JP2013059539A - Controlling device for small electric vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To restrain unintended sudden braking or deceleration by carrying out control in accordance with a driver's intention in regard to deceleration/stop control by the grip operation of an accelerator lever.SOLUTION: A controlling device 34 for a small electric vehicle includes operating handles 32 mounted to both sides of a base plate 35 connected to a steering shaft 29; a movable plate 36 provided at the base plate 35 movably in the longitudinal direction of the vehicle and turnably in the width direction of the vehicle; and the accelerator lever 33 extending in the width direction of the vehicle and turnably journaled to the movable plate 36. The accelerator lever 33 is operated and turned to control the travel speed of the vehicle. The controlling device further includes a linear output sensor 40 outputting a detection signal linearly changed in proportion to a change in the grip amount when the accelerator lever 33 is gripped to the operating handle 32 side, and the decelerating or stop control of the vehicle is performed based on the detection signal of the linear output sensor 40.

Description

  The present invention relates to a steering device for a small electric vehicle such as a handle-type electric wheelchair, and more particularly to a steering device for a small electric vehicle used for deceleration / stop control by grasping an accelerator lever.

  Conventionally, in a small electric vehicle such as a handle-type electric wheelchair, the accelerator opening sensor 102 detects the amount of rotation of the accelerator lever 101 by depressing the accelerator lever 101 shown in FIG. 16, and based on the accelerator opening signal. Thus, a controller (not shown) controls the vehicle to accelerate or decelerate or stop by opening the accelerator lever 101.

  Further, since this type of small electric vehicle is often used by an elderly person or a physically handicapped person, the vehicle is controlled to be urgently stopped by grasping the accelerator lever 101 in an emergency such as a collision. In such emergency stop control, as shown in Patent Documents 1 and 2 and FIGS. 16 to 18, there is one using a limit output sensor 103 that outputs an ON / OFF signal in response to the grip of the accelerator lever 101. .

  That is, as shown in FIG. 17, when the vehicle is traveling at the accelerator opening detected by the accelerator opening sensor 102 (S101), the accelerator lever 101 is grasped and the limit output sensor 103 outputs an ON signal. (S102), the controller stops the vehicle (S103). When the limit output sensor 103 is outputting an OFF signal, the controller causes the vehicle to travel steadily (S104).

  Here, in FIG. 18, the accelerator opening detected by the accelerator opening sensor 102 is indicated by a straight line A10, the grip amount of the accelerator lever 101 by the driver is indicated by a straight line B10, and the detection signal (ON, OFF signal) is indicated by a straight line C10, and the target vehicle speed set by the controller is indicated by a straight line D10.

  In FIG. 16, reference numeral 104 denotes a base plate connected to the steering shaft 105, and reference numeral 106 denotes a movable plate that can move in the vehicle front-rear direction and can rotate in the vehicle width direction with respect to the base plate 104. An accelerator lever 101, an accelerator opening sensor 102, and a limit output sensor 103 are installed on the movable plate 106.

  Further, in emergency stop control of a small electric vehicle, as shown in Patent Document 3, FIG. 19 and FIG. 20, the elapsed time after the limit output sensor 103 outputs an ON signal is taken in, and the grip of the limit output sensor 103 is captured. A device that implements deceleration / stop control by insertion is disclosed.

  That is, as shown in FIG. 19, after performing steps S201 and S202 similar to steps S101 and S102 of FIG. 17, respectively, the elapsed time from the output of the ON signal by the limit output sensor 103 is Y seconds or more. (S203), the controller stops the vehicle if it is longer than Y seconds (S204), and decelerates the vehicle if it is less than Y seconds (S205). In step S202, when the limit output sensor 103 is outputting an OFF signal, the controller causes the vehicle to travel normally (S206).

  Here, in FIG. 20, the accelerator opening detected by the accelerator opening sensor 102 is indicated by a straight line A20, the grip amount of the accelerator lever 101 by the driver is indicated by a straight line B20, and the detection signal (ON, OFF signal) is indicated by a straight line C20, and the target vehicle speed set by the controller is indicated by a straight line D20.

JP 2007-137193 A JP 2010-208413 A JP 2006-34679 A

  However, in the control described in Patent Documents 1 and 2 (FIGS. 17 and 18), a malfunction that causes an emergency stop when the driver grasps the accelerator lever 101 to hold the body on a rough road that is unstable in traveling. There arises a problem that a shock occurs due to sudden braking.

  Further, in the control described in Patent Document 3 (FIGS. 19 and 20), deceleration control is performed even when the driver does not intend the accelerator lever 101 and momentarily holds it (less than Y seconds). The driver may feel uncomfortable. Further, in this control, the vehicle is not controlled to stop unless the ON signal from the limit output sensor 103 continues for Y seconds or more, so that there is a problem that braking in an emergency is delayed.

  The object of the present invention has been made in consideration of the above-mentioned circumstances. With respect to the deceleration / stop control by the gripping operation of the accelerator lever, the control according to the driver's intention is performed, and the unintended sudden braking or deceleration is performed. An object of the present invention is to provide a steering device for a small electric vehicle that can suppress the above.

  In the present invention, operation handles are attached to both sides of a base plate connected to a steering shaft, and a movable plate is provided on the base plate so as to be movable in the vehicle longitudinal direction and rotatable in the vehicle width direction. An accelerator lever extending in the vehicle width direction is pivotally supported so that the traveling speed of the vehicle is controlled by rotating the accelerator lever, and the accelerator lever is the operation handle. A grip amount detection sensor that outputs a detection signal corresponding to the change in the grip amount when the vehicle is gripped to the side, and decelerates or stops the vehicle based on the detection signal of the grip amount detection sensor It is characterized by controlling.

  According to the present invention, since the vehicle is controlled to decelerate or stop based on the detection signal from the grasping amount detection sensor corresponding to the change in the amount of grasping of the accelerator lever, the vehicle is decelerated / stopped by the grasping operation of the accelerator lever. About control, the control according to a driver | operator's intent can be implemented, and the unintended sudden braking and deceleration can be suppressed.

The left view which shows the small electric vehicle to which 1st Embodiment in the control apparatus of the small electric vehicle which concerns on this invention was applied. The top view which shows the small electric vehicle of FIG. The top view which shows the control apparatus in the switch box of FIG. IV arrow line view of FIG. FIG. 3A shows a state where the accelerator lever is gripped by both hands, FIG. 3A is a partial plan view of FIG. 3, and FIG. 5B is a relationship between a hall sensor portion of the grip amount detection sensor (linear output sensor) of FIG. FIG. FIG. 3 is a partial plan view of FIG. 3 showing the left hand grip state, (B) is a partial plan view of FIG. 3 showing the right hand grip state, and (C) is FIG. The schematic diagram which shows the relationship between the hall | hole sensor part of the grip amount detection sensor (linear output sensor) of (A) and (B), and a magnet. The flowchart in the case of performing the deceleration / stop control by the gripping operation of an accelerator lever using the control device of FIG. FIG. 8 is a timing chart showing deceleration / stop control. The flowchart in the case of implementing the deceleration and stop control by gripping operation of an accelerator lever using 2nd Embodiment in the control apparatus of the small electric vehicle which concerns on this invention. 10 is a timing chart showing the deceleration / stop control of FIG. The flowchart in the case of implementing the deceleration and stop control by gripping operation of an accelerator lever using 3rd Embodiment in the control apparatus of the small electric vehicle which concerns on this invention. 12 is a timing chart showing the deceleration / stop control of FIG. The fragmentary top view corresponding to FIG. 5 which shows 4th Embodiment in the control apparatus of the small electric vehicle which concerns on this invention. The fragmentary top view corresponding to FIG. 5 which shows 5th Embodiment in the control apparatus of the small electric vehicle which concerns on this invention. FIG. 15 is a timing chart in a case where deceleration / stop control is performed by a gripping operation of an accelerator lever using the control device of FIG. 14. The top view which shows the control apparatus of the conventional small electric vehicle. FIG. 17 is a flowchart showing stop control by an accelerator lever gripping operation performed by the steering device of FIG. 16. The timing chart which shows the stop control of FIG. The flowchart which shows the other example of the deceleration / stop control by the grip operation of the accelerator lever implemented using the control apparatus of FIG. The timing chart which shows the deceleration / stop control of FIG.

DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.
[A] First embodiment (FIGS. 1 to 8)
FIG. 1 is a left side view showing a small electric vehicle to which a first embodiment of a steering apparatus for a small electric vehicle according to the present invention is applied. FIG. 2 is a plan view showing the small electric vehicle of FIG.

  As shown in FIGS. 1 and 2, in a small electric vehicle 10 such as a handle-type electric wheelchair, a pair of left and right front wheels 12 and a rear wheel 13 are supported by a body frame 11 via a suspension (not shown). The vehicle body frame 11 is covered with a resin cover including a front cover 14, a leg shield 15, a floor 16, a rear cover 17 and the like except for a part thereof.

  A substantially box-shaped rear cover 17 projects upward at the rear of the vehicle body, and an electric motor 18 for driving the rear wheel 13 is transmitted to the inside of the rear cover 17, and the output of the electric motor 18 is transmitted to the axle 19. A power unit including the gear unit 20 and a battery (not shown) is accommodated. This power unit is controlled by the controller 28.

  A seat 22 on which the driver is seated is mounted above the rear cover 17 via a bracket (not shown) that rises from the vehicle body frame 11. The seat 22 includes a seat cushion 23 and a seat back (backrest) 24. The turning angle of the seat 22 is set to, for example, 45 degrees, 90 degrees, and the like from the front position of the seat to the left and right. Furthermore, armrests 26 are provided on both sides of the seat back 24, and each armrest 26 is supported so as to be rotatable around a fulcrum 27.

  The leg shield 15 is disposed in the vertical direction at the front part of the vehicle body and protects the driver's legs around the seat 22 from being exposed to wind or the like. A steering shaft 29 for steering the front wheels 12 is erected inside the leg shield 15, and a handle unit 30 is attached to the upper end of the steering shaft 29. The driver steers the front wheel 12 by sitting on the seat 22 and turning the handle unit 30 left and right.

  The handle unit 30 has semicircular operation handles 32 attached to both the left and right sides of the switch box 31, and an accelerator lever 33 that protrudes. A control device 34 (FIG. 3) is accommodated in the switch box 31. Composed. The switch box 31 is equipped with switches such as a power switch, a maximum speed setting switch, and a forward / reverse selector switch.

  As shown in FIGS. 3 and 4, the control device 34 includes a base plate 35, a movable plate 36, a rotation shaft pin 37, an accelerator opening sensor 38, and a linear output sensor 40 as a grasping amount detection sensor. Composed.

  The base plate 35 is rotatably connected to the upper end portion of the steering shaft 29, and semicircular operation handles 32 are attached to the left and right sides. A rotation shaft pin 37 projects from one of the base plate 35 and the movable plate 36 (movable plate 36 in the present embodiment), and a rotation shaft hole (not shown) is formed on the other (base plate 35 in the present embodiment). It is formed. The rotation shaft pin 37 is provided at a center position in the vehicle width direction of the movable plate 36, and the rotation shaft hole is formed in a center position in the vehicle width direction of the base plate 35 and has a long hole shape extending in the vehicle front-rear direction. .

  By inserting the rotation shaft pin 37 of the movable plate 36 into the rotation shaft hole of the base plate 35, the movable plate 36 can rotate in the vehicle width direction (left-right direction) with respect to the base plate 35, and the vehicle front-rear direction. It is configured to be capable of linear movement. The movable plate 36 is normally held at a predetermined position by the action of a spring (not shown) disposed between the movable plate 36 and the base plate 35.

  The accelerator lever 33 is bent in a crank shape from both sides of the rotation shaft portion 41 at the central portion in the axial direction and extends in the vehicle width direction, and an operation portion 42 is provided at both tip portions. The pivot shaft 41 of the accelerator lever 33 is pivotally supported by the movable plate 36 using a bearing bracket 43.

  Further, in the accelerator lever 33, the rotation shaft portion 41 is disposed in the vicinity of the rotation shaft pin 37, and the operation portion 42 reaches the vicinity of the grip portion 44 of the operation handle 32. The accelerator lever 33 is urged to rotate in an initial position direction indicated by a solid line in FIG. 4 by a return spring (not shown).

  The accelerator opening sensor 38 is, for example, a potentiometer, and is installed on the movable plate 36 as shown in FIG. The rotation of the accelerator lever 33 is transmitted to the accelerator opening sensor 38 via a power transmission mechanism such as a gear or a link. The accelerator opening sensor 38 outputs an accelerator opening signal corresponding to the rotation amount of the accelerator lever 33. Output to the controller 28 (FIG. 2). The controller 28 supplies electric power corresponding to the accelerator opening signal to the electric motor 18 (FIG. 2) to control the traveling speed of the vehicle.

  In the present embodiment, as shown in FIG. 3, the driver rotates the operation portion 42 of the accelerator lever 33 downward and backward (in the direction of arrow P in FIG. 4) using the left hand LH and / or the right hand RH. Is set so that the traveling speed of the vehicle is accelerated and the traveling speed is reduced by rotating the vehicle forward and forward. Further, when the driver releases the left hand LH and the right hand RH from the operation portion 42 of the accelerator lever 33, an electromagnetic brake (not shown) disposed between the electric motor 18 and the gear unit 20 in FIG. Is configured to decelerate and stop.

  As shown in FIG. 3, the linear output sensor 40 is a non-contact type linear output sensor having a hall sensor portion 46 installed on the base plate 35 and a magnet 47 installed on the movable plate 36. . The linear output sensor 40 detects when the accelerator lever 33 is gripped toward the grip portion 44 of the operation handle 32 in response to a change in the grip amount (that is, the distance between the hall sensor portion 46 and the magnet 47). A signal, that is, a detection signal that changes linearly in proportion to the change in the grasping amount is output.

  Specifically, the Hall sensor unit 46 detects the magnetic flux density of the magnetic field formed by the magnet 47. When the amount of gripping of the accelerator lever 33 toward the operation handle 32 increases, the hall sensor unit 46 increases the amount of movement of the magnet 47 installed on the movable plate 36 from the initial position (FIG. 3), and detects the magnetic flux. Density decreases. Accordingly, the linear output sensor 40 linearly changes in proportion to the amount of gripping of the accelerator lever 33 toward the operation handle 32 (straight line B1 in FIG. 8) from the change in magnetic flux density detected by the hall sensor unit 46. A detection signal (straight line C1 in FIG. 8) is output.

  In FIG. 5A, the driver of the small electric vehicle 10 grips both the left and right operation portions 42 of the accelerator lever 33 toward the grip portion 44 of the operation handle 32 with both hands, and moves the movable plate 36 toward the rear of the vehicle. The positional relationship of the Hall sensor part 46 and the magnet 47 of the linear output sensor 40 is shown. Also, in FIG. 6A, the driver of the small electric vehicle 10 holds the operation part 42 on the left side of the accelerator lever 33 to the grip part 44 side of the operation handle 32 with the left hand, and rotates the movable plate 36 to the left side. The positional relationship between the Hall sensor unit 46 of the linear output sensor 40 and the magnet 47 when it is set. Further, in FIG. 6B, the driver of the small electric vehicle 10 grasps the operation part 42 on the right side of the accelerator lever 33 with the right hand toward the grip part 44 side of the operation handle 32, and rotates the movable plate 36 to the right side. The positional relationship between the Hall sensor unit 46 of the linear output sensor 40 and the magnet 47 when it is set.

  In any of these cases, as shown in FIGS. 5B and 6C, the Hall sensor portion 46 of the linear output sensor 40 is moved from the initial position 47A of the magnet 47 at the time of the above-described gripping. The distance L is detected as each grip amount. The detection signal of the hall sensor unit 46 is a signal that linearly changes in proportion to the change in the amount of gripping of the accelerator lever 33, and is output to the controller 28 (FIG. 2).

  In FIG. 5B, reference numeral 47B indicates an arbitrary position when the magnet 47 is gripped by both hands. In FIG. 6C, symbol O indicates the center of rotation of the accelerator lever 33 when the left hand or right hand is gripped, symbol 47C indicates an arbitrary position of the magnet 47 when the left hand is gripped, and symbol 47D. Indicates an arbitrary position of the magnet 47 when gripping the right hand. Further, the distance L from the initial position 47A of the magnet 47 when the left hand or the right hand is gripped is d, where the rotation radius when the accelerator lever 33 is gripped is d, and the rotation angle when the accelerator lever 33 is gripped is θ. L = 2d · sin (θ / 2).

  The controller 28 (FIG. 2) that has input the detection signal from the hall sensor unit 46 of the linear output sensor 40 controls the vehicle to decelerate or stop in proportion to the amount of gripping of the accelerator lever 33 based on the detection signal.

  That is, as shown in FIG. 7, the controller 28 inputs an accelerator opening signal corresponding to the rotation amount of the accelerator lever 33 from the accelerator opening sensor 38, and supplies electric power corresponding to the accelerator opening signal to the electric motor 18. The vehicle travel speed is controlled to the target speed (S1). The accelerator opening Z (%) at this time is indicated by a straight line A1 in FIG. 8, and the target speed (%) of the vehicle is indicated by a straight line D1 in FIG.

  In this traveling state, when the accelerator lever 33 is gripped by the driver toward the operation handle 32 and the grip amount X is detected by the hall sensor 46 of the linear output sensor 40, the controller 28 determines that the grip amount X is It is determined whether it is 100% (S2). A change in the grip amount X (%) of the accelerator lever 33 at this time is shown by a straight line B1 in FIG. 8, and a sensor signal (%) of the hall sensor unit 46 of the linear output sensor 40 that detects the grip amount X is shown in FIG. This is shown by 8 straight line C1.

  If the grip amount X of the accelerator lever 33 is not 100% in step S2, the controller 28 next determines whether or not the grip amount X is, for example, 1% or more (S3).

  In this step S3, when the grip amount X of the accelerator lever 33 is less than 1%, for example, the controller 28 sets the target speed of the vehicle to be equivalent to the accelerator opening Z and the accelerator lever 33 is not gripped. As shown by the straight line D1 in FIG. 8, the vehicle is made to travel normally (S4).

  In step S3, when the grip amount X of the accelerator lever 33 is, for example, 1% or more, the controller 28 sets the target speed of the vehicle to be decelerated by a speed corresponding to the grip amount X, and sends it to the electric motor 18. The vehicle is decelerated and controlled as shown by a straight line D1 in FIG. 8 (S5).

  In step S2, when the grip amount X of the accelerator lever 33 is 100%, the controller 28 immediately cuts off the power supply to the electric motor 18 and sets the target speed of the vehicle as shown by the straight line D1 in FIG. The vehicle is set to 0% and the vehicle is stopped (S6).

With the configuration as described above, according to the present embodiment, the following effect (1) is obtained.
(1) Since the vehicle is controlled to decelerate or stop based on the detection signal from the linear output sensor 40 that linearly changes in proportion to the change in the amount X of the accelerator lever 33, the accelerator lever 33 is held. About deceleration / stop control by operation, control according to the driver's intention can be performed, and sudden braking and deceleration unintended by the driver can be suppressed even when the body is held for holding on a rough road.

[B] Second Embodiment (FIGS. 9 and 10)
FIG. 9 is a flowchart in the case where the deceleration / stop control by the gripping operation of the accelerator lever is performed using the second embodiment of the steering apparatus for a small electric vehicle according to the present invention. In the second embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and the description is simplified or omitted.

  The difference between the control device 34 and the controller 28 of the present embodiment from the first embodiment is that a threshold is set for the detection signal of the linear output sensor 40, and the vehicle is decelerated or stopped by comparing the detection signal with the threshold. This is the point where control is performed.

  That is, the controller 28 inputs an accelerator opening signal from the accelerator opening sensor 38, supplies electric power corresponding to the accelerator opening signal to the electric motor 18, and controls the traveling speed of the vehicle to the target speed ( S11). The accelerator opening at this time is indicated by a straight line A2 in FIG. 10, and the target speed of the vehicle is indicated by a straight line D2 in FIG.

  In this traveling state, when the accelerator lever 33 is gripped by the driver toward the operation handle 32 and the grip amount X is detected by the hall sensor 46 of the linear output sensor 40, the controller 28 determines that the grip amount X is It is determined whether or not it is greater than or equal to a second threshold (for example, 90%) (S12). A change in the grip amount X (%) of the accelerator lever 33 at this time is shown by a straight line B2 in FIG. 10, and a sensor signal (%) of the Hall sensor unit 46 of the linear output sensor 40 that detects the grip amount X is shown in FIG. This is indicated by 10 straight lines C2.

  In step S12, when the grip amount X of the accelerator lever 33 is less than the second threshold value (for example, 90%), the controller 28 next determines whether the grip amount X is equal to or greater than the first threshold value (for example, 30%). (S13).

  In this step S13, when the grip amount X of the accelerator lever 33 is less than the first threshold value (for example, 30%), the controller 28 sets the target speed of the vehicle to be equivalent to the accelerator opening and grips the accelerator lever 33. The vehicle is caused to travel steadily as shown by the straight line D2 in FIG. 10 at the traveling speed when there is no (S14).

  In step S13, when the grip amount X of the accelerator lever 33 is equal to or greater than a first threshold value (for example, 30%), the controller 28 corresponds to the target speed of the vehicle by the difference between the grip amount X and the first threshold value. The vehicle is decelerated as shown by the straight line D2 in FIG. 10 by controlling the electric power to the electric motor 18 and decelerating the vehicle by the speed to be reduced (S15).

  In step S12, when the grasping amount X is equal to or greater than the second threshold value (for example, 90%), the controller 28 immediately cuts off the power supply to the electric motor 18, and the vehicle 28 as shown by the straight line D2 in FIG. The target speed is set to 0% and the vehicle is stopped (S16).

  With the configuration as described above, this embodiment also provides the following effects (2) and (3) in addition to the same effects as the effect (1) of the first embodiment.

  (2) Since the deceleration control is started when the grip amount X of the accelerator lever 33 becomes equal to or greater than the first threshold value (for example, 30%), the vehicle traveling speed of the small grip amount X unconscious of the driver Since the change can be suppressed, it is possible to perform the deceleration control without causing the driver to feel uncomfortable.

  (3) Since the stop control is immediately performed when the grip amount X of the accelerator lever 33 becomes equal to or greater than the second threshold value (for example, 90%), instantaneous braking in an emergency can be performed quickly.

[C] Third embodiment (FIGS. 11 and 12)
FIG. 11 is a flowchart in the case of performing deceleration / stop control by the accelerator lever gripping operation using the third embodiment of the steering apparatus for a small electric vehicle according to the present invention. In the third embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and the description is simplified or omitted.

  The difference between the control device 34 and the controller 28 of the present embodiment from the first embodiment is that the change in grip amount is determined from the detection signal of the linear output sensor 40, that is, the change amount per unit time of the grip amount. The vehicle is decelerated or stopped based on the amount of change and the detection signal.

  That is, the controller 28 performs steps S21, S22, and S23 similar to steps S1, S2, and S3 of the first embodiment, respectively. The accelerator opening (%) at this time is shown by a straight line A3 in FIG. 12, and the target speed (%) of the vehicle is shown by a straight line D3 in FIG. Further, the change in the grip amount X (%) of the accelerator lever 33 is shown by a straight line B3 in FIG. 12, and the sensor signal (%) of the hall sensor unit 46 of the linear output sensor 40 that detects the grip amount X is shown in FIG. This is indicated by a straight line C3.

  In step S23, when the grip amount X of the accelerator lever 33 is, for example, 1% or more, the controller 28 obtains a change amount per unit time of the grip amount X, and the change amount is equal to or greater than a predetermined value A. It is determined whether or not there is (S24). Here, the change amount per unit time of the grip amount X is shown by the slope of the straight line B3 in FIG. 12, and the slope becomes large when the change amount is large.

  When the grip amount X of the accelerator lever 33 is, for example, less than 1% in step S23, or when the change amount per unit time of the grip amount X is less than the predetermined value A in step S24, the controller 28 The target speed is set to be equivalent to the accelerator opening, and the vehicle is steadily traveled as shown by the straight line D3 in FIG. 12 at the travel speed when the accelerator lever 33 is not grasped (S25).

  In step S24, when the change amount of the grip amount X of the accelerator lever 33 is equal to or greater than the predetermined value A, the controller 28 sets the target speed of the vehicle to be decelerated by a speed corresponding to the grip amount. The electric power of the motor 18 is controlled, and the vehicle is decelerated as shown by the straight line D3 in FIG. 10 (S26).

  In step S22, when the grip amount X is 100%, the controller 28 immediately cuts off the power supply to the electric motor 18, and sets the target speed of the vehicle to 0% as shown by the straight line D3 in FIG. Then, the vehicle is stopped (S27).

  With the configuration as described above, this embodiment has the same effect (4) as the effect (1) of the first embodiment as well as the following effect (4).

  (4) When the grip amount X of the accelerator lever 33 is less than 100% and the change amount per unit time of the grip amount X is less than a predetermined value A, the vehicle deceleration control is not performed. Therefore, unnecessary deceleration control can be suppressed when the driver gradually grabs the accelerator lever 33 gradually.

[D] Fourth embodiment (FIG. 13)
FIG. 13 is a partial plan view corresponding to FIG. 5, showing a fourth embodiment of the steering device for a small electric vehicle according to the present invention. In the fourth embodiment, portions similar to those in the first embodiment are denoted by the same reference numerals, and description thereof is simplified or omitted.

  The difference between the control device 50 of the present embodiment and the control device 34 (FIG. 3) of the first embodiment is that the grip amount detection sensor is a contact-type linear output sensor 51.

  The linear output sensor 51 includes a sensor unit 52 installed on the base plate 35 and a link 53 having one end fixed to the movable plate 36 and the other end wound around the sensor unit 52. They are guided by guide rollers 54 installed on the movable plate 36. When the accelerator lever 33 is grasped by the driver's left hand, right hand or both hands toward the operation handle 31, the link 53 is guided by the guide roller 54 and moves in the vehicle front-rear direction, thereby causing the sensor unit 52 to rotate clockwise. Or rotate counterclockwise.

  Since the rotation amount of the sensor unit 52 corresponds to the grip amount of the accelerator lever 33, the grip amount of the accelerator lever 33 can also be detected by the contact type linear output sensor 51. Therefore, also in this embodiment, there exists an effect similar to the effect (1)-(4) of the said 1st-3rd embodiment.

[E] Fifth embodiment (FIGS. 14 and 15)
FIG. 14 is a partial plan view corresponding to FIG. 5 showing a fifth embodiment of the steering device for a small electric vehicle according to the present invention. In the fifth embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and description thereof is simplified or omitted.

  The control device 60 and the controller 28 of the present embodiment are different from the control device 34 (FIG. 3) and the controller 28 of the first embodiment in that the grip amount detection sensor has a plurality of limit output sensors 62A, 62B, 62C and 62D. The limit sensor unit 61 outputs a detection signal that changes stepwise in response to a change in the grip amount of the accelerator lever 33, and the controller 28 determines whether the accelerator is on the basis of the detection signal from the limit sensor unit 61. Deceleration or stop control that is substantially proportional to the amount of gripping of the lever 33 is performed.

  That is, the limit sensor unit 61 includes the limit output sensors 62A to 62D arranged on the base plate 35 arranged in the front-rear direction of the vehicle, and one end portion fixed to the movable plate 36 and the other end portion to each limit output sensor 62A to 62A. The link 63 is inserted between the transmission / reception units of 62D, and the link 63 is guided by a guide roller 64 installed on the movable plate 36. Each of the limit output sensors 62A to 62D outputs an ON signal when an electromagnetic wave such as light from the transmitting unit is received by the receiving unit, and an OFF signal when the electromagnetic wave from the transmitting unit is blocked by the link 63. Is output.

  When the accelerator lever 33 is grasped by the driver's left hand, right hand or both hands toward the operation handle 32, the link 63 is guided by the guide roller 64 and moves in the longitudinal direction of the vehicle. As a result, the other end portion of the link 63 is pulled out between the transmission / reception units of the limit output sensors 62A to 62D, and the limit output sensors 62A to 62D from which the link 63 is pulled out outputs an ON signal, thereby the limit sensor unit 61. Outputs a detection signal that changes stepwise in response to a change in the amount of gripping of the accelerator lever 33. Here, the grip amount (%) of the accelerator lever 33 is indicated by a straight line B4 in FIG. 15, and the sensor signal (%) of the limit sensor unit 61 is indicated by a straight line C4 in FIG.

  The controller 28 decelerates or stops the target speed of the vehicle in response to an increase in the number of limit output sensors 62A to 62D that output ON signals in the limit sensor unit 61, and is therefore substantially proportional to the amount of gripping of the accelerator lever 33. Carry out the deceleration or stop control. Here, the target speed of the vehicle controlled by the controller 28 is indicated by a straight line D4 in FIG. 15, and the accelerator opening (%) detected by the accelerator opening sensor 38 is indicated by a straight line A4 in FIG.

With the configuration as described above, according to the present embodiment, the following effect (5) is obtained.
(5) Since the vehicle is decelerated or stopped based on the detection signal from the limit sensor unit 61 that changes stepwise in response to the change in the amount of the accelerator lever 33 being held, the operation of holding the accelerator lever 33 is performed. With respect to the deceleration / stop control by the control, the control according to the driver's intention can be performed to suppress the driver's unintentional sudden braking or deceleration due to the grip for holding the body on a rough road.

  As mentioned above, although this invention was demonstrated based on the said embodiment, this invention is not limited to this, A various deformation | transformation can be made in the range which does not deviate from the main point of this invention. For example, in the first to third embodiments, the Hall sensor unit 46 of the linear output sensor 40 may be disposed on the movable plate 36 and the magnet 47 may be disposed on the base plate 35. Further, the grip amount detection sensor is described as the linear output sensor 40 having the hall sensor unit 46 and the magnet 47, but may be another non-contact type linear output sensor.

  In the present embodiment, the case where the present invention is applied to a small electric vehicle called a senior car has been described. However, the present invention is applied to an electrically driven electric bicycle, an electric motorcycle, an electric snow vehicle, and the like. May be.

DESCRIPTION OF SYMBOLS 10 Small electric vehicle 28 Controller 29 Steering shaft 30 Handle unit 32 Operation handle 33 Accelerator lever 34 Steering device 35 Base plate 36 Movable plate 40 Linear output sensor (gripping amount detection sensor)
46 Hall sensor 47 Magnet 60 Control device 61 Limit sensor unit (gripping amount detection sensor)
62A, 62B, 62C, 62D Limit output sensor

Claims (5)

Operation handles are attached to both sides of the base plate connected to the steering shaft, and a movable plate is provided on the base plate so as to be movable in the vehicle longitudinal direction and rotatable in the vehicle width direction. The accelerator lever that extends to the
In a steering device for a small electric vehicle that controls the traveling speed of the vehicle by turning the accelerator lever,
A grip amount detection sensor that outputs a detection signal corresponding to a change in the grip amount when the accelerator lever is gripped toward the operation handle;
A control apparatus for a small electric vehicle, wherein the vehicle is decelerated or stopped based on the detection signal of the grasping amount detection sensor. The grip amount detection sensor is a linear output sensor that outputs a detection signal that linearly changes in proportion to a change in the grip amount of the accelerator lever, and a deceleration that is proportional to the grip amount based on the detection signal. Or the stop control is implemented, The steering apparatus of the small electric vehicle of Claim 1 characterized by the above-mentioned. The small electric vehicle according to claim 2, wherein a threshold value is set for a detection signal of the grasping amount detection sensor, and the vehicle is decelerated or stopped by comparing the detection signal and the threshold value. Piloting device. 3. A change amount per unit time of a grip amount is obtained from a detection signal of the grip amount detection sensor, and vehicle deceleration or stop control is performed based on the change amount and the detection signal. Or a control device for a small electric vehicle according to 3. The grip amount detection sensor has a plurality of limit output sensors, and is a limit sensor unit that outputs a detection signal that changes stepwise in response to a change in the grip amount of the accelerator lever. 2. The control device for a small electric vehicle according to claim 1, wherein deceleration or stop control that is substantially proportional to the grasping amount is performed based on the detection signal.

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