mode is not permitted in step 41 (step 41; N), or when the independent steering travel mode is not ON in step 42 (step 42; N), the vehicle control unit 10 performs independent steering. The running mode is turned off (not selected) (step 45), and the process returns to the main routine.

  As described above, according to the present embodiment, the rotation center and the rotation are designated by the rotation center designation means for designating the rotation center of the vehicle and the rotation direction designation means for designating the rotation direction around the designated rotation center. Since the direction is designated independently, the designation of the center of rotation and the turning operation around the designated position can be easily performed.

Further, since the rotation center designating unit and the rotation direction designating unit are configured with the same user interface, the operability can be further improved.
In addition, since the rotation center designated by the rotation center designating means is within the region connecting all the vehicle positions, it is possible to perform the belief rotation operation and to perform the belief rotation around various positions. Moreover, since any one of the wheel positions, the center of gravity positions of all the wheels, and the center position of two adjacent wheels are designated as the rotation center of the belief rotation, the rotation center can be easily imaged. it can.
Further, since the steering means steers a wheel that is not at the designated rotation center position in a direction substantially perpendicular to the rotation center, it is possible to easily rotate the wheel. In this case, the center of rotation can be stabilized by braking or locking the wheel at the center of rotation.
In addition, the image display device displays a vehicle diagram representing the vehicle on the image display device and the designated rotation center, so that by checking the display image, an image of the rotation range due to the belief rotation can be obtained. It becomes easy to do.
Moreover, since the obstacle existing outside the vehicle is recognized and the positional relationship with the vehicle is displayed in a recognizable manner, it is easy to determine the possibility of collision during rotation.

In the above-described embodiment, the case where the wheel position or the distance between the wheels is designated as the belief rotation position has been described. However, the vehicle corner or the middle thereof may be designated and rotated as the center of the belief rotation. Good.
Further, in the embodiment described above, the case where the wheels are rotated by steering each wheel in a direction substantially perpendicular to the center of rotation has been described. However, the wheels are not steered but turned by controlling the number of rotations (belief rotation). You may do it. Further, the belief rotation may be performed by both the steering of the wheel and the rotation speed control.

It is a block diagram of the control system in the vehicle of 1st Embodiment of this invention. It is explanatory drawing showing the external appearance structure of the controller. It is explanatory drawing showing the display image of the display apparatus, and operation of a controller in trusted rotation mode. It is a flowchart showing operation | movement of the controller in independent steering driving | running | working. It is explanatory drawing showing the display image of the display apparatus in independent steering driving mode. It is explanatory drawing showing the case where a controller was comprised with the handle | steering-wheel. It is explanatory drawing showing the example of another controller. It is explanatory drawing showing the other example of the controller using a display apparatus and a touch panel. It is explanatory drawing showing the example of another controller. It is a flowchart showing the permission / refusal processing of the independent steering travel in 2nd Embodiment. It is a flowchart showing about 2nd operation | movement in 2nd Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Vehicle control part 11 Present position detection apparatus 12 Map data 13 Vehicle speed sensor 14 Obstacle detection part 15 Display apparatus 16 Input device 17 Steering mechanism control part 18 Drive control part 19 Controller 151 Vehicle drawing 152 Rotation center 155 Fingertip 156 Rotation center 174 Stage 190 Translation direction designation unit 191 Mode selection switch 192 Rotation center designation unit 193 Rotation direction designation unit 195 Operation unit

Claims (9)

A vehicle having a plurality of wheels, each wheel being independently controllable,
A rotation center specifying means for specifying the rotation center of the vehicle;
Rotation direction designating means for designating a rotation direction around the designated rotation center;
Turn control means for controlling the wheels to turn the vehicle in the designated rotation center and rotation direction;
A vehicle characterized by comprising:
The vehicle according to claim 1, wherein the rotation center designating unit and the rotation direction designating unit are configured by the same user interface.
The user interface includes an operation device provided independently of a steering wheel, an image display device, or a steering wheel for steering a front wheel of a vehicle. The vehicle according to claim 1 or claim 2.
The rotation center is any one of a wheel position, a center-of-gravity position of all the wheels, and a center position of two adjacent wheels. Vehicle described in.
The said turning control means steers a wheel which is not in the designated rotation center position in a direction substantially perpendicular to the direction of the rotation center. Item 5. The vehicle according to Item 4.
An image display device;
Display control means for displaying a vehicle diagram representing a vehicle on the image display device and the designated rotation center;
The vehicle according to any one of claims 1 to 5, further comprising:
An obstacle recognition means for recognizing an obstacle present outside the vehicle;
The vehicle according to claim 6, wherein the display control unit displays the recognized obstacle so that a positional relationship with the displayed vehicle can be recognized.
A vehicle operating device that operates a vehicle including a plurality of wheels, each wheel being independently controllable,
A rotation center specifying means for specifying the rotation center of the vehicle;
Rotation direction designating means for designating a rotation direction around the designated rotation center;
A vehicle operating device comprising:
  The vehicular operating device according to claim 8, wherein the rotation center designating unit and the rotation direction designating unit are configured by the same user interface.

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