JP2008056169A - Traveling vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a traveling vehicle which can efficiently protect a crew member in case of emergency such as failure occurrence in a posture detecting means, a driving means, etc. in running or a collision of the vehicle with an unavoidable obstacle. <P>SOLUTION: The traveling vehicle comprises an emergency judging means 23a for judging the emergency, and forced tilting means 7, 26, 27 for forcibly tilting a vehicle body 1 in one direction by a direction from the emergency judging means 23a. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to control of a traveling vehicle in an emergency such as a failure or an obstacle collision.

2. Description of the Related Art Conventionally, when a vehicle is tilted, there is a cushion system that prevents a passenger from being injured by a cushion that expands and expands from a folded state through a quick release of stored energy and makes contact with the ground (see Patent Document 1). ).
JP-T-2001-521856

  However, in the invention described in Patent Document 1, when a posture sensor, a wheel motor, or the like fails during traveling, traveling and braking of the vehicle cannot be stably controlled, and it is not known in which direction the vehicle is inclined. It is necessary to provide a cushion that expands at least in the front-rear and left-right directions, which necessitates an increase in the weight and cost of the vehicle.

  In addition, when an obstacle suddenly appears in front of the vehicle and the front cushion is not deployed in time while traveling, the occupant touches the obstacle from the front, and the rear cushion expands to the rear. It is conceivable that two large impacts are received by contacting the ground.

  The present invention solves the above-mentioned problems, and efficiently protects passengers in an emergency such as when posture detection means, drive means, etc. break down during travel or when it is likely to come into contact with an unavoidable obstacle. An object is to provide a traveling vehicle.

  For this purpose, the present invention is characterized by comprising emergency determination means for determining an emergency and forced tilting means for forcibly tilting the vehicle body in one direction according to a command from the emergency determination means. To do.

  In addition, the traveling vehicle includes posture detection means for detecting a posture in order to control the posture, and the emergency judgment means judges an emergency when the posture detection means fails.

  Further, the vehicle has obstacle detection means for detecting obstacles around the traveling vehicle, and the emergency judgment means detects an obstacle that the obstacle detection means cannot avoid while the traveling vehicle is traveling. It is characterized by an emergency.

  Further, the traveling vehicle includes a driving unit, and the emergency determination unit determines an emergency when the driving unit breaks down.

  The forced tilting means tilts until at least a part of the vehicle body contacts the ground.

  The forced tilting means includes: the driving means for increasing the driving torque; an occupant lifting actuator for lifting a front portion of an occupant mounting portion disposed in the vehicle body; and an extrusion actuator protruding at a lower front portion of the vehicle body. It is characterized by being at least one of these.

  The present invention includes emergency determination means for determining an emergency and forced tilting means for forcibly tilting the vehicle body in one direction according to a command from the emergency determination means. It is only necessary to consider one direction for protection, and it is possible to efficiently protect the occupant and to easily get on and off the occupant in an emergency.

  In addition, the traveling vehicle includes posture detection means for detecting the posture in order to control the posture, and the emergency judgment means judges that the emergency is in case the posture detection means fails. Even if it becomes impossible, it can respond quickly.

  Further, the vehicle has obstacle detection means for detecting obstacles around the traveling vehicle, and the emergency judgment means detects an obstacle that the obstacle detection means cannot avoid while the traveling vehicle is traveling. Since it is determined as an emergency, it is possible to respond quickly even if the traveling vehicle becomes uncontrollable.

  In addition, the traveling vehicle includes a driving unit, and the emergency determination unit determines an emergency when the driving unit breaks down, so that it is possible to respond quickly even if the traveling vehicle becomes uncontrollable. .

  Further, the forced tilting means tilts at least until a part of the vehicle body comes into contact with the ground, so that passengers can easily get on and off in an emergency.

  The forced tilting means includes: the driving means for increasing the driving torque; an occupant lifting actuator for lifting a front portion of an occupant mounting portion disposed in the vehicle body; and an extrusion actuator protruding at a lower front portion of the vehicle body. Therefore, the occupant can be protected with the existing apparatus, and the cost can be reduced.

Hereinafter, an embodiment as an example of the present invention will be described with reference to the drawings.
FIG. 1 shows a traveling vehicle of the present embodiment. 1A is a side view and FIG. 1B is a front view. In the figure, V is a traveling vehicle, 1 is a vehicle body, 2 is a frame, 3 is a seat as an example of an occupant mounting portion, 4 is a footrest, 5 is an anti-tilt bar, 6 is a joystick as an example of operation means, and 7 is a drive. A wheel motor as an example of the means, 8 is a wheel, and 9 is a seat rear airbag as an example of an occupant protection means. Although not shown, an ECU is provided below the seat.

  The vehicle body 1 indicates the frame 2, the seat 3, the footrest 4, the tilt prevention bar 5, the joystick 6, the left and right wheel motors 7, the balancer 10, and the like. The frame 2 has a seat 3 on which an occupant M sits in an upper portion, a balancer 10 mounted on a substantially central portion, a footrest 4 on which a leg portion of the occupant M is placed in front, and an anti-tilt bar 5 extending in the front and rear in a lower portion. Are combined. The seat 3 is supported by a frame, and includes a seat portion 3a on which the occupant M is mounted and a seat back 3b that serves as a backrest of the occupant M. The height of the seat back 3b is preferably higher than the head of the occupant M. In addition, the seat 3 can be mounted not only with the occupant but of course. The joystick 6 is operated by the occupant M sitting on the seat 3 and is supported by the frame 2. In addition, the traveling vehicle V of this embodiment can also be remote-controlled by communication, and in that case, the joystick 6 is not necessarily required. The left and right wheel motors 7 are supported by the frame 2 on a common axis, can independently control the front-rear driving force, and are connected to wheels 8 that are rotatably supported by the frame 2. The balancer 10 is mounted on the frame 2 and controls the posture of the vehicle body 1.

  FIG. 2 is a diagram illustrating the balancer 10 of the present embodiment. The balancer 10 is provided with a ball screw 12 on a rail 11, held by the ball screw 12 by a nut block 13, and a slider 15 on which a weight 14 is placed along a rail 11 by a balancer actuator 16 such as a servo motor. It is to be moved. The position of the weight 14 is detected by a balancer position sensor 17. In the present embodiment, the weight 14 uses a battery, but an ECU or the like can also be used, and is not limited to this configuration. The balancer 10 is not necessarily provided, but is preferably provided in order to more effectively control the posture during acceleration / deceleration and the forced inclination described later.

  FIG. 3 shows a block diagram of the present embodiment. In the figure, 6 is a joystick, 7 is a wheel motor as an example of drive means, 71 is a first wheel motor, 72 is a second wheel motor, 21 is a posture sensor as an example of attitude detection means, and 22 is an obstacle detection means. An obstacle detection sensor as an example, 23 is an ECU as an example of an attitude control means, 23a is an emergency judgment means, 24 is a wheel motor ECU as an example of an attitude control means, and 25 is an extension / contraction as an example of an attitude change means. Actuator, 16 is a balancer actuator as an example of posture changing means and forced inclination means, 26 is an occupant lifting actuator as an example of forced inclination means, 27 is an extrusion actuator as an example of forced inclination means, and 9 is occupant protection means It is a seat back airbag as an example.

  The joystick 6 operates to move the traveling vehicle V forward and backward, turn, and the like, and outputs the operation amount and the like to the ECU 22. The attitude sensor 21 detects the attitude of the frame 2 such as angular velocity, tilt angle, and acceleration, and outputs a signal to the ECU 23. The obstacle detection sensor 22 detects an obstacle around the frame 2, particularly in front of it, and outputs a signal to the ECU 23. The ECU 23 outputs a signal for controlling the posture from the detection value of the posture sensor 21 or the obstacle detection sensor 22 to each actuator. The emergency judgment means 23a judges whether or not it is an emergency from the detection results of the posture sensor 21, the obstacle detection sensor 22, and the like.

  The telescopic actuator 25 is an actuator for tilting the seat 3 or the like when turning. The balancer actuator 16, the occupant lifting actuator 26, or the pushing actuator 27 is an actuator that forcibly tilts the vehicle body 1 in one direction. Note that the balancer actuator 16, the occupant lifting actuator 26, or the pushing actuator 27 are not necessarily provided, and may be selected in consideration of each effect on how to incline during emergency control.

  The seat rear airbag 9 protects the occupant M when the balancer actuator 16, the occupant lifting actuator 26 or the pushing actuator 27 tilts the frame 2.

  In the normal state, the traveling vehicle V is operated by the joystick 6 of the occupant M in the forward / backward direction and the turning value, the posture detection value such as the angular velocity, the inclination angle, and the acceleration by the posture sensor 21, the obstacle detection value of the obstacle detection sensor 22, and the wheel. The resolver from the motor 7 and the counter encoder from the balancer actuator 16 are input, the first wheel motor 71 and the second wheel motor 72 are controlled by the ECU 23 and the wheel motor ECU 24, and the telescopic actuator 25 and the balancer actuator 16 are controlled by the ECU 23. To change the posture and run.

  When the traveling vehicle V becomes uncontrollable due to a failure of the attitude sensor 21 or the wheel motor 7, or when the traveling vehicle V cannot avoid an obstacle while traveling, the traveling vehicle V includes a balancer actuator 16, an occupant lifting actuator. 26 or the actuator 27 for extrusion, etc. are operated, and it inclines until it contacts the back ground.

  Next, a flowchart of such emergency control of the traveling vehicle V will be described. 4 and 5 are flowcharts showing emergency control according to the present embodiment.

  In the traveling vehicle V of this embodiment, first, in step 1, the obstacle avoidance process shown in FIG. 5 is executed (ST1). In the obstacle avoidance process ST1, first, it is determined whether or not the traveling vehicle V is traveling (ST101). When the traveling vehicle V is not traveling, that is, when it is stopped, the obstacle avoidance process ST1 is terminated. If the traveling vehicle V is traveling, in step 102, traveling information such as a vehicle speed, a turning amount, a remaining battery level, a posture state, a joystick input value, and an actuator operation amount is acquired (ST102).

  Next, in step 103, information such as the presence or absence of an obstacle and the distance to the obstacle is acquired from the obstacle detection sensor 22 (ST103). Next, at step 104, the presence / absence of an obstacle is determined from information from the obstacle detection sensor 22 (ST104). If there is no obstacle, the obstacle avoidance process ST1 is terminated.

  If there is an obstacle, in step 105, the emergency judgment means 23a determines whether the traveling vehicle V can avoid the obstacle from the distance to the obstacle based on the information from the obstacle detection sensor 22 and the traveling information. Judgment is made (ST105). If the obstacle is not avoidable, in step 106, the occupant M is warned that the traveling vehicle V is in an emergency or tilts backward (ST106).

  Next, in step 107, the vehicle body 1 is tilted backward by the forced tilting means (ST107), and the obstacle avoidance process ST1 is ended. If the obstacle can be avoided, in step 108, the occupant M is warned that the traveling vehicle V is turning suddenly or braking suddenly to avoid the obstacle (ST108). Next, in step 109, the traveling vehicle V is turned suddenly or braked (ST109), and the obstacle avoidance process ST1 is ended.

  When the obstacle avoidance process ST1 is finished and the vehicle body 1 is not tilted, it is determined in ST2 whether an abnormality has occurred in the vehicle (ST2). A vehicle abnormality is detected in response to a command from the ECU 23 by checking the current consumption, the signal from the attitude sensor 21, the operation status of the wheel motor resolver from the wheel motor ECU 24, the motor encoder from the balancer actuator 16, and the like. This is determined by the emergency determination means 23a.

  If it is determined that there is a vehicle abnormality, a warning is issued to the passenger M in step 3 (ST3). When it is determined that there is no vehicle abnormality, the emergency control of this embodiment is terminated.

  After warning the occupant M of the failure, it is determined in step 4 whether the traveling vehicle V is stopped or traveling (ST4). If the vehicle speed of the traveling vehicle V is 0 and stopped, in step 41, the power of each system is turned off (ST41), and the emergency control of this embodiment is terminated. If the vehicle speed of the traveling vehicle V is not 0 but is traveling, it is determined in step 5 whether or not the vehicle speed is greater than a predetermined threshold (ST5). The threshold value is a speed value that does not cause the traveling vehicle to tilt even when sudden braking is performed.

  If the vehicle speed is smaller than the predetermined threshold value, the traveling vehicle V is stopped in step 51, and the emergency control of this embodiment is terminated. In addition, when an obstacle or an intersection is detected within the stopping distance at the time of stopping, it may be inclined backward. If the vehicle speed is greater than the predetermined threshold, it is determined in step 6 whether or not the failure location is the attitude sensor 21 (ST6).

  If the failure location is the attitude sensor 21, in step 7, the vehicle body 1 is tilted backward by the forced tilting means 10, 26, 27 (step 7), and the emergency control of this embodiment is finished. If the failure location is not the attitude sensor 21, it is determined in step 8 whether or not the failure location is the wheel motor 7. When the failure location is the wheel motor 7, in step 9, the vehicle body 1 is tilted backward by the forced tilting means 10, 26, 27 (step 9), and the emergency control of this embodiment is finished. If the failure location is not the wheel motor 7, the travel restriction or stop of the traveling vehicle V is executed in step 10 according to the content of the failure (ST10), and the emergency control of this embodiment is terminated.

  Next, examples of forced tilting means 10, 26, and 27 for tilting the vehicle body 1 backward in the emergency control of this embodiment will be described.

  First, the first embodiment will be described. The first embodiment is applied when the wheel motor 7 is controllable, and shows an example in which the vehicle is tilted by increasing the driving torque of the wheel motor 7 of the traveling vehicle V.

  FIG. 6 is a schematic view when the vehicle body 1 is tilted. In the figure, V is a traveling vehicle, 1 is a vehicle body, 3 is a seat, 5 is a tilt prevention bar, 7 is a wheel motor, 8 is a wheel, 9 is a seat rear airbag, 10 is a balancer, and M is an occupant.

  FIG. 6A shows a state of the traveling vehicle V during normal traveling. In this state, the vehicle keeps balance and travels without inclining. Next, FIG. 6B shows a state where the driving torque of the wheel motor 7 of the traveling vehicle V is increased. This state occurs, for example, when an obstacle that cannot be avoided by emergency control or when it is determined that the posture sensor 21 is broken, and the driving torque of the wheel motor 7 of the traveling vehicle V is increased and the airbag 9 behind the seat 3 is increased. Expand.

  FIG. 6C shows a state in which the vehicle body 1 is inclined rearward and a part of the vehicle body 1 is in contact with the ground. As in this state, the traveling vehicle V increases the driving torque of the wheel motor 7 of the traveling vehicle V when it detects an obstacle that cannot be avoided by the emergency control or determines that the posture sensor 21 is broken. The possibility of inclining forward or sideward where it is difficult to protect M is reduced, and it is possible to incline backward to be protected by the seat 3 or the like.

  It is more preferable that the driving torque of the wheel motor 7 of the traveling vehicle V is increased and the weight 14 and the like of the balancer 10 are moved rearward by the balancer actuator 16.

  Next, a second embodiment will be described. The second embodiment is mainly applied when the wheel motor 7 is not controllable, and shows an example in which the front portion of the seat 3 is forcibly lifted by the passenger lifting airbag 26. In particular, this example shows an example when an obstacle is detected.

  FIG. 7 is a schematic view when the vehicle body 1 is tilted. In the figure, V is a traveling vehicle, 1 is a vehicle body, 2 is a frame, 3 is a seat, 7 is a wheel motor, 8 is a wheel, 9 is a seat rear airbag, and 26 is an occupant lifting air as an example of an occupant lifting actuator. Back, M is an occupant.

  FIG. 7A shows a state when the traveling vehicle V is traveling normally. In this state, the vehicle is traveling while maintaining balance and detecting whether there is an obstacle ahead. Next, FIG.7 (b) shows the state which detected the obstacle which cannot be avoided. In this state, the passenger lifting airbag 26 is deployed and the airbag 9 behind the seat is deployed. When the airbag 26 for lifting the occupant of the traveling vehicle V is deployed, the occupant M moves rearward, the entire center of gravity moves rearward, and the balance of the traveling vehicle V is lost.

  FIG. 7C shows a state when the traveling vehicle V collides with an obstacle. When the traveling vehicle V collides with an obstacle, the vehicle body 1 is inclined rearward, and the impact of the occupant M on the front can be suppressed to a minimum. In this state, when the wheel motor 7 cannot be controlled, the vehicle body 1 lifts and tilts the front portion of the seat 3 with the occupant lifting airbag 26 or the like. The possibility of inclining to the side is reduced, and it is possible to forcibly incline backward that is protected by the seat 3 or the like.

  Further, when the vehicle body 1 is tilted backward, the airbag 9 behind the seat 3 is deployed, so that cushioning can be provided between the occupant M and the ground, and the impact on the occupant M can be mitigated. Further, if the occupant lifting airbag 26 is deployed in front of or on the side of the occupant M, a cushion can be provided between the occupant M and an obstacle, and the impact on the occupant M can be mitigated.

  In order to forcibly tilt the vehicle body 1 backward, the front portion of the seat 3 is lifted by an occupant lifting airbag 9 of the vehicle body 1 and the weight 14 of the balancer 10 is moved backward by the balancer actuator 16. May be.

  Next, a third embodiment will be described. The third embodiment is mainly applied when the wheel motor 7 cannot be controlled, and shows an example in which the push rod 27 is inclined by forcibly projecting to the ground in the lower front part of the traveling vehicle V. In particular, this example shows an example when an obstacle is detected.

  FIG. 8 is a schematic view when the vehicle body 1 is tilted. In the figure, V is a traveling vehicle, 1 is a vehicle body, 3 is a seat, 7 is a wheel motor, 8 is a wheel, 9 is a seat rear airbag, 27 is an extrusion rod as an example of an extrusion actuator, and M is an occupant. .

  FIG. 8A shows a state when the traveling vehicle V is traveling normally. In this state, the vehicle keeps balance and travels without inclining. In this state, the pushing rod 27 as pushing means is stored in the traveling vehicle V. Next, FIG.8 (b) shows the state which detected the obstacle which cannot be avoided. In this state, the extrusion rod 27 protrudes and the airbag 9 behind the seat is deployed. When the pushing rod 27 of the traveling vehicle V projects, the occupant M moves rearward and the entire center of gravity moves rearward, and the balance of the traveling vehicle V is lost.

  FIG. 8C shows a state when the traveling vehicle V collides with an obstacle. The traveling vehicle V inclines backward before colliding with an obstacle, and inclines until a part of the vehicle body 1 comes into contact with the ground, so that the forward impact of the occupant M can be suppressed to a minimum. In this state, when the wheel motor 7 is not controllable, the traveling vehicle V is inclined by projecting the pushing rod 27, so that the traveling vehicle V may be inclined forward or sideward where it is difficult to protect the occupant M. Therefore, it is possible to incline backwardly forcibly protected by the seat 3 or the like. Further, when the vehicle body 1 is tilted backward, the airbag 9 behind the seat 3 is deployed, so that cushioning can be provided between the occupant M and the ground, and the impact on the occupant M can be mitigated.

  In order to forcibly tilt the vehicle body 1 backward, the push rod 27 of the traveling vehicle V may be protruded, and the weight 14 of the balancer 10 may be moved backward by the balancer actuator 16.

  As described above, the traveling vehicle V according to the present embodiment includes the balancer actuator 16 forcibly inclining the vehicle body 1 in one direction, the occupant lifting airbag 26, or the pushing rod 27, so that the occupant M is protected. However, it is sufficient to consider only one direction, and the occupant M can be protected efficiently. Moreover, since the vehicle body 1 includes the seat rear airbag 10, the occupant can be protected more effectively. Further, even if the traveling vehicle V becomes uncontrollable, the occupant M can be protected efficiently. Further, since the forcible tilting is performed by increasing the driving torque of the wheel motor 7, the occupant can be protected by the existing device, and the cost can be reduced.

  Note that the position of the components constituting this embodiment is not limited to this embodiment. For example, the balancer is disposed above the drive shaft, but may be changed as appropriate, such as disposed below the drive shaft. Is possible.

  Also, in the flowchart of this embodiment, it is not necessary to execute all of this processing, for example, it is possible to execute only the obstacle avoidance processing, and the order of this series of flows can be changed as appropriate. .

The figure which shows the traveling vehicle of this embodiment. The figure which shows the balancer of this embodiment Block diagram of this embodiment The figure which shows the flowchart of emergency control The figure which shows the flowchart of obstacle avoidance processing The figure which shows the 1st Example of this embodiment The figure which shows the 2nd Example of this embodiment The figure which shows the 3rd Example of this embodiment

Explanation of symbols

V ... traveling vehicle, 1 ... vehicle body, 2 ... frame, 3 ... seat (occupant mounting portion), 4 ... footrest, 5 ... tilt prevention bar, 6 ... joystick, 7 ... wheel motor (drive means, forced tilting means), 8 ... Wheels, 71 ... First wheel motor, 72 ... Second wheel motor, 9 ... Seat rear airbag (occupant protection means), 10 ... Balancer (posture changing means), 14 ... Weight, 16 ... Balancer actuator, 21 ... attitude sensor (attitude detection means), 22 ... obstacle detection sensor (obstacle detection means), 23 ... ECU (attitude control means), 23a ... emergency judgment means, 24 ... wheel motor ECU (attitude control means), 25 ... telescopic actuator (posture changing means), 26 ... occupant lifting actuator, occupant lifting airbag (forced tilting means), 27 ... extrusion actuator, Out for the rod (forced tilting means)

Claims (6)

An emergency judgment means for judging an emergency,
Forced tilting means for forcibly tilting the vehicle body in one direction according to a command from the emergency judgment means;
A traveling vehicle comprising: The traveling vehicle includes posture detection means for detecting posture in order to control the posture,
The traveling vehicle according to claim 1, wherein the emergency determination unit determines an emergency when the posture detection unit breaks down. Obstacle detection means for detecting obstacles around the traveling vehicle,
The travel according to claim 1 or 2, wherein the emergency judgment means judges an emergency when the obstacle detection means detects an obstacle that cannot be avoided while the traveling vehicle is running. vehicle. The traveling vehicle includes driving means,
The traveling vehicle according to any one of claims 1 to 3, wherein the emergency determination unit determines an emergency when the drive unit is out of order.   The traveling vehicle according to any one of claims 1 to 4, wherein the forcible tilting unit tilts at least until a part of the vehicle body contacts the ground. The forced tilting means includes the driving means for increasing the driving torque, an occupant lifting actuator for lifting a front portion of an occupant mounting portion disposed in the vehicle body, and an extrusion actuator protruding at a lower front portion of the vehicle body. 6. The traveling vehicle according to claim 1, wherein there is at least one.

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