JP2012059075A - Force sense giving type shift device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a force sense giving type shift device which is capable of achieving the improvement of operability, the reduction of fatigue, and the like by enabling an operator to arbitrarily select an operation feeling like a feeling of moderation.SOLUTION: A shift device (1) includes an X motor (31) and a Y motor (36) as driving means for generating reaction force on a shift lever (2). In a memory (51) connected to a force sense control part (50), a plurality of force sense patterns (52) giving different feelings of moderation to the shift lever are preliminarily stored. The shift lever is provided with selection means (80) for selecting one of the plurality of force sense patterns. The force sense control part generates, on the shift lever, a feeling of moderation or the like corresponding to strength according to the force sense pattern selected by the selection means. Thus adjustment to an operation feeling which the operator desires is possible.

Description

  The present invention relates to a force sense imparting type shift device that imparts a force sense as a reaction force to a shift lever made of a joystick or the like.

  In recent years, in many fields where remote operation is required, attention has been paid to a haptic device that reproduces an operation feeling in a pseudo manner to improve operation performance. The haptic input device is a so-called by-wire type input device that converts the operation state of the operation unit into an electrical signal and outputs it instead of a mechanical input mechanism, and generates a reaction force based on the operation state detection signal. Force feedback corresponding to the operation is given to the operator by performing force feedback control on the operation unit.

  On the other hand, in the field of automobiles, in addition to driving performance, computerization in the vehicle has progressed from the viewpoint of safety, comfort, environment, etc., and various operation target devices such as air conditioners, car navigation systems, and audio systems will be installed. Has become commonplace. In order to reduce the burden on the operator who operates such various devices, there has been proposed a joystick-type force-sensing input device that can unify operation inputs with one input device in the driver's seat (for example, , See Patent Document 1).

  According to such a force sense imparting type input device, there are a variety of operations such as a pseudo control feeling (click feeling) on the joystick, or an operation support control for urging the next operation with a reaction force. It becomes possible to give an operational feeling as a force sense. Further, by appropriately changing the haptic pattern according to the operation of the operation target device and the purpose of the operation, it can be shared as a versatile and multipurpose input device.

  In addition, a by-wire shift device (SBW: Shift By Wire) for switching an automatic transmission of a vehicle is disclosed in which the above-mentioned force sense application technology is applied to a shift device that can be reciprocally tilted in only one direction. (For example, refer to Patent Document 2).

JP 2004-257872 A JP 2003-176870 A

  However, in a by-wire type shift device, a configuration corresponding to multi-purpose and multi-purpose operation input can be found by allowing a shift operation to an arbitrary two-dimensional position like the above-described joystick type input device. Absent. In addition, according to the conventional shift device, the moderation feeling received as a force sense, the return force of the lever due to the momentary operation, and the like may be excessively felt by an operator. In such a case, if the operation feeling such as moderation can be changed according to the preference of the operator, improvement in operability, reduction in fatigue, and the like are expected.

  Accordingly, an object of the present invention is to provide a haptic-type shift device that enables an operator to arbitrarily select an operation feeling such as a sense of moderation, thereby improving operability and reducing fatigue. There is to do.

[1] In order to achieve the above object, a force imparting shift device according to the present invention includes a joystick operating unit operable at an arbitrary two-dimensional position, and a driving unit for applying a force to the joystick operating unit. A memory for storing a plurality of force sense patterns, which are characteristic data in which a continuous relationship between a detection unit that detects an operation state of the joystick operation unit and the force applied by the driving unit is associated with the operation state. And means for selecting one of the plurality of force sense patterns by a selection operation, and the driving based on the operation state of the joystick operation unit according to the force sense pattern selected by the selection means Force sense adjusting means for controlling the force of the means.

[2] In addition, the force sensation patterns have different slope characteristics of the force with respect to a stroke from the origin of the joystick operation unit in an operation trajectory in which the joystick operation unit performs a momentary operation with one position as an origin. Is set to

[3] Further, the plurality of force sense patterns are set such that the magnitudes of changes of the forces associated with the sense of moderation perceived by the operation of the joystick operation unit are different.

  According to the present invention, it is possible to select an operation feeling such as a moderation feeling felt by a reaction force fed back to the operation unit according to the preference of the operator using the selection unit. It is possible to reduce fatigue and the like.

FIG. 1 is an exploded perspective view showing a configuration of a shift device according to an embodiment of the present invention. FIG. 2 is a block diagram showing a system configuration of the shift device. FIG. 3 is a diagram showing a positional relationship between an array of shift positions set in the shift device and a track of the shift lever. FIG. 4 is a diagram illustrating a force sense pattern that is a torque characteristic that acts on the shift lever with the home (H) position as the origin of the tilting operation in the shift device. FIG. 5 is a diagram illustrating a plurality of force sense patterns that can be selected according to the first embodiment in relation to the tilting operation from the home (H) position to the upshift (+) position. FIG. 6 is a diagram illustrating a plurality of force sense patterns that can be selected according to the second embodiment in relation to the tilting operation from the home (H) position to the upshift (+) position. FIG. 7 is operation pattern diagrams (a) to (f) showing various operation paths of the shift lever. FIG. 8 exemplifies a force sense pattern that acts on the shift lever with the home (H) position as the origin of the tilting operation in the force sense imparting type shift device, for controlling the stationary operation of the shift lever. It is an illustration figure of a force sense pattern. FIG. 9 is a view showing an example of a haptic pattern in the case where the first embodiment shown in FIG. 5 is controlled by a stationary operation, and is used for a tilting operation between a home (H) position and a shift-up (+) position. FIG. 6 is a diagram illustrating a plurality of selectable force sense patterns in association with each other. FIG. 10 is a view showing an example of a force sensation pattern when the second embodiment shown in FIG. 6 is controlled by a stationary operation. In the tilting operation between the home (H) position and the upshift (+) position, FIG. FIG. 6 is a diagram illustrating a plurality of selectable force sense patterns in association with each other.

  Hereinafter, as a preferred embodiment of the present invention, a force imparting shift device 1 for switching an automatic transmission of a vehicle will be described in detail with reference to the drawings.

(Configuration of shift device)
FIG. 1 is an exploded perspective view showing a configuration of a shift device 1 according to an embodiment of the present invention. The shift device 1 includes a shift lever 2, a joystick mechanism 3, and a case member 4 that houses the joystick mechanism 3.

  The shift lever 2 is a joystick operation unit that can be tilted (shifted) in any direction on two dimensions (XY plane), and has a grip portion 2a that is manually operated by the operator and a dish-shaped lower surface. The support sliding portion 2b having a guided surface curved in a concave shape and the support portion 2c connecting the grip portion 2a and the support sliding portion 2b are integrally formed.

  The grip portion 2a is provided with a selection means 80 for the operator to select an operation feeling based on force sense control. The selection means 80 is composed of a rotary switch that can switch any one of three selection positions by rotating the knob, for example. The selection means 80 may be an alternate switch that switches between two or more selected positions by a push-on / push-off operation. The selection unit 80 may be a variable resistor (potentiometer) that continuously changes the electric resistance value. Furthermore, the selection means 80 may be configured to include two or more of the switches, or may be a combination of the two or more types of switches.

  The joystick mechanism 3 includes a shaft 11 on which the shift lever 2 is fixed to the tip, and a gate block 20 that restricts the tilting operation of the shaft 11 to a certain range. The shaft 11 is made of, for example, a columnar bar-like member, and passes through the long holes of the first carriage 12 and the second carriage 13 provided so as to be orthogonal to each other.

  The first carriage 12 is formed of a rectangular tubular member, and an X axis 14 that pivotally attaches the shaft 11 along the longitudinal direction (X direction) of the long hole and a direction orthogonal to the X axis 14 (Y Y-axis 15 protruding in the direction). Each Y axis 15 is integrally formed on both outer walls of the first carriage 12, and bearings 16 are fitted to both ends of the Y axis 15. The bearing 16 is fixed to a frame (not shown) of the joystick mechanism 3 via the bearing holder 17 so that the first carriage 12 can swing around the Y axis 15 with respect to the frame.

  The second carriage 13 is constituted by an outer U-shaped member in which a flat plate portion in which a long hole through which the shaft 11 passes is formed and an arm portion orthogonal to the flat plate portion are integrally formed. The long hole of the second carriage 13 is formed long along the Y direction, and allows the shaft 11 to tilt in the Y direction, while swinging the second carriage 13 against the tilt in the X direction. Is formed.

  The gate block 20 is a box-shaped strength member having a square opening on the upper surface portion, and is provided to limit the tilting operation of the shaft 11 to a predetermined range. That is, the base end portion of the shaft 11 is inserted into the opening of the gate block 20, and the base end portion abuts against the inner wall of the gate block 20 at a position where the shaft 11 tilts to the maximum stroke, thereby further shafts 11 tilting operations are restricted.

  The joystick mechanism 3 includes two sector gears 21 and 26, two rotation sensors 32 and 37 as detection means for detecting the tilted state of the shift lever 2 and the shaft 11, and the shift lever 2 via the shaft 11. An X motor 31 and a Y motor 36 are provided as driving means for generating a force (reaction force). The sector gears 21 and 26 are each provided with a swing shaft at a fan-shaped base end portion, and gear teeth 21a and 26a are formed on peripheral surface portions having the same radius with the swing shaft as the center.

  The first sector gear 21 has a swing shaft pivotally attached to a frame (not shown) of the joystick mechanism 3 and can swing, and the arm portion of the second carriage 13 is connected coaxially. The motor gear 31 a of the X motor 31 meshes with the gear teeth 21 a of the first sector gear 21. The rotation sensor 32 includes, for example, a rotation encoder unit that rotates while being connected to the motor gear 31a, and a photodetector that counts the number of rotations to detect a rotation angle or a rotation position.

  The swing axis of the second sector gear 26 is connected to one Y axis 15 of the first carriage 12. The motor gear 36a of the Y motor 36 is meshed with the gear teeth 26a of the second sector gear 26. The rotation sensor 37 includes, for example, a rotation encoder unit that rotates while being connected to the motor gear 36a, and a photodetector that counts the number of rotations to detect a rotation angle or a rotation position.

  Here, the two rotation sensors 32 and 37 are constituted by an optical detection type encoder using a photodetector. Further, the rotation sensors 32 and 37 may be magnetic detection type encoders using magnetoresistive elements (MR elements). The rotation sensors 32 and 37 output two pulses having different phases according to the rotation of the X motor 31 and the Y motor 36. Thereby, the rotation direction and rotation amount of the X motor 31 and the Y motor 36 are detected. Further, based on the outputs of the rotation sensors 32 and 37, the tilt direction and the tilt angle of the shaft 11 and the shift lever 2 connected through the sector gears 21 and 26 and the like on the XY plane are detected simultaneously.

  The case member 4 includes a box-shaped case frame 4a that accommodates the joystick mechanism 3 therein, and a guide dome 4b that protrudes from the upper surface of the case frame 4a. Further, a substantially rectangular opening 4c is formed at the top of the guide dome 4b.

  The tip of the shaft 11 provided in the joystick mechanism 3 is inserted into the opening 4 c of the guide dome 4 b from the inside of the case member 4 and is fixed to the support column 2 c of the shift lever 2. At this time, the shift lever 2 is mounted such that the guided surface, which is the lower surface of the support sliding portion 2b, is supported by the upper surface of the guide dome 4b and slides in the XY direction with respect to the upper surface.

  When the shift lever 2 is tilted in the X direction and the shaft 11 is tilted, the second carriage 13 and the sector gear 21 that is connected to the second carriage 13 with the same shaft are oscillated. Accordingly, since the motor gear 31a meshing with the gear teeth 21a of the sector gear 21 rotates, the tilting operation of the shaft 11 in the X direction is detected by the rotation sensor 32 based on the rotation angle. Similarly, when the shift lever 2 is tilted in the Y direction, the first carriage 12 engaged with the shaft 11 and the sector gear 26 connected thereto swing. Along with this, the motor gear 36a meshing with the gear teeth 26a of the sector gear 26 rotates, and the tilting operation of the shaft 11 in the Y direction is detected by the rotation sensor 37 based on the rotation angle.

  Further, when a drive current is supplied to the X motor 31, torque for tilting in the X direction is transmitted to the shaft 11 and the shift lever 2 via the motor gear 31a, the sector gear 21, and the second carriage 13. Similarly, when a drive current is supplied to the Y motor 36, torque for tilting in the Y direction is transmitted to the shaft 11 and the shift lever 2 via the motor gear 36a, the sector gear 26, and the first carriage 12. The force sense control unit 50 to be described next supplies a driving current to the X motor 31 and the Y motor 36, and performs feedback control based on the operation state of the shift lever 2 detected by the rotation sensors 32 and 37, thereby achieving a desired reaction. Force sense control that applies force to the shift lever 2 is performed.

  FIG. 2 is a block diagram showing a system configuration of the shift device 1 according to the present embodiment. The haptic control unit 50 includes a CPU, a memory including a ROM and a RAM, an input / output port to which various sensors and switches are connected, an in-vehicle LAN controller, and the like as hardware circuits. It is configured as an electronically controlled microcomputer unit that executes control processing. An X motor 31, a rotation sensor 32, a Y motor 36, and a rotation sensor 37 are connected to the force sense control unit 50. Based on the outputs of the rotation sensors 32 and 37, the force sense control unit 50 calculates and obtains the operation state of the shift lever 2 (the tilt direction and tilt angle on the XY plane) and outputs it to the automatic transmission of the vehicle. The force sense control unit 50 also includes a vehicle safety management device (including alarm means such as a buzzer and a lamp) 70 when an unexpected abnormal operation that causes the shift lever 2 to deviate from a predetermined trajectory is performed. An error signal is also output to an engine ECU (not shown) or the like.

  A non-volatile memory 51 is connected to the force sense control unit 50. In this memory 51, force control for applying a reaction force according to the operation state of the shift lever 2, automatic return control to the home position, and track control for restricting the operation of the shift lever 2 to a predetermined track only. The haptic pattern data 52 which is the reference table data is stored in advance. The haptic control unit 50 refers to the haptic pattern data 52 in which the haptic pattern, which will be described in detail below, is converted into electronic data, and determines the operation state of the shift lever 2 calculated from the outputs of the rotation sensors 32 and 37. Based on this, the torque of the X motor 31 and the Y motor 36 is controlled. As a result, a reaction force corresponding to the force sense pattern data 52 is applied to the shift lever 2.

  FIG. 3 is a diagram showing a positional relationship (shift pattern) between an array of a plurality of shift positions set in the shift device 1 according to the present embodiment and the trajectory of the shift lever 2. The limit of the area 69 in which the shift lever 2 can be physically moved in the XY directions is defined by the gate block 20 shown in FIG. Within the entire area 69, in the present embodiment, the operation allowable area 67 (first to third operation allowable areas 67a, 67b, 67c) of the shift lever 2 and the other operation restriction areas 68 are mutually connected. It is set to be exclusively classified. The operation allowable area 67 is set along the track of the shift lever 2.

  As shown in FIG. 3, in the first vertical operation-permitted area 67 a on the right side, the reverse (abbreviated as “R”) and neutral (abbreviated as “N”) of the automatic transmission of the vehicle. And R position 61, N position 62, and D position 63, which are shift positions corresponding to the drive (abbreviated as “D”), are set in order. Further, in the second vertical operation-permitted area 67b on the left side, a shift up position (denoted as “+”) 64, a home position 65 (abbreviated as “H”), and a shift down position. (Indicated as “−”) 66 are set in order. Further, a third operation allowable area 67c that connects the H position 65 and the N position 62 in the horizontal direction is set.

(Shift lever automatic return control operation)
Next, the operation by the automatic return control means of the shift lever 2 provided in the shift device 1 will be described. The automatic return operation (momentary operation) is performed by using the haptic pattern data 52 stored in the memory 51 based on the operation state of the shift lever 2 obtained from the rotation sensors 32 and 37 by the CPU of the haptic control unit 50. This is executed by feedback control of the torques of the X motor 31 and the Y motor 36 while referring to them.

FIG. 4 is a diagram illustrating a force sense pattern that acts on the shift lever 2 with the H position 65 as the origin of the tilting operation. These haptic patterns are digitized as haptic pattern data 52 and stored in the memory 51. Here, as shown in FIG. 4A, the tilting operation (Y _H ^{+ to} Y _H ⁻ ) in the Y direction along the second operation allowable area 67b with the H position 65 as the center, and the third operation Consider a tilting operation (X _H ^{+ to} X _H ⁻ ) in the X direction along the allowable area 67c.

FIG. 4B shows the relationship between the Y stroke (Y _H ^{+ to} Y _H ⁻ ) that is the amount of tilting operation of the shift lever 2 in the Y direction and the torque generated in the Y motor 36 (Y). It is a graph which shows the force sense pattern in an _H- axis.

According to the force sense pattern of FIG. 4B, when the stroke of the shift lever 2 is on the Y _H ⁺ side, the Y motor 36 so that a reaction force in the opposite direction (downward) acts on the shift lever 2. Torque is controlled. Further, when the stroke of the shift lever 2 is on the Y _H ⁻ side, the torque of the Y motor 36 is controlled such that a reaction force in the opposite direction (upward) acts on the shift lever 2. Therefore, a force is applied to the shift lever 2 in the second operation allowable area 67b in a direction in which the shift lever 2 is automatically returned around the H position 65.

Further, according to FIG. 4B, when the shift lever 2 is tilted to the Y _H ⁺ side from the + position 64 or from the − position 66 to the Y _H ⁻ side, the torque of the Y motor 36 is increased. The haptic pattern is set so as to rise rapidly to the maximum (Y _nmax or Y _pmax ). Thus, even if the operator tries to tilt the shift lever 2 further upward from the + position 64 or further downward from the − position 66, the “reaction force wall” perceived via the shift lever 2 causes the first A tilting operation that deviates from the second operation allowable area 67b is prevented.

FIG. 4C shows the relationship between the X stroke (X _H ^{+ to} X _H ⁻ ) that is the amount of tilting operation of the shift lever 2 in the X direction and the torque generated in the X motor 31 (X It is a graph which shows the force sense pattern in an _H- axis. According to FIG. 4 (c), when the stroke of the shift lever 2 is on the X _H ⁺ side, the torque of the X motor 31 is such that a reaction force in the opposite direction (leftward) acts on the shift lever 2. Be controlled. Therefore, a reaction force acts on the shift lever 2 in the third operation allowable area 67c in the direction of automatically returning to the H position 65.

Further, when the shift lever 2 tilts to the X _H ⁺ side from the N position 62 or to the X _H ⁻ side from the H position 65, the torque of the X motor 31 is maximized (X _pmax or X _nmax ). The haptic pattern is set to stand up suddenly. As a result, even if the operator tries to tilt the shift lever 2 further to the right from the N position 62 or further to the left from the H position 65, the “reaction force wall” perceived via the shift lever 2 The tilting operation that deviates from the third operation allowable area 67c is prevented.

(Operation feeling adjustment operation)
Next, the operation by the force sense adjusting means for adjusting the operation feeling provided in the shift device 1 will be described. The adjustment of the operation feeling by the force sense adjusting means is performed by the CPU of the force sense control unit 50 in the memory 51 based on the operation state of the shift lever 2 obtained from the rotation sensors 32 and 37 and the selection state of the selection means 80. This is executed by feedback-controlling the torques of the X motor 31 and the Y motor 36 while referring to the force sense pattern selected from the force sense pattern data 52 stored in the above.

[First Embodiment]
Figure 5 is a second operation allowable tilting operation of the shift lever 2 in the Y direction along the area 67b relationship between the torque generating the Y motor 36 for (Y stroke) (Y _H axis force pattern P ₁₁ in , P ₁₂ , P ₁₃ ). FIG. 5 is also a diagram showing in detail the force sense pattern on the Y _H ⁺ side in FIG. Here, in particular, a plurality of selectable force sense patterns will be described in relation to the shift operation between the H position 65 and the + position 64 to which the momentary operation (automatic return operation) is applied. The force patterns P ₁₁ , P ₁₂ , and P ₁₃ shown in FIG. 5 mainly differ in the slope of the reaction force curve characteristic with respect to the Y stroke of the shift lever 2.

An example of the selection means 80 provided in the shift lever 2 is a rotation switch that can switch any one of three selection positions by a knob rotation operation. In this example, the force sense control unit 50 sequentially sets any one of force sense patterns P ₁₁ , P ₁₂ , and P ₁₃ from the H position 65 to the + position 64 according to the operation position of the rotary switch. And the force sense control part 50 generates the reaction force according to the stroke of the shift lever 2 according to the set force sense pattern.

Another example of the selection unit 80 is an alternate switch in which three selection positions are sequentially switched by repeating a push operation. In this example, the force sense control unit 50 sequentially sets any one of force sense patterns P ₁₁ , P ₁₂ , and P ₁₃ from the H position 65 to the + position 64 according to the position selected by the alternate switch. And the force sense control part 50 generates the reaction force according to the stroke of the shift lever 2 according to the set force sense pattern.

The selectable haptic patterns provided in the memory 51 are not limited to three patterns as shown in FIG. In carrying out the invention, selection means 80 having a number of selection positions corresponding to the number of selected force sense patterns is employed. Moreover, the force pattern selectable may for example those set continuously between the P ₁₁ to P _13. In this case, it is desirable to employ a variable resistor (potentiometer) as the selection means 80. The haptic controller 50 sets the level of the haptic patterns P _{11 to} P ₁₃ from the H position 65 to the + position 64 according to the resistance value of the variable resistor. And the force sense control part 50 generates the reaction force according to the stroke of the shift lever 2 according to the set force sense pattern.

  As described above, the force sense adjusting means changes the force sense pattern according to the selection state of the selecting means 80, so that the operator can adjust the operation feeling that the operator prefers. It should be noted that the force by the selection means 80 is not limited to the operation toward the + position 64 side but also in the operation toward the −position 66 side where the momentary operation is performed and the shift operation along the first and second operation allowable areas 67a and 67b. The perception pattern can be selected.

[Second Embodiment]
Figure 6 is similar to FIG. 5, the relationship between the torque generating the Y motor 36 for tilting operation of the shift lever 2 in the Y direction along the second operation allowable area 67b (Y stroke) (Y _H axis Is a graph showing force sensation patterns P ₂₁ , P ₂₂ , P ₂₃ ). It should be noted that here, a plurality of force sense patterns that can be selected will be described particularly in relation to the shift operation from the H position 65 to the + position 64 that performs a momentary operation (automatic return operation). In the embodiment of FIG. 6, the magnitude (peak value) of the torque change of the Y motor 36 related to the sense of moderation reaching the + position 64 is different for each of the force sense patterns P ₂₁ , P ₂₂ , and P ₂₃ .

An example of the selection means 80 provided in the shift lever 2 is a rotation switch that can switch any one of three selection positions by a knob rotation operation. In this example, the force sense control unit 50 sequentially sets any one of force sense patterns P ₂₁ , P ₂₂ , and P ₂₃ that give a sense of moderation at the + position 64 according to the operation position of the rotary switch. Then, the force sense control unit 50 causes the shift lever 2 to generate a moderation feeling of strength according to the set force sense pattern.

Another example of the selection unit 80 is an alternate switch in which three selection positions are sequentially switched by repeating a push operation. In this example, the force sense control unit 50 sequentially sets any one of force sense patterns P ₂₁ , P ₂₂ , and P ₂₃ that give a sense of moderation at the + position 64 according to the position selected by the alternate switch. Then, the force sense control unit 50 causes the shift lever 2 to generate a moderation feeling of strength according to the set force sense pattern.

The selectable haptic patterns provided in the memory 51 are not limited to three patterns as shown in FIG. In carrying out the invention, selection means 80 having a number of selection positions corresponding to the number of selected force sense patterns is employed. Further, the haptic pattern associated with the selectable intensity of moderation may be set continuously between P _{21 and} P ₂₃ , for example. In this case, it is desirable to employ a variable resistor (potentiometer) as the selection means 80. The haptic control unit 50 sets the level of the peak value of torque change (force sensation patterns P _{21 to} P ₂₃ ) associated with the strength of moderation at the + position 64 according to the resistance value of the variable resistor. . Then, the force sense control unit 50 causes the shift lever 2 to feel a moderation of strength according to the set force sense pattern.

  As described above, the force sense adjusting means changes the force sense pattern according to the selection state of the selecting means 80, so that it is possible to adjust to the moderation feeling of strength preferred by the operator. Further, the intensity of moderation at other shift positions such as −position 66 other than + position 64, N position 62, R position 61, and D position 63 can be similarly adjusted by selection means 80.

  When the shift lever 2 moves in the return direction toward the H position 65, hysteresis (not shown) is given to the force pattern so that the torque is monotonously attenuated. By not generating a sense of moderation for the return operation, the operator can recognize the shift change even with a force sense.

  In the first and second embodiments, the selection means 80 is composed of two or more of the switches, or a combination of the two or more types of switches. You may enable it to adjust individually the magnitude | size of the torque change matched with the inclination characteristic of torque, and a moderation feeling.

(Effects of the embodiment)
According to the first and second embodiments described above, the operator can easily and easily adjust the operation feeling of the shift lever 2 to the desired feeling by switching the selection state of the selection means 80. Can do. Thereby, in the force sense imparting type shift device 1, it is possible to improve operability, reduce operator fatigue, and the like.

  The preferred embodiments of the present invention have been described above, but the present invention is not limited to these embodiments, and various modifications and applications can be made without departing from the scope of the present invention. For example, the present invention can be applied to a joystick type general-purpose input device for centrally operating an air conditioner, a car navigation system and the like in a vehicle.

  Further, for example, not only the H-shaped pattern shown in the present embodiment but also various operation patterns can be handled. FIG. 7 is operation pattern diagrams (a) to (f) showing various operation paths of the shift lever. According to this, it can respond to the operation pattern which has various operation paths as an H-shaped pattern, an I-shaped pattern, and these combinations according to a vehicle model etc. Furthermore, although illustration is omitted, it is possible to deal with an operation pattern having an operation path including an operation pattern intersecting at an arbitrary angle.

Further, the force sense pattern for force-controlling these operation shape patterns is not limited to the force sense pattern shown in the present embodiment, and can be changed to various control patterns. In the haptic pattern shown in FIG. 4 according to the present embodiment, the Y motor torque always acts on the Y _H ⁺ side even in the position of the R position 61 in the downward direction. Even at the position of the D position 63, the Y motor torque always acts upward. Therefore, after the shift lever 2 is shifted to the R position 61 and the D position 63, the shift lever 2 returns to the H position 65 without staying at those positions. That is, it is a force sense pattern for controlling a momentary operation that automatically returns to the H position 65 after releasing the operation force to the shift lever.

On the other hand, in the present embodiment, the shift lever can be controlled by a stationary operation. FIG. 8 exemplifies a force sense pattern that acts on the shift lever with the home (H) position as the origin of the tilting operation in the force sense imparting type shift device, for controlling the stationary operation of the shift lever. It is an illustration figure of a force sense pattern. On the Y _H ⁺ side in FIG. 8B, the Y motor torque is reversed up and down in the vicinity of the R position 61. Further, it is inverted up and down in the vicinity of the D position 63. Therefore, after the shift lever 2 is shifted to the R position 61, the shift lever 2 remains at the zero cross point ZC1 where the Y motor torque is reversed from the upper direction to the lower direction. Similarly, after the shift lever 2 is shifted to the D position 63, the shift lever 2 remains at the zero cross point ZC2 where the Y motor torque reverses from the lower direction to the upper direction. Therefore, by changing the force sense pattern shown in FIG. 4 to a force sense pattern as shown in FIG. 8, control by the stationary operation of the shift lever 2 can be handled.

  FIG. 9 is a view showing an example of a haptic pattern in the case where the first embodiment shown in FIG. 5 is controlled by a stationary operation, and is used for a tilting operation between a home (H) position and a shift-up (+) position. FIG. 6 is a diagram illustrating a plurality of selectable force sense patterns in association with each other. FIG. 10 is a view showing an example of a force sensation pattern when the second embodiment shown in FIG. 6 is controlled by a stationary operation, and tilting between the home (H) position and the upshift (+) position. It is a figure which illustrates the several force sense pattern which can be selected in relation to operation. As described above, by changing the haptic pattern in the momentary operation to a pattern corresponding to the control of the stationary operation, the control in the stationary operation of the shift lever can be supported in the first and second embodiments. Become.

DESCRIPTION OF SYMBOLS 1 ... Shift device, 2 ... Shift lever, 2a ... Gripping part, 2b ... Supporting sliding part, 2c ... Supporting part, 3 ... Joystick mechanism part, 4 ... Case member, 4a ... Case frame, 4b ... Guide dome, 4c ... Opening, 11 ... shaft, 12 ... first carriage, 13 ... second carriage, 14 ... X axis, 15 ... Y axis, 16 ... bearing, 17 ... bearing holder, 20 ... gate block, 21 ... sector gear, 21a ... gear Tooth, 26 ... Sector gear, 26a ... Gear tooth, 31 ... X motor, 31a ... Motor gear, 32 ... Rotation sensor, 36 ... Y motor, 36a ... Motor gear, 37 ... Rotation sensor, 50 ... Force sensor, 51 ... Memory 52 ... force sense pattern data, 61 ... reverse (R) position, 62 ... neutral (N) position, 63 ... drive (D) position, 64 Shift up (+) position, 65 ... Home (H) position, 66 ... Shift down (-) position, 67, 67a, 67b, 67c ... Operation allowable area, 68 ... Operation restriction area, 69 ... Shift lever can be operated All areas, 70 ... safety management device, 80 ... selection means

Claims (3)

A joystick operation unit that can be operated in any two-dimensional position;
Drive means for applying a force to the joystick operation unit;
Detecting means for detecting an operation state of the joystick operation unit;
Storage means for storing a plurality of force sense patterns which are characteristic data in which a continuous relationship with the force applied by the driving means is associated with the operation state;
Selection means for selecting any one of the plurality of force sense patterns by a selection operation;
A force sense imparting type shift device comprising force sense adjusting means for performing force control of the drive means based on an operation state of the joystick operation unit according to the force sense pattern selected by the selection means.   The plurality of force patterns are associated with each other such that the slope characteristics of the force with respect to a stroke from the origin of the joystick operation unit are different in an operation trajectory in which the joystick operation unit performs a momentary operation from one position as an origin. The force sense imparting shift device according to claim 1. 2. The force according to claim 1, wherein the plurality of force sense patterns are set such that the magnitudes of the force changes associated with a sense of moderation perceived in accordance with the operation of the joystick operation unit are different from each other. A sense-giving shift device.

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