JP2019182170A - Small electric vehicle - Google Patents

Abstract

To provide a small electric vehicle which can accurately notify a passenger of approaching to an obstacle or activation of automatic avoidance.SOLUTION: A small electric vehicle (1) comprises: a steering operation device (6) which is steered according to operation torque of right and left handles (61, 62); an external detection unit (7) detecting a road surface and an obstacle ahead in a travel direction; and an obstacle avoidance control unit (11) which performs steering avoidance when the external detection unit detects an obstacle, in which the obstacle avoidance control unit has an alarm function (15) applying vibration to the handles (61, 62) during steering avoidance.SELECTED DRAWING: Figure 8

Description

  The present invention relates to a small electric vehicle such as a senior car or an electric wheelchair, and more particularly to a handle type electric wheelchair having a failure avoidance function.

  Small electric vehicles, such as senior cars and electric wheelchairs, are treated as pedestrians by law if they meet the requirements for speed, body size, etc., and run on the sidewalk instead of the roadway. Therefore, there are various obstacles such as other pedestrians on the runway. Therefore, a system for preventing a collision with an obstacle such as a pedestrian has been developed (see, for example, Patent Document 1).

Japanese Patent Laid-Open No. 2006-43111

  In such a small electric vehicle, when an obstacle ahead of the traveling direction is detected, the traveling motor is decelerated or stopped to prevent a collision with the obstacle in advance. In addition to preventing collisions due to the above, a system for avoiding obstacles by automatic steering by controlling a steering motor attached to a steering mechanism has been studied.

  By the way, in such an obstacle avoidance system, when the obstacle is avoided, the passenger (operator) of the small electric vehicle may perform braking or direction change without intention. It is preferable to notify the passenger of the avoidance in an accurate manner.

  The present invention has been made in view of the above points of the prior art, and an object of the present invention is to provide a small electric vehicle capable of accurately notifying a passenger of an approach to an obstacle or an automatic avoidance.

In order to solve the above problems, the present invention provides:
A steering operation device for steering according to the operation torque of the left and right handles;
An external detection unit that detects road surfaces and obstacles ahead of the traveling direction;
A failure avoidance control unit that performs control to avoid steering when the outside world detection unit detects a failure; and
In a small electric vehicle with
The obstacle avoidance control unit has an alarm function for applying vibration to the steering wheel when steering is avoided.

  As described above, since the small electric vehicle according to the present invention applies vibration to the steering wheel when steering is avoided, the occupant can recognize the approach to the obstacle or the automatic avoidance by the vibration of the steering wheel. It can be used for grasping the situation and avoiding smooth steering.

1 is a perspective view showing a small electric vehicle according to a first embodiment of the present invention. 1 is a side view showing a small electric vehicle according to a first embodiment of the present invention. It is a perspective view which shows the steering mechanism of the small electric vehicle which concerns on this invention embodiment. It is a top view which shows handle | steering-wheel operation of the small electric vehicle which concerns on this invention embodiment. It is a block diagram which shows the control system of the small electric vehicle which concerns on this invention embodiment. It is a figure which shows the Example of the vibration alarm which concerns on this invention embodiment. It is a figure which shows the other Example of the vibration alarm which concerns on this invention embodiment. It is a schematic plan view showing (a) fault area detection and (b) steering avoidance of the small electric vehicle according to the first embodiment of the present invention. It is a flowchart which shows operation | movement of the small electric vehicle which concerns on this invention embodiment. It is a side view which shows the small electric vehicle which concerns on 2nd Embodiment of this invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
1 and 2, the small electric vehicle 1 according to the first embodiment of the present invention includes a front wheel 41 as a steering wheel at a front portion 21 of a vehicle body 2 and a rear wheel 51 as a driving wheel at a rear portion 23. The power of the traveling motor 5 is transmitted to 51 via a gear box 52.

  The vehicle body 2 includes a frame 20 extending from the front portion 21 to the periphery of the rear portion 23, a step 22 is provided between the front portion 21 and the rear portion 23, and the battery 8 is mounted inside the fairing of the rear portion 23. . A seat frame 24 is provided on the frame 20 so as to straddle the upper side of the rear portion 23, and the seat 3 is supported by a post 30 erected at the center of the seat frame 24.

  The seat 3 includes a seat cushion 31, a seat back 32, and armrests 33 and 34, and an operation unit 36 is provided at the tip of the right armrest 33 via a support arm 35. The operation unit 36 is provided with a steering operation device 6 having left and right independent handles 61 and 62 and an outside world detection unit 7 including left and right outside world sensors 71 and 72. The left and right handles 61 and 62 have accelerators 53 and 53, respectively. Is attached.

  The left and right accelerators 53, 53 are connected to the speed controller 50, and the output of the traveling motor 5 is controlled by the speed controller 50 in response to an operation of gripping either the left or right accelerators 53, 53. The electric vehicle 1 starts, travels at a predetermined speed (or a speed corresponding to the accelerator operation amount), and stops when the accelerators 53, 53 (decelerate by loosening the grip) and stop gripping.

  The steering operation device 6 constitutes a steer-by-wire steering system in which the operation unit including the left and right handles 61 and 62 and the steering mechanism 4 of the front wheel 41 which is a steering wheel are not mechanically connected. That is, as shown in FIG. 3, the left and right handles 61 and 62 have their bases fixed to the rotation shafts of the right steering reaction force actuator 63 and the left steering reaction force actuator 64 (motor), respectively. Are provided with a right operation angle sensor 65 and a left operation angle sensor 66 for detecting the operation angles of the handles 61 and 62, respectively.

  Detection signals of the operation angle sensors 65 and 66 are sent to the steering controller 60, and a control signal corresponding to the detected signals is output from the steering controller 60 to the steering reaction force actuators 63 and 64, so that the passenger steers the left and right handles 61 and 62. During this time, a control signal corresponding to the operation angle is output to the steering angle controller 40 of the steering mechanism 4.

  For example, as shown in FIG. 4A, from the state where the vehicle is steered to the left or right (in this case, the left direction), the occupant resists the steering reaction force by the steering reaction force actuators 63 and 64, When steering is performed to increase the operation angle of the steering wheels 61 and 62, a control signal corresponding to the operation angle is output to the steering angle controller 40 of the steering mechanism 4.

  On the other hand, as shown in FIG. 4B, when the occupant relaxes the steering force from the state of being steered leftward or rightward (in this case, leftward), the steering reaction force actuators 63 and 64 cause the left and right handles. The operation angles 61 and 62 return to zero. Note that the left and right handles 61 and 62 and the steering reaction force actuators 63 and 64 that constitute the steering operation device 6 also serve as a vibration alarm device that is linked to a failure avoidance control unit 11 described later.

  The steering mechanism 4 includes a knuckle 42 pivotally supported at the distal ends of the left and right suspension arms 43 and a tie rod 44 that connects the ends of the left and right knuckles 42, and a steering angle controller according to a steering angle command from the steering controller 60. 40, the forward / reverse rotation of the steering actuator 46 (motor) is controlled, the tie rod 44 moves leftward or rightward via the rack and pinion mechanism 45, and the front wheels 41, which are rotatably supported by the left and right knuckles 42, When 41 is steered and the passenger relaxes the steering force, the steering actuator 46 is configured to return to a steering angle of zero and stop.

  Instead of the left and right knuckles 42 being connected by a single tie rod 44, a structure such as a crank driven by a steering actuator 46 and the left and right knuckles 42 are connected by individual tie rods, The configuration may be such that 42 is steered by an individual steering actuator.

  As shown in FIGS. 1 and 2, the outside world detection unit 7 includes left and right outside world sensors 71 and 72 attached to the front end portion of the operation unit 36. The external sensors 71 and 72 include detection means for inputting the presence and relative distance of obstacles, pedestrians, steps, and the like ahead in the traveling direction to the obstacle avoidance control unit 11 as image data or point cloud data. A stereo camera or a laser radar capable of acquiring a three-dimensional shape can be suitably used.

  As shown in FIG. 5, the failure avoidance control unit 11 includes a failure detection unit 12, a failure area determination unit 13, an avoidance route generation unit 14, and an alarm control unit 15, and is a computer for performing these functions, that is, A ROM that stores programs and data, a CPU that performs arithmetic processing, a RAM that reads the programs and data and stores dynamic data and arithmetic processing results, an input / output interface, and the like.

  The obstacle detection unit 12 is based on image data and point cloud data acquired by the external detection unit 7 (external sensor 71, 72), a stationary object such as a road shape in front of the traveling direction or a building, and a pedestrian or a bicycle. A moving object is identified by image processing such as pattern matching. Further, when the future position is predicted from the current state of the moving body using the time series filter and the possibility of approaching or contacting the host vehicle is estimated, the speed controller 50 outputs the output of the traveling motor 5. By controlling and decelerating or decelerating the small electric vehicle 1, collision and contact are avoided in advance.

  The obstacle area determination unit 13 determines whether the small electric vehicle 1 cannot travel from the position information or shape data of a stationary object such as a road surface shape or a building identified by the obstacle detection unit 12 (uphill step, downstep) Fault areas such as grooves (acceptable width varies depending on the approach angle), runway constriction, and steep slope (uphill, downhill) are detected.

  The avoidance path generation unit 14 determines the obstacle area detected by the obstacle area determination unit 13 based on the position information and shape data of a stationary object such as a road surface shape and a building identified by the obstacle detection unit 12 and the current vehicle position. An avoidance route for avoiding by automatic steering in the right direction or the left direction is calculated. In other words, it is possible to estimate the travel route when the route is changed in the direction opposite to the direction in which the obstacle region ahead of the traveling direction exists, and to avoid the obstacle region currently detected by the travel route, and other obstacles When the vehicle does not approach the area, the travel route is set as an avoidance route.

  The alarm control unit 15 controls the vibration alarm device (the steering controller 60, the steering reaction force actuators 63 and 64) that can operate separately on the left and right sides according to the position of the failure area detected by the failure area determination unit 13 for vibration warning. Output a signal.

  That is, the left and right steering reaction force actuators 63 and 64 vibrate in addition to the basic operation of applying a steering reaction force according to the steering wheel operation angle of the occupant to the left and right handles 61 and 62 according to a control signal from the steering controller 60. At the time of alarm, the left or right vibration alarm (control signal) output from the alarm control unit 15 is superimposed on the control signal from the steering controller 60, thereby giving minute vibrations to the corresponding handles 61 and 62. It has a function as a vibration means (vibration alarm device).

  For example, as shown in FIG. 6, the forward / reverse vibration about the rotation shaft 61 a of the handle 61 is applied by the steering reaction force actuator 63, so that the occupant can reliably recognize the alarm by the fine vibration of the handle 61. it can. At this time, the shape of the vibration waveform to be superimposed is not particularly limited, and may be an arbitrary waveform such as a sine wave in addition to the rectangular wave as illustrated.

  In addition, as shown in FIG. 7, it can also comprise so that the minute vibration centering on the major axis of the handle 61 and the minute vibration of the handle 61 in the major axis direction may be applied. In addition, a vibration means (vibrator) different from the steering reaction force actuator may be embedded in the handle to generate a vibration alarm.

  Next, the failure avoidance operation of the small electric vehicle 1 based on the above embodiment will be described with reference to FIGS. 8 and 9.

  While the small electric vehicle 1 is traveling, the external detection unit 7 and the obstacle avoidance control unit 11 are always in operation, and the external detection unit 7 performs forward sensing in the traveling direction of the small electric vehicle 1 (step 100).

  First, the obstacle avoidance control unit 11 (failure detection unit 12), based on the image data and point cloud data acquired by the external environment detection unit 7, a stationary object such as a road surface shape and a building in the traveling direction, a pedestrian, and a bicycle. When a failure such as a moving body is detected (step 110) and the possibility of contact with the moving body is estimated, the small electric vehicle 1 is decelerated or decelerated and the collision or contact is avoided in advance.

  Next, the obstacle area determination unit 13 determines a step (an ascending step or a descending step), a groove, or a road that cannot be traveled based on position information or shape data of a stationary object such as a road surface shape or a building identified by the obstacle detection unit 12. An obstacle region such as a constriction or a steep slope (uphill or downhill) is detected (step 120).

  For example, as illustrated in FIG. 8A, when a downward step D is detected as a failure area in front of the right side in the traveling direction, the alarm control unit 15 determines that the “right” vibration alarm is based on the determination of the failure area determination unit 13. (Alarm control signal) is output (step 130), and the vibration alarm for the right handle 61 is activated (step 131). Can be recognized.

  In parallel with this, as shown in FIG. 8B, the obstacle avoidance control unit 11 (avoidance path generation unit 14) automatically steers the obstacle region (downhill step D) in the opposite direction (here, the left direction). The avoidance route P for avoiding is generated, and when there is no other obstacle area on the route, the travel route is set as the avoidance route P (step 140).

  Next, in order to travel along the avoidance route P from the obstacle avoidance control unit 11, the steering actuator 46 is controlled by the steering angle controller 40, and obstacle avoidance by automatic steering is started (step 150). At this time, as shown in FIG. 8 (b), the vibration warning of the left handle 62 is actuated by the control signal from the alarm control unit 15, so that the occupant starts the obstacle avoidance by the automatic steering in the left direction. I can recognize that.

  Since obstacle avoidance by automatic steering is steering in a direction different from the direction intended by the passenger in advance, if the intention of automatic steering is not transmitted to the passenger, there is concern about automatic steering in an unexpected direction. There is a risk of feeling. In this regard, as described above, the direction of the obstacle region D is notified to the passenger by a vibration warning, and further, the direction of automatic steering along the avoidance route P is notified to the passenger by the vibration warning at the start of automatic steering avoidance. With this configuration, the passenger can understand the intention of avoiding automatic steering and can continue to ride with peace of mind.

  In addition, the vibrations of the handles 61 and 62 have different sensations depending on the signal waveforms input to the steering reaction force actuators 63 and 64. Therefore, a plurality of types of vibration waveforms are prepared in advance so that the degree of failure and the urgency are increased. Accordingly, the vibration waveform can be changed. For example, when the distance to the obstacle area is long, a vibration waveform with a small amplitude is input, a weak vibration alarm is given, and the amplitude is gradually increased as the distance to the obstacle area gets closer. It is possible to recognize the approach to the area.

  Next, FIG. 10 is a side view showing a small electric vehicle 201 according to the second embodiment of the present invention. The basic configuration of the small electric vehicle 201 is the same as that of the small electric vehicle 1 of the first embodiment shown in FIG. 2, and the description is omitted by attaching the same reference numerals to the same members. Will be described.

  In the small electric vehicle 1 of the first embodiment described above, a case where the operation unit 36 is provided via the support arm 35 extending forward from the tip of one armrest 33 of the seat 3 is shown in FIG. A small electric vehicle 201 according to the second embodiment includes a front body 25 that extends upward from the front portion 21 of the vehicle body 2 instead of the support arm 35, and an operation unit 26 is provided on the front body 25. The operation unit 26 is provided with a steering operation device 6 having left and right independent handles 61 and 62 and an external detection unit 7 including left and right external sensors 71 and 72. The left and right handles 61 and 62 are provided with accelerators 53 and 53. It is attached.

  The small electric vehicle 201 of the second embodiment is different from the small electric vehicle 1 of the first embodiment only in the support structure of the operation unit 26, and the other structure is the same as that of the small electric vehicle 1 of the first embodiment. In the small electric vehicle 201 of the second embodiment, since the operation unit 26 is fixedly disposed on the front body 25, there is an advantage that wiring from the operation unit 26 to the vehicle body 2 side is easy.

  Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications and changes can be made based on the technical idea of the present invention.

DESCRIPTION OF SYMBOLS 1 Small electric vehicle 2 Car body 3 Seat 4 Steering mechanism 5 Driving motor 6 Steering operation device 7 External field detection part 11 Failure avoidance control part 12 Failure detection part 13 Failure area determination part 14 Avoidance path generation part 15 Alarm control part 26,36 operation Part 40 Steering angle controller 46 Steering actuator 50 Speed controller 53 Accelerator 60 Steering controller 61, 62 Steering wheel 63, 64 Steering reaction force actuator 65, 66 Operating angle sensor 71, 72 External sensor

Claims (4)

A steering operation device for steering according to the operation torque of the left and right handles;
An external detection unit that detects road surfaces and obstacles ahead of the traveling direction;
A failure avoidance control unit that performs control to avoid steering when the outside world detection unit detects a failure; and
In a small electric vehicle with
The small electric vehicle according to claim 1, wherein the obstacle avoidance control unit has an alarm function for applying vibration to the steering wheel when the steering is avoided.   The small electric vehicle according to claim 1, wherein the obstacle avoidance control unit includes a function of applying a vibration to one of the left and right handles according to the steering avoidance direction.   The small electric vehicle according to claim 2, further comprising a function of changing a magnitude of the vibration according to a distance from the obstacle to avoid steering.   The small electric vehicle according to claim 2, wherein the obstacle avoidance control unit is configured to start the steering avoidance after the alarm by the vibration is started.

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