JP2017171249A - Steering device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a steering device configured to allow a driver to recognize a direction indication by vibration, which enables the driver to clearly recognize the direction indication and to instantly recognize an emergency indication.SOLUTION: A steering device 1 comprises: an operating body 2 that has holding portions 2A and operates left and right steerings; linear vibration motors 3 arranged in the holding portions 2A; and a control portion 4 that controls driving of the linear vibration motors 3. The linear vibration motors 3 comprise a movable element 10 which vibrates and vibrates along an uniaxial direction, where the uniaxial direction is arranged along an operating direction of the operating body 2. The control portion 4 controls driving of the linear vibration motors 3 so that a driver holding the holding portions 2A can recognize a direction indication according to a left or right direction indicating signal.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a steering apparatus such as a vehicle.

  2. Description of the Related Art Conventionally, in a steering device, there is known a device that transmits various alarms to a driver by providing a vibrator in a grip portion and vibrating the grip portion (see Patent Document 1 below).

JP 2008-162466 A

  It has been shown that the conventional steering device can be used for direction indication as an aid to the car navigation system, and the vibrator arranged on the driver's left hand side and the vibrator arranged on the right hand side are separated. For example, when a right turn instruction is given, the left and right vibrators are continuously actuated to repeat the operation of the left vibrator, the right vibrator, and the pause to prompt the driver to perform a right turn operation. I am doing so.

  In such a conventional technique, since the vibration of the vibrator itself is not directional, there is a problem that it is difficult to recognize a clear direction instruction because the direction must be indicated by the continuous operation of the left and right vibrators. In particular, in the conventional technique, if one hand is moved away from the grip portion, the direction indication cannot be recognized. In addition, since the direction indication is recognized by repeating the continuous operation of the left and right vibrators, there is a problem that it takes time from issuing the instruction to recognizing it, and the emergency instruction cannot be recognized immediately. there were.

  An object of the present invention is to deal with such a problem. That is, an object of the present invention is to make it possible to recognize a clear direction instruction and to recognize an urgent instruction immediately in a steering device that recognizes a direction instruction by vibration.

In order to solve such a problem, a steering apparatus according to the present invention has the following configuration.
An operating body having a gripper and operating left and right steering, a linear vibration motor disposed in the gripper, and a control unit for controlling the drive of the linear vibration motor, the linear vibration motor is uniaxial A movable element that reciprocally vibrates along a direction, wherein the uniaxial direction is arranged along an operation direction of the operating body, and the control unit grips the gripping unit according to a left or right direction instruction signal. A steering apparatus that controls the drive of the linear vibration motor so that a driver who recognizes the direction recognizes the direction.

It is explanatory drawing which showed the steering device which concerns on embodiment of this invention. It is explanatory drawing which showed an example of the linear vibration motor 3 provided in the steering apparatus which concerns on embodiment of this invention. It is explanatory drawing which showed the system configuration | structure of the steering apparatus. It is explanatory drawing which showed the example of control of the control part 4 with which the steering apparatus which concerns on the Example of this invention is provided. It is explanatory drawing which showed the example of control of the control part 4 with which the steering apparatus which concerns on the Example of this invention is provided. Explanatory drawing which showed the example of control of the control part 4 with which the steering apparatus which concerns on the Example of this invention is provided ((a) is a drive pulse signal, (b) is an amplitude waveform, (c) shows the direction of a tension sensation, respectively. Yes.) Explanatory drawing which showed the example of control of the control part 4 with which the steering apparatus which concerns on the Example of this invention is provided ((a) is a drive pulse signal, (b) is an amplitude waveform, (c) shows the direction of a tension sensation, respectively. Yes.) It is explanatory drawing which showed the vehicle provided with the steering device which concerns on embodiment of this invention. It is explanatory drawing (operation flow) which showed the example of control operation of a navigation system and a steering device. It is explanatory drawing (operation flow) which showed the control operation example of a lane departure detection system and a steering apparatus.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same reference numerals between different drawings indicate common parts, and repeated descriptions are omitted as appropriate.

  FIG. 1 shows a steering apparatus according to an embodiment of the present invention. The steering device 1 includes an operating body 2 that operates the steering left and right. In the illustrated example, the operating body 2 is a steering hole, but is not limited thereto, and may be in various forms such as a handle lever. The operating body 2 includes a grip portion 2A. The grip portion 2 </ b> A is a portion that the driver grips in order to perform the steering operation of the operating body 2. In the illustrated example, two grip portions 2A are provided on the left and right, and the driver can select and grip the two grip portions 2A on the left and right sides. Not only the illustrated part but also any part of the operating body 2 may be provided.

  A linear vibration motor 3 is provided in the grip portion 2 </ b> A of the operating body 2. In the illustrated example, a plurality (three) of linear vibration motors 3 are provided in each gripping portion 2A. As shown in FIG. 2, the linear vibration motor 3 includes a mover 10 that reciprocally vibrates along a uniaxial direction (X direction in the drawing). Although the form of the linear vibration motor 3 may be any form, the vibration direction of the mover 10 is arranged along the operation direction of the operation body 2. In the illustrated example, the direction in which the mover 10 of the linear vibration motor 3 vibrates is arranged along the circumferential direction of the steering wheel.

  FIG. 2 shows a configuration example of the linear vibration motor 3. The linear vibration motor 3 includes a mover 10 and a stator 20. The mover 10 includes magnets 11 and 12, a spacer 13, and weights 14 and 15. The magnets 11 and 12 are magnetized in a uniaxial direction (X direction in the drawing), and one end side in the uniaxial direction is integrally connected via a spacer 13 so that the same poles face each other. 15 is connected. The stator 20 is a frame or the like that supports the movable element 10 so as to freely vibrate, and a coil 21 is fixed to the stator 20. The coil 21 is wound around the spacer 13 so as to apply a uniaxial driving force to the magnets 11 and 12. A uniaxial Lorentz force applied to the magnets 11 and 12 by energizing the coil 21 becomes a driving force for vibrating the mover 10. Elastic members 16 and 17 are disposed between the stator 20 and the weights 14 and 15, and the movable element 10 is elastically supported by the stator 20 via the elastic members 16 and 17.

  The steering device 1 includes a control unit 4 that controls driving of the linear vibration motor 3. The control unit 4 allows the driver holding the grip unit 2A to respond to a left or right direction instruction signal output from the navigation system 5 or the lane departure detection system 6 installed in the vehicle and input to the control unit 4. The drive of the linear vibration motor 3 is controlled so as to recognize the direction.

  For example, as shown in FIG. 3, the control unit 4 includes a drive signal generator (pulse generator) 4A for inputting drive signals to the plurality of linear vibration motors 3 and a CPU 4B for controlling the drive signal generator 4A. The CPU 4B controls the drive signal generator 4A according to the input direction instruction signal.

  4 to 7 show examples of control by the control unit 4. Here, as shown in FIG. 3, three linear vibration motors 3 are provided in one grip portion 2 </ b> A, and the linear vibration motors (1) and (2) are viewed from the left to the right as viewed from the rotation center of the operating body 2. , (3) are arranged in order and control of these drives is shown (hereinafter, “left” and “right” both refer to the left and right as viewed from the center of rotation of the operating body 2). ).

  In the example shown in FIG. 4, the control unit 4 controls the driving of the plurality of linear vibration motors 3 arranged in the gripping unit 2 </ b> A, and the plurality of linear vibration motors 3 (linear vibration motors) are directed toward the direction instruction signal. (1), (2), (3)) are sequentially driven.

  Specifically, when a direction instruction signal for recognizing a direction instruction in the right direction is input to the grip portion 2A, the leftmost linear vibration motor (1) is first driven for a time t1, and then linear vibration is performed. The linear vibration motor (2) arranged on the right side of the motor (1) is driven for a time t2, and then the linear vibration motor (3) arranged on the right side of the linear vibration motor (2) is turned on for a time t3. Then, the linear vibration motor (1) is driven, and the above-described driving is repeated sequentially. When a direction instruction signal for recognizing the left direction instruction is input to the grip portion 2A, the rightmost linear vibration motor (3) is contrary to the case where the right direction instruction signal is input. Is driven for a time t3, then the linear vibration motor (2) is driven for a time t2, then the linear vibration motor (1) is driven for a time t1, and then the linear vibration motor (3) is driven, Thereafter, the above-described driving is sequentially repeated.

  According to the driving example shown in FIG. 4, the linear vibration motors (1), (2), and (3) are sequentially driven, so that the driver has directionality to the palm that holds one grip portion 2 </ b> A. The given vibration stimulus is obtained, and it can be recognized by the vibration stimulus whether it is a right direction instruction or a left direction instruction. According to this, the vibration directions of the linear vibration motors (1), (2), and (3) are uniaxial directions that coincide with each other and are sequentially driven in the indicated direction, so that the driver gives a clear direction indication. Can be recognized. In addition, since the right direction instruction and the left direction instruction can be selectively performed on the left and right gripping portions 2A, even if the one hand is released, either the left or right direction instruction is given to the driver. Can be recognized.

  In the example shown in FIG. 5, the control unit 4 drives the linear vibration motors (1), (2), and (3) at the same time, but makes the driver recognize the direction by adding a magnitude to the amplitude. . Specifically, when a left direction instruction signal is input, the leftmost linear vibration motor (1) is driven by the pulse signal of the drive current S1, and the right next linear vibration motor (2) is driven. The linear vibration motor (1), (3) is driven by the pulse signal of the drive current S2, and the linear vibration motor (3) on the right side is driven by the pulse signal of the drive current S3 so that S1> S2> S3. The amplitudes of 2) and (3) are made large and small so that the driver recognizes the direction indication in the left direction. Further, when a direction instruction signal in the right direction is input, the drive currents S1, S2, and S3 of the linear vibration motors (1), (2), and (3) are set to S1 <S2 <S3. The amplitudes of the vibration motors (1), (2), and (3) are increased or decreased to make the driver recognize the right direction instruction.

  In the example shown in FIGS. 6 and 7, the control unit 4 is configured so that the linear vibration motors (1), (2), and (3) are pseudo-tensioned in the direction of the direction indication signal. Is driving. In the figure, the drive signal generated by the drive signal generator 4A (FIG. 6 and FIG. 7A) and the amplitude change of the vibration of the mover 10 due to the drive signal (FIG. 6B and FIG. 7B) are shown. Show. In this example, the number of linear vibration motors 3 provided in one grip 2A is not necessarily plural, and may be one.

In this example, the drive signal generated by the drive signal generator 4A is a pulse signal having a frequency that is ½ of the resonance frequency at which the mover 10 resonates. For example, when a left direction instruction signal is input. As shown in FIG. 6A, a drive pulse signal having a duty ratio smaller than ½ is input. The resonance frequency here is the reciprocal of the natural frequency when the mass of the mover 10 is m and the spring constant of the elastic members 16 and 17 is k, and is 1 / (k / m) ^1/2 Hz. .

  When a drive signal having a duty ratio (less than 1/2, for example, 1/4) as shown in FIG. 6A is input to the linear vibration motor 3, as shown in FIG. The mover 10 vibrates at a resonance frequency that is twice the frequency. At this time, as shown in FIG. 6B, the amplitude in the left direction in the vibration along the uniaxial direction (the X direction in the drawing) becomes a substantially constant height, but the opposite amplitude in the right direction is the drive pulse signal. The vibration during the period becomes a small amplitude by the displacement ΔX1. When such a vibration is detected by the driver holding the grip portion 2A, the driver obtains a pseudo pulling sensation in the left direction indicated by an arrow in FIG. This allows the driver to recognize a left direction instruction.

  When a direction indication signal in the right direction is input, as shown in FIG. 7A, a drive pulse signal (for example, duty ratio 3/4) having a duty ratio larger than ½ at the resonance frequency described above. ). According to this, as shown in FIG. 7B, the linear vibration motor 3 vibrates the mover 10 at a resonance frequency that is twice the frequency of the drive pulse signal, and uniaxially (X direction in the drawing). The amplitude in the right direction in the vibration along the line has a substantially constant height, but the amplitude in the left direction, on the contrary, is such that the vibration during the period of the drive pulse signal is smaller by the displacement ΔX2. When such a vibration is detected by the driver holding the grip portion 2A, the driver obtains a pseudo pulling sensation in the right direction indicated by an arrow in FIG. As a result, the driver can be made to recognize the direction instruction in the right direction.

  FIG. 8 shows a vehicle including the steering device according to the embodiment of the present invention. The vehicle 100 includes the steering device 1, the navigation system 5, and the lane departure detection system 6 described above. As described above, the steering device 1 includes a plurality of linear vibration motors 3 disposed in the grip 2A of the operating body 2 and a control unit 4 that controls the linear vibration motor 3, and further includes A position sensor 2B that detects a position (rotation angle) and a grip sensor 2C that identifies a grip 2A gripped by the driver among a plurality of grips 2A in the operating body (steering hole) 2 are provided.

  The navigation system 5 includes a display unit 5A and a system control unit 5B that controls guidance display on the display unit 5A. The system control unit 5B includes a position sensor 2B, a vehicle speed sensor 7, and a position sensor (GPS or gyroscope). The system control unit 5B outputs a direction indication signal to the control unit 4 based on the data processing result for guidance.

  The lane departure detection system 6 includes an image processing unit 6A and a system control unit 6B. The image processing unit 6A processes an image signal captured by the imaging unit 9 and outputs the processed image signal to the system control unit 6B. 6B outputs a direction instruction signal to the control unit 4 based on the processing result of the image processing unit 6A and the detection signal of the position sensor 2B.

  FIG. 9 shows an example of the control operation of the system control unit 5B of the navigation system 5 and the control unit 4 of the steering device 1. When the operation of the system control unit 5B is started, vehicle position detection is performed based on detection signals from the speed sensor 7 and the position sensor 8 (step S10), and matching with the set route is displayed on the display unit 5A (step S10). S11) This operation is repeated until a predetermined direction instruction timing is reached (step S12: NO). When the left turn or right turn direction instruction timing comes from the matching of the vehicle position and the set route (step S12: YES), a right turn or left turn direction instruction signal is output from the system control unit 5B to the control unit 4 (step S13). .

  When the left turn direction instruction is input (step S13: left), the controller 4 identifies the grip 2A gripped by the driver based on the detection signal of the grip sensor 2C (step S1L1), and the grip 2A. The linear vibration motor 3 located on the rightmost side is driven (step S1L2). Next, the adjacent linear vibration motor 3 is driven counterclockwise (step S1L3). The operation is sequentially repeated until the leftmost linear vibration motor 3 is driven in the grip portion 2A (step S1L4: NO), and after the leftmost linear vibration motor 3 is driven (step S1L4: YES). If the output from the system control unit 5B has not yet passed the left turn position (step S1L5: NO), steps S1L2 to S1L5 are repeated, and if the left turn position is passed (step S1L5: YES), the operation ends. .

  In addition, when the direction of turning right is input in the control unit 4 (step S13: right), the grip unit 2A gripped by the driver is specified by the detection signal of the grip sensor 2C (step S1R1), and the grip The leftmost linear vibration motor 3 in the part 2A is driven (step S1R2). Next, the adjacent linear vibration motor 3 is driven clockwise (step S1R3). The operation is sequentially repeated until the rightmost linear vibration motor 3 is driven in the grip portion 2A (step S1R4: NO), and after the rightmost linear vibration motor 3 is driven (step S1R4: YES). If the output from the system control unit 5B has not yet passed the right turn position (step S1R5: NO), steps S1R2 to S1R5 are repeated, and if the right turn position is passed (step S1R5: YES), the operation is terminated. .

  In the example shown in FIGS. 6 and 7, when one linear vibration motor 3 is provided in one gripping portion 2A, one linear vibration is used instead of steps S1L2 to S1L4 or steps S1R2 to S1R4. The motor 3 may be driven.

  Thus, by performing direction recognition by the control unit 4 of the steering device 1 based on the direction instruction signal output from the system control unit 5B of the navigation system 5, the driver is in a situation where there is no voice instruction or cannot be heard. In addition, driving according to the guidance of the navigation system 5 can be executed without hesitation.

  FIG. 10 shows an example of the control operation of the system control unit 6B of the lane departure detection system 6 and the control unit 4 of the steering device 1. When the operation of the system control unit 6B of the lane departure detection system 6 is started, a forward photographed image captured by the imaging unit 9 is input to the image processing unit 6A (step S20), and the image processing unit 6A performs image processing on the image. Then, it is sent to the system control unit 6B (step S21). Based on the processing result of the image processing unit 6A and the detection signal of the position sensor 2B (step S22), the system control unit 6B outputs a determination as to whether or not the vehicle has deviated from the lane (step S23). If there is no lane departure (step S23: NO), steps S20 to S23 are repeated.

  When the system control unit 6B determines that there is a lane departure (step S23: YES), the system control unit 6B determines the steering rotation direction based on the detection signal of the position sensor 2B, and the left and right directions depend on the determination. An instruction is given (step S24).

  If it is determined that the steering rotation direction is left rotation (step S24: left rotation), the control unit 4 identifies the grip portion 2A based on the detection signal of the grip sensor 2C (step S2L1), and the grip portion The rightmost linear vibration motor 3 in 2A is selected (step S2L2), and a drive signal as shown in FIG. 6A is input to the linear vibration motor 3 so that a leftward pulling sensation is imparted. The linear vibration motor 3 is driven (step S2L3). Thereafter, the control unit 4 selects the adjacent linear vibration motor 3 counterclockwise (step S2L4), and similarly drives the linear vibration motor 3 so as to impart a leftward pulling sensation (step S2L5). Then, Steps S2L4 to S2L6 are repeated until the leftmost linear vibration motor 3 is selected in the specified gripping portion 2A. When the leftmost linear vibration motor 3 is selected (Step S2L6: YES), The continuation of the lane departure is determined by the output of the system control unit 6B (step S25). If the lane departure is continued (step S25: YES), the steps from step S24 are repeated and the lane departure is continued. If not (step S25: NO), the operation is terminated.

  When it is determined that the steering rotation direction is right rotation (step S24: right rotation), the control unit 4 identifies the grip portion 2A based on the detection signal of the grip sensor 2C (step S2R1), and within the grip portion 2A The leftmost linear vibration motor 3 is selected (step S2R2), and a drive signal as shown in FIG. 7A is input to the linear vibration motor 3 so that a rightward pulling sensation is imparted. The motor 3 is driven (step S2R3). Thereafter, the control unit 4 selects the adjacent linear vibration motor 3 clockwise (step S2R4), and similarly drives the linear vibration motor 3 so as to impart a rightward pulling sensation (step S2R5). Then, Steps S2R4 to S2R6 are repeated until the rightmost linear vibration motor 3 is selected in the specified gripping part 2A. When the rightmost linear vibration motor 3 is selected (Step S2R6: YES), The continuation of the lane departure is determined by the output of the system control unit 6B (step S25). If the lane departure is continued (step S25: YES), the steps from step S24 are repeated and the lane departure is continued. If not (step S25: NO), the operation is terminated.

  In the example shown in FIGS. 6 and 7, when one linear vibration motor 3 is provided in one gripping portion 2A, one linear vibration is used instead of steps S2L2 to S2L6 or steps S2R2 to S2R6. The motor 3 may be driven.

  In this example of operation control, when a lane departure is detected by the lane departure detection system 6, when the steering rotation direction is determined to be left rotation (right rotation), a sense of pulling in the left direction (right direction) is dared. Is intended to encourage the driver to steer in the opposite direction. According to this, it is possible to avoid departure by a steering operation that is reflectively quick with respect to detection of lane departure, and it is possible to immediately recognize an emergency direction instruction and to quickly avoid danger.

  As described above, the steering device 1 according to the embodiment of the present invention can effectively use the linear vibration motor 3 having directionality in the vibration direction and allow the driver to recognize the direction instruction by vibration. Therefore, it is possible to recognize a clear direction instruction, and it is possible to immediately recognize an emergency direction instruction. The vehicle 100 including such a steering device 1 can be driven comfortably and safely by a combination with the navigation system 5 and the lane departure detection system 5.

  As described above, the embodiments of the present invention have been described in detail with reference to the drawings. However, the specific configuration is not limited to these embodiments, and the design can be changed without departing from the scope of the present invention. Is included in the present invention. In addition, the above-described embodiments can be combined by utilizing each other's technology as long as there is no particular contradiction or problem in the purpose and configuration.

1: steering device, 2: operating body, 2A: gripping part, 2B: position sensor,
3: Linear vibration motor, 4: Control unit,
4A: Drive signal generator (pulse generator), 4B: CPU,
5: Navigation system, 5A: Display unit, 5B: System control unit,
6: Lane departure detection system, 6A: Image processing unit, 6B: System control unit,
7: speed sensor, 8: position sensor, 9: imaging unit,
10: mover, 11, 12: magnet, 13: spacer, 14, 15: weight,
16, 17: Elastic member, 20: Stator, 21: Coil, 100: Vehicle

Claims (8)

An operating body having a gripper and operating left and right steering;
A linear vibration motor disposed in the gripping part;
A control unit for controlling the driving of the linear vibration motor,
The linear vibration motor includes a mover that reciprocally vibrates along a uniaxial direction,
The uniaxial direction is arranged along the operation direction of the operating body,
The steering device according to claim 1, wherein the control unit controls driving of the linear vibration motor so that a driver holding the holding unit recognizes a direction in response to a left or right direction instruction signal.   The steering apparatus according to claim 1, wherein the gripping portions are provided on the left and right sides, and the plurality of linear vibration motors are provided on each of the right gripping portion and the left gripping portion.   The steering apparatus according to claim 1, wherein the control unit sequentially drives the plurality of linear vibration motors in a direction of the direction instruction signal.   3. The steering apparatus according to claim 1, wherein the control unit drives the linear vibration motor in a direction of the direction instruction signal so as to obtain a pseudo pulling sensation. 4.   The steering apparatus according to claim 1, wherein the direction instruction signal is input from a navigation system to the control unit.   The steering apparatus according to any one of claims 1 to 4, wherein the direction indication signal is input to the control unit from a lane departure detection system.   The steering apparatus according to claim 6, wherein the direction instruction signal is a direction instruction in the same direction as the steering rotation direction at the time of lane departure detection.   A vehicle provided with the steering device according to claim 1.

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