JP6386795B2 - Vehicle traveling control method - Google Patents

Description

  The present invention relates to a vehicle travel control method that enables determination of a travel mode and adjustment of each travel mode using a single joystick.

  As a conventional travel operation device, it has a joystick that can be tilted back and forth and left and right. When the joystick is tilted back and forth or in an oblique direction including front and back, the vehicle is driven straight or curved, and the joystick is tilted left and right. Is known to spin around the direction of tilting operation. (Patent Document 1)

JP 2002-2521 A

  However, the conventional traveling operation device adjusts the traveling speed, the turning radius, etc. according to the amount of operation in the tilt direction of the joystick, and the range in which the tilt operation can be performed becomes very narrow and severe operation. Accordingly, there is a problem that the operability when readjusting the traveling speed, turning radius, etc. is not good.

  The present invention has been made in view of the above problems, and an object of the present invention is to determine a travel mode by operating a single joystick and further improve the operability when the travel mode is readjusted. Is to provide.

  A vehicle travel control method according to the present invention is a travel control method for controlling a travel mode of a vehicle by operating a joystick, the first operation for tilting the joystick from the neutral position to the first operation position, and the first operation for the joystick. A second operation for moving from the position to the second operation position is performed, a travel mode of the vehicle is determined by the first operation, and the travel mode is adjusted by the second operation.

  The vehicle travel control method of the present invention is characterized in that when the vehicle is tilted forward or backward in the first operation, the vehicle travels forward or backward and the travel direction is adjusted by the second operation.

  In the vehicle travel control method of the present invention, when the vehicle is tilted in the left direction or the right direction in the first operation, the vehicle is caused to perform the left spin turn or the right spin turn and the second operation in the left spin turn or the right spin turn. It is characterized by adjusting the turning speed of the.

  In the vehicle travel control method of the present invention, when the vehicle is tilted to the left front or right front by the first operation, the vehicle is turned left forward or forward right, and the turning radius of the forward left turn or forward right turn is determined by the second operation. It is characterized by adjusting.

  In the vehicle travel control method of the present invention, when the vehicle is tilted to the left rear or right rear in the first operation, the vehicle turns backward or left and the turn radius of the reverse left turn or reverse right turn is adjusted by the second operation. It is characterized by doing.

  According to the vehicle travel control method of the present invention, it is possible to improve the operability when the travel mode is determined by operating one joystick and the travel mode is readjusted.

1 is a block diagram illustrating a configuration of a vehicle travel control device according to a first embodiment. It is a drive system figure which shows the operation position and driving mode of a joystick. It is a figure which shows the operation | movement action corresponding to 1st operation of a joystick. It is a flowchart which shows the traveling control method of the vehicle of this invention. It is a flowchart for determining a driving mode. It is a flowchart for adjusting driving modes. It is a figure which shows the operation | movement action corresponding to 2nd operation of a joystick. It is a figure which shows the drive voltage input into a left-right motor at the time of forward drive. It is a figure which shows the drive voltage input into a left-right motor at the time of forward right turn. It is a figure which shows the drive voltage input into a left-right motor at the time of a right spin turn.

Embodiment 1
FIG. 1 is a block diagram showing a schematic configuration of a vehicle travel control apparatus 100 according to a first embodiment of the present invention. The travel control apparatus 100 includes a joystick 10 for inputting a travel command, an operation position detection unit 21 that detects the position of the joystick 10, a tilt direction determination unit 22 that determines the tilt direction of the joystick 10, and the joystick 10. A moving direction determining unit 23 that determines a moving direction, a parameter setting unit 24 that sets an output condition to the motor drive circuit 31, and a control unit 25 that controls these parameters are provided.

  The joystick 10 is moved from the neutral position, which is an initial state, to a first operation for tilting to any one of eight positions described later for determining the travel mode, and to a second operation position for moving from the tilt position to another operation position. It enables operation.

  FIG. 2 is a drive system diagram showing the operation position of the joystick 10 and the travel mode. In FIG. 2, the numbers surrounded by circles are the operation positions of the joystick 10, and the eight travel modes are selected by tilting the joystick 10 from the neutral position (0) to the eight positions (1) to (8). It is possible to select.

  The neutral position (0) and the direction positions (1) to (8) are detected by the operation position detection unit 21 of the travel control device 100, and the direction flags F1 (n) and F2 (n) representing the position information of the joystick 10 are set. Remembered. The first direction flag F1 (n) stores the previous operation position, and the second direction flag F2 (n) stores the current operation position. Note that n is a number corresponding to the position of the joystick shown in FIG.

  FIG. 3 is a diagram illustrating an operation action corresponding to the first operation. The left motor 32 that rotates the left driving wheel of the vehicle and the right motor 33 that rotates the right driving wheel are controlled by the motor control circuit 31 separately in the rotation direction and the number of rotations. For this reason, by changing the combination of the rotation direction and the rotation speed with respect to the left motor 32 and the right motor 33, it is possible to switch between various travel modes such as forward, reverse, right turn, left turn, and spin turn.

  FIG. 4 is a flowchart illustrating the vehicle travel control method according to the embodiment of the present invention.

  In step S1, the brake state (ON / OFF) is determined. When the brake ON is detected, the vehicle is stopped. If the brake is OFF, the process proceeds to step S2.

  In step S <b> 2, the operation position of the joystick 10 is detected by the operation position detector 21. The operation position detected here is stored in the second direction flag F2 (n) as the current position of the joystick 10.

  In step S3, a tilting operation of the joystick 10 is detected. This tilting operation indicates that the tilting operation is performed from one of the neutral positions (0) to the eight positions (1 to 8), or the tilting operation is performed in the opposite direction. The tilting operation of the joystick 10 can be detected by changing the direction flag.

  For example, in the initial state where the joystick 10 is not tilted, the first direction flag at the previous position and the second direction flag at the current position are both F1 (0) and F2 (0). When the joystick 10 is tilted forward, the second direction flag indicating the current position changes to F2 (1), so the values of the first direction flag F1 at the previous position and the second direction flag F2 at the current position are compared. Thus, the tilting operation of the joystick 10 can be determined.

  When the joystick 10 is tilted, the process proceeds to a subroutine SR10 for determining a traveling mode. FIG. 5 is a control flowchart of travel mode determination subroutine SR10.

  In step S11, the tilt direction of the joystick 10 is detected. Again, the tilt direction of the joystick 10 can be determined by comparing the value of F1 of the first direction flag indicating the previous position and the value of F2 of the second direction flag indicating the current position. When the joystick 10 is tilted forward, the first direction flag remains F1 (0), and the second direction flag indicating the current position of the joystick 10 changes to F2 (1).

  In step S12, it is determined whether the tilting operation is performed from the neutral position (0) to the eight-direction positions (1 to 8). Here, if YES, the travel mode corresponding to the direction of the tilt destination is determined and acceleration setting is performed.

  The travel mode determination in step S13 is determined according to the value of the second direction flag indicating the current position (tilt position) of the joystick 10, as shown in FIG. When the travel mode is determined, the parameter values that are initially set for the rotational direction and the rotational speed of the left and right motors are read according to the travel mode.

  On the other hand, if “NO” in the step S12, it is determined whether or not the tilting operation is performed from the position in the eight directions (1 to 8) to the neutral position (0) in a step S15. If “YES” here, it is determined that the traveling mode has been stopped, and deceleration setting is performed.

  In stopping the driving mode in step S16, the parameter value set in acceleration in step S13 is decreased, and the deceleration setting is performed to decrease the rotation speed of the left and right motors according to the driving mode.

  When the acceleration setting or the deceleration setting by the tilting operation (first operation) of the joystick 10 is completed, the value (1) of the second direction flag F2 indicating the current position is set to the first position indicating the previous position in step S14 or step S17. 1 is set as the value (1) of the direction flag F1.

  In step S18, the rotation direction and the number of rotations of the left and right motors determined by the acceleration setting in step S13 or the deceleration setting in step S16 are set as parameters, and the driving of the left and right motors is controlled in step S19.

  Returning to FIG. 4, if it is not the tilting operation in step S3, the moving operation is determined in step S4. Here again, by comparing the value of the first direction flag F1 at the previous position with the value of the second direction flag F2 at the current location, it can be determined whether the joystick 10 has been moved.

  If it is determined in step S4 that the moving operation has been performed, the process proceeds to the travel mode adjustment of subroutine SR20. FIG. 6 is a flowchart of a control method performed in the travel mode adjustment.

  In step S21, the moving direction of the joystick 10 is detected. For example, if the first direction flag at the previous position is F1 (1) and the second direction flag at the current position is F2 (2), it can be seen that the joystick 10 has been moved clockwise.

  If the moving direction of the joystick 10 is clockwise, YES is obtained in step S22, and in the travel mode adjustment, an amplification setting for amplifying the travel mode is performed, and the increase / decrease value of the drive voltage of the left and right motors is adjusted.

  If the moving direction of the joystick 10 is counterclockwise, YES is determined in step S24, and in the travel mode adjustment, an attenuation setting for attenuating the travel mode is performed, and the increase / decrease value of the drive voltage of the left and right motors is adjusted.

  In step S26, the increase / decrease value determined in the amplification setting in step S23 or the attenuation setting in step S25 is added to the left and right motor drive parameter values, and the left and right motors are driven using the parameter values adjusted in step S27. Do.

  FIG. 7 is a diagram illustrating an action action corresponding to the second operation following the first operation. For example, when the joystick 10 is tilted forward by the first operation and the travel mode is determined to be forward travel, and then moved clockwise by the second operation, the first flag is F1 (1) and the second flag is F2. (2), and the traveling direction is controlled so as to turn right from the forward direction as shown in FIG. On the other hand, when moving counterclockwise by the second operation, the first flag is F1 (1) and the second flag is F2 (8), and the traveling direction is to turn left from the forward direction as shown in FIG. Is controlled.

  FIG. 8 shows a schematic diagram of the first operation and the second operation in the case of further adjusting the direction while the vehicle is traveling forward, and the driving voltage input to the left and right motors at that time. As shown in FIG. 8, first, when the vehicle is tilted forward in the first operation, the traveling mode is determined to be forward traveling, and the same positive drive voltage is input stepwise to the left and right motors. After a second, it rises to the initial forward speed.

  When it is desired to adjust the forward direction set above to a right turn, as shown in FIG. 8 (a), the right motor is supplied with a voltage corresponding to the amount of rotation by moving the joystick 10 clockwise in the second operation. Subtracted and adjusted to turn right forward. On the other hand, as shown in FIG. 8B, by moving counterclockwise, the voltage corresponding to the amount of rotation is subtracted from the left motor, and the direction is adjusted to the left turn forward.

  The backward direction can be adjusted by tilting the joystick 10 backward by the first operation and determining the traveling mode to reverse, and then moving the joystick 10 clockwise or counterclockwise by the second operation. In this case, the polarity of the drive voltage input to the left and right motors is negative, but the reverse direction can be adjusted by the same control method as in forward travel.

[Embodiment 2]
In the vehicle travel control apparatus according to the second embodiment, a method of setting the travel mode to the forward right turn mode and further adjusting the turning radius of the forward right turn will be described. FIG. 9 shows a schematic diagram of the first operation and the second operation in the case where the vehicle makes a right turn forward and further adjusts the turning radius, and shows the drive voltage input to the left and right motors at that time.

  As shown in FIG. 9, first, when the vehicle is tilted rightward in the first operation, the traveling mode is determined to be forward right turn, and the same positive drive voltage as that during forward traveling is input to the left motor step by step. A positive drive voltage lower than that of the left motor is input stepwise, and the vehicle turns to the right while moving forward due to the difference in rotational speed between the left and right motors. Approximately 0.5 seconds after the first operation, the initial turning speed is reached.

  If the turning speed set above is insufficient, the joystick 10 is further moved clockwise by the second acceleration adjustment operation shown in FIG. A voltage corresponding to the amount of rotation is subtracted from the motor, and the difference between the rotation speeds of the left and right motors increases, so that the right turn turning speed decreases and the turning radius decreases. In the deceleration adjustment shown in FIG. 9B, by moving counterclockwise, a voltage corresponding to the amount of rotation is added to the right motor while maintaining the left motor drive voltage, and the left and right motors rotate. Since the speed difference becomes small, the turning speed of the right turn increases and the turning radius increases.

  In addition, after the joystick 10 is tilted to the left front by the first operation and the traveling mode is determined to be forward left turn, the turning speed of the forward left turn is adjusted by moving the joystick 10 clockwise or counterclockwise by the second operation. Can do. In this case, the driving method of the left and right motors is reversed, and can be performed by the same control method as in forward right turn. For reverse right turn and reverse left turn, after the travel mode is determined, the travel mode can be readjusted by the same control method.

[Embodiment 3]
In the vehicle travel control apparatus according to the third embodiment, a method of setting the travel mode to the right spin turn mode and further adjusting the turning speed of the right spin turn will be described. FIG. 10 shows a schematic diagram of the first operation and the second operation when turning by performing a right spin turn, and shows the driving voltage input to the left and right motors at that time.

  As shown in FIG. 10, first, when the vehicle is tilted to the right side in the first operation, the traveling mode is determined as the right spin turn, and the same positive driving voltage as that during forward traveling is input stepwise to the left motor, The negative drive voltage for the left motor is inputted stepwise, and the left motor rotates forward and the right motor reverses, so that the turning cores coincide and turn to the right. Approximately 0.5 seconds after the first operation, the initial interlining speed is reached.

  If the interlining turning speed set above is insufficient, as shown in FIG. 10 (a), the joystick 10 is further moved clockwise as shown in FIG. The corresponding positive voltage of the left motor and the negative voltage of the right motor are added in the polarity direction, and the rotational speed difference between the left and right motors increases, so that the interlining turning speed increases. On the other hand, in the deceleration adjustment, as shown in FIG. 9B, the positive voltage of the left motor and the negative voltage of the right motor according to the amount of rotation are changed in the polarity direction by moving counterclockwise. Since the difference between the rotation speeds of the left and right motors is reduced, the interlining turning speed decreases.

  In addition, after the joystick 10 is tilted to the left side by the first operation and the traveling mode is determined to be the left spin turn, by moving the joystick 10 clockwise or counterclockwise by the second operation, the interlining turning speed of the left spin turn is increased. Can be adjusted. In this case, the driving method of the left and right motors is reversed, and can be performed by the same control method as in the right spin turn.

  As described above, according to the vehicle travel control method according to the embodiment of the present invention, the first operation for tilting the joystick from the neutral position to the first operation position, and the first operation for moving the joystick from the first operation position to the second operation position. By performing two operations, it is possible to provide a vehicle travel control method that improves the operability when the travel mode is determined by the operation of one joystick and the travel mode is readjusted.

  The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope shown in the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments. Is also included in the technical scope of the present invention.

  The present invention can be widely used as a traveling control method for various vehicles controlled using a joystick.

DESCRIPTION OF SYMBOLS 10 Joystick 21 Operation position detection part 22 Tilt direction determination part 23 Movement direction determination part 24 Parameter setting part 25 Control part 31 Motor control circuit 32 Left motor 33 Right motor 100 Traveling control apparatus

Claims (7)

A travel control method for controlling a travel mode of a vehicle by operating a joystick,
A first operation for tilting the joystick from a neutral position to a first operation position;
Performing a second operation of moving the joystick from the first operation position to a second operation position located in a direction different from the tilt direction in the first operation ;
The vehicle travel control is characterized in that the travel mode of the vehicle is determined by the first operation, and the travel mode is adjusted based on a moving direction from the first operation position to the second operation position in the second operation. Method. In the second operation, the joystick is moved to the second operation position by rotating the joystick in the clockwise or counterclockwise rotation direction from the first operation position;
  The vehicle travel control method according to claim 1, wherein the travel mode is adjusted based on a rotational movement direction from the first operation position to the second operation position in the second operation. When the travel direction from the first operation position to the second operation position in the second operation is the first direction, amplification setting for amplifying the travel mode is performed, and in the second direction, The vehicle travel control method according to claim 1, wherein an attenuation setting for attenuating the travel mode is performed. When the vehicle is tilted forward or backward in the first operation, the vehicle is caused to travel forward or backward,
Travel control method for a vehicle according to any one of claims 1 or 2, characterized in that adjusting the traveling direction by said second operation. When the vehicle is tilted leftward or rightward in the first operation, the vehicle is caused to perform a left spin turn or a right spin turn,
Travel control method for a vehicle according to any one of claims 1 to 3, characterized in that for adjusting the turning speed of the left spin turn or the right spin turn by the second operation. When the vehicle is tilted forward left or right forward in the first operation, the vehicle is turned forward left or forward right,
Travel control method for a vehicle according to any one of claims 1 to 3, characterized in that for adjusting the turning radius of the forward left and the forward right turn by the second operation. When the vehicle is tilted left rear or right rear in the first operation, the vehicle is turned backward or left or reverse right,
Travel control method for a vehicle according to any one of claims 1 to 3, characterized in that for adjusting the turning radius of the reverse left turn or the reverse turn right by the second operation.

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