JP6414628B2 - Joystick device for vehicle driving - Google Patents

Description

  The present invention relates to a joystick device for driving a vehicle that supports driving of an automobile.

  A joystick device may be used as a driving device for a welfare vehicle mainly for disabled people. This is a device that enables operation by operating one or two or more operation levers. Depending on the direction and angle at which the control lever is tilted, it can be operated by a drive device that separately installs the steering wheel of the car or the accelerator and brake pedals, even for people without physical ability to operate the existing steering wheel or pedal of the car Enables driving of automobiles.

  As a specific example, Patent Document 1 discloses a joystick device including one operation lever. In this joystick device, the accelerator pedal and the brake pedal can be driven according to the movement of the operation lever. First, when the operation lever is tilted, a voltage is generated according to the direction and angle. Next, the pressure valve is opened and closed by the generated voltage, and the flow rate sent to the hydraulic cylinder is controlled. Finally, a load is applied to the accelerator pedal and the brake pedal by the hydraulic cylinder. By such a mechanism, the operation of the operation lever is associated with the operation of the accelerator pedal and the brake pedal. Note that the apparatus of Patent Document 1 is also provided with a spare battery used for increasing the voltage generated by a backup pump or joystick for safety.

  Further, in Patent Document 2, in order to enable a person with further limited physical ability to drive, a central control for controlling an electrical / physical interface between a driver's input operation through a joystick device and the movement of an automobile is performed. A specific example with a processing device is shown. The operation lever of the joystick device has the property of returning to the center position by the force of the spring unless a force is applied, and there is a limit of the angle at which the operation lever can be tilted. In the central processing unit of Patent Document 2, even when the operation lever is extremely tilted, the generation of voltage is controlled so as to obtain a desired output.

U.S. Pat. No. 4,722,416 US Pat. No. 5,086,870 JP 2011-209962 A

http://www.robotaward.jp/archive/2010/prize/robot09.pdf http://response.jp/article/2011/06/17/158177.html

  However, since the drive device of the joystick device is a mechanism that is operated by external power such as hydraulic pressure, pneumatic pressure, or electricity, in the case of a mechanical abnormality of the drive device or an abnormality of the external power system, There is a case where the brake cannot be operated.

  As a countermeasure, there is a vehicle equipped with an emergency vehicle stop system, such as the automobile described in Non-Patent Document 1. If the main system is hydraulic, the emergency vehicle stop system is abnormal in the external power of the two systems at the same time, such as when the emergency vehicle stop system is electric, or when the main system is electric, the emergency vehicle stop system is pneumatic. In many cases, it is composed of a combination that does not cause By adopting such a configuration, it is possible to ensure the safety of the vehicle by operating the brake by the emergency vehicle stop system when the main system is abnormal.

  Specific methods of stopping a vehicle in an emergency vehicle stop system include a method of operating a vehicle brake pedal or brake cylinder by power such as electric, pneumatic, hydraulic pressure, a method of directly operating a brake pad mounted on a wheel, an engine There is a method of stopping the rotation of the gear, a method of returning the shift of the transmission to neutral, or a method of combining a plurality of them. The vehicle is stopped by an emergency vehicle stop system for the purpose of avoiding unexpected traveling of the vehicle.

  If you want to activate the emergency vehicle stop system and stop the car urgently, the driver will recognize the above-mentioned hydraulic, pneumatic, or electrical system abnormalities or other factors, release the control lever once, It was necessary to operate the buttons for the emergency vehicle stop system. Non-Patent Document 2 shows that a button is provided in the vicinity of the operation lever.

  However, when operating a button or the like, it is necessary to remove the hand from the operation lever once and the brake is not applied, so that the automobile moves forward during the operation. Furthermore, in situations where the driver is confused in an emergency or when there is not enough time, the operation is difficult, and in an extreme case, the emergency vehicle stop system may not be activated. . Also, Patent Document 2 suggests that an ignition interruption trigger for stopping an automobile engine is provided when a serious abnormality occurs in the operation of the system, but a specific operation method is shown. Absent.

  The present invention has been made in view of such circumstances, and it is possible to easily and immediately operate an emergency vehicle stop system even in a situation where a driver is confused or in a situation where there is not enough time. An object of the present invention is to provide a joystick device.

  (1) In order to achieve the above object, the present invention takes the following measures. That is, the joystick device for driving a vehicle according to the present invention is a joystick device for driving a vehicle that supports driving of a vehicle, and includes an operation lever that receives a driver's operation and an accelerator of the vehicle according to the displacement of the operation lever. An emergency device for operating the pedal and the brake pedal; and an emergency switch that operates when the operation lever is displaced by a specific amount. When the emergency switch is activated, an emergency vehicle stop system that emergency stops the vehicle is activated. It is characterized by doing.

  As described above, an operation lever that accepts a driver's operation, an operation device that operates an accelerator pedal and a brake pedal of an automobile according to the displacement of the operation lever, and an emergency switch that operates when the operation lever has a specific displacement When the emergency switch is activated, the emergency vehicle stop system that emergency stops the vehicle is activated, so that the driver can operate the emergency switch to stop the vehicle without releasing the operation lever. it can.

  (2) In the joystick device for driving a vehicle according to the present invention, the emergency switch is provided at a position to operate when the operation lever is displaced to a final end in a direction in which the brake pedal is operated. And

  In this way, the emergency switch is operated by displacing the operating lever to the final end in the direction in which the brake pedal is operated. Therefore, even if the driver falls into a psychologically unstable situation in an emergency, the emergency vehicle A stop system can be activated. Moreover, since the operation is easy to recognize intuitively for the driver, the emergency switch can be appropriately operated even if an emergency occurs.

  (3) Moreover, in the joystick device for driving a vehicle according to the present invention, the operation lever has a resistance force to the operation of the operation lever immediately before the emergency switch is operated at a final end portion in a direction in which the brake pedal is operated. It is further characterized by further comprising a retaining portion to be imparted.

  As described above, since the operation of the operation lever is limited by the resistance force immediately before the emergency switch is operated, it is possible to prevent the driver from operating the emergency vehicle system accidentally during normal traveling.

  (4) In the joystick device for driving a vehicle according to the present invention, the pressing portion is a ball plunger that applies a resistance force to the operation lever by a spring pressure.

  As a result, the holding part imparts a resistance force to the operation lever by the pressure of the spring, so that the resistance can be adjusted by selecting the spring according to the physical ability of the driver. In addition, since a click feeling is obtained by the ball plunger, the driver can recognize that the operation lever has been operated to the final end.

  (5) In the joystick device for driving a vehicle according to the present invention, the emergency switch is pressed from the operation lever when the operation lever is displaced to the final end in the direction in which the brake pedal is operated. It is a mechanical switch for operating an emergency vehicle stop system.

  In this way, the mechanical switch activates the emergency vehicle stop system by being pressed from the operation lever, so that the automobile can be stopped even if an abnormality occurs in the actuator.

  According to the present invention, since the emergency vehicle stop system can be activated by giving a specific displacement to the operation lever, the emergency vehicle stop system can be activated without the driver releasing his hand from the operation lever. .

It is the schematic which provided the joystick apparatus which concerns on embodiment of this invention in the driver's seat of the motor vehicle. It is the schematic of the operation lever of a joystick apparatus. It is a figure which shows the normal operation | movement area | region of the operation lever of a joystick apparatus. It is the schematic diagram which showed the inside of the operation lever from the side. It is the schematic diagram which showed the inside of the operation lever from the back. It is the schematic diagram which showed the inside of the operation lever from the back. It is the figure which inclined the operation lever of the joystick apparatus, when operating an emergency vehicle stop system. It is the schematic diagram which showed the inside when the operation lever of a joystick apparatus is inclined when operating an emergency vehicle stop system. It is the schematic diagram which showed the inside when the operation lever of a joystick apparatus is inclined when operating an emergency vehicle stop system from the back.

  FIG. 1 is a schematic view in which a joystick device according to an embodiment of the present invention is provided in a driver's seat of an automobile. It shows a state in which a joystick is associated with a car handle, an accelerator, a brake, and the like.

  The operation lever 1 corresponding to the brake and the accelerator is a lever operated by the driver. The brake pedal 6 and the accelerator pedal 7 are provided in an off-the-shelf vehicle. However, when the driver has no physical ability to directly operate the brake pedal 6 or the accelerator pedal 7 at the foot, By operating instead, the brake pedal 6 and the accelerator pedal 7 can be operated. The operation lever 1 can be tilted in the front-rear and left-right directions of the automobile. Alternatively, the rotation direction around the lever axis or the lever axis may be moved up and down.

  The joy device BOX2 includes a main configuration of the operation device of the joystick device. In response to the displacement of the operating lever 1, the power of the operating device is generated from the joy device BOX 2, the generated power is transmitted through the brake / accelerator link 3, and the brake pedal 6 or the accelerator pedal 7 is operated. Hydraulic power, air pressure, electricity, or the like is used as power for the actuator.

  The operation lever 8 is a lever for steering the steering 5. Although the steering 5 is provided in an off-the-shelf vehicle, the steering can be steered by operating the operation lever 8 instead when the driver does not have the physical ability to directly operate the steering 5. Become. As with the operation lever 1, the operation lever 8 can be tilted in the front-rear and left-right directions of the vehicle, and may be moved in the rotational direction and the up-down direction. The power of the actuator is generated from the joy device BOX 2 according to the displacement of the operation lever 8, the generated power is transmitted through the handle drive link 4, and the steering 5 mechanically fixed to the handle drive chain 11 by the fixed bracket 10 is generated. Steered.

  The turning knob 9 reduces the burden related to the operation of the steering 5. Normally, when the steering 5 is operated, it is handled with both hands, but the turning knob 9 enables operation with one hand. Further, if the turning knob 9 is operated, the steering 5 can be lightly steered.

  The extension shift lever 12 assists the operation by extending it to a reachable range when the shift lever cannot be reached. Similarly, when the clutch on / off switch 13 and the power parking brake switch 14 are not physically capable and cannot be operated directly, the clutch and parking brake can be operated at hand.

  FIG. 2 is a schematic view of an operation lever in the joystick device. The operation lever 1 is a lever that is operated by the driver, and is tilted back and forth or left and right. The turn signal switch 20 enables the operation of the turn signal by operating the switch at hand when the turn signal or the like cannot be directly operated.

  The operation of the brake pedal 6 is associated with the inclination of the automobile in the forward direction (P1). If the angle of inclination is large, the brake pedal is strongly operated, and as a result, the automobile can be braked. Further, the operation of the accelerator pedal is associated with the inclination of the vehicle in the backward direction (P2). Since the accelerator pedal operates according to the angle to be tilted, acceleration and deceleration can be performed when the automobile is driven.

  As described above, even a person who cannot directly operate the brake or the accelerator can indirectly operate the brake or the accelerator by operating the operation lever. In addition, you may link the inclination to the left-right direction (P3 or P4) of a motor vehicle, and operation of a brake pedal or an accelerator pedal. Alternatively, it can be associated with steering.

  3A to 3D are diagrams illustrating a normal operation region of the operation lever of the joystick device. 3A is a side view of the entire operation lever, FIG. 3B is a schematic view showing the inside of the operation lever from the side, and FIGS. 3C and 3D are schematic views showing the internal structure of the operation lever from the back.

  FIG. 3A shows the internal structure of the joystick device by broken lines. The main mechanism of the part operated by the driver is composed of the operation lever 1, a fulcrum 30 supporting the operation lever, and a lower lever 31 at the lower end of the operation lever via the fulcrum 30. In the normal operation region, the operation lever 1 is inclined from A to B around the fulcrum 30. For example, when the vehicle is tilted in the forward direction (A), the brake pedal operates to brake the vehicle. Further, when the vehicle is tilted backward (B), the accelerator pedal is actuated to drive the vehicle. In addition, the structure which operates a brake pedal or an accelerator pedal is abbreviate | omitted in the figure.

  FIG. 3B is a schematic view showing the inside of the joystick device from the side, and shows a state where the operation lever is tilted. In this figure, a fulcrum 30, a lower lever 31, a ball plunger 32 for restricting the movement of the lower lever 31, and a mechanical switch 33 for operating an emergency vehicle stop system are shown. When the tilting direction of the control lever is the forward direction (A) of the automobile, the brake pedal can be operated and the automobile can be braked. The lower lever 31 cannot contact the mechanical switch 33 by the ball plunger 32. In the normal operating range, the lower lever movement is limited so that the lower lever contacts the mechanical switch and does not cause the emergency vehicle stop system to malfunction. When the tilting direction of the operation lever is the backward direction (B) of the automobile, the accelerator pedal can be operated and the automobile can be driven.

  FIG. 3C is a schematic view showing the inside of the joystick device from the back. The lower lever can only be moved to a position where it comes into contact with the ball plunger 32, and in the normal operation region, it can be avoided that the mechanical switch 33 is erroneously operated.

  As shown in FIG. 3D, two ball plungers 32 can be provided. Since the two ball plungers 32 restrict the movement of the lower lever 31, the movement can be restricted more stably than when one ball plunger is provided. In addition, since a problem may occur in the ball plunger, it is advantageous to provide two ball plungers from the viewpoint of the reliability of the apparatus, compared to the case where one ball plunger is provided.

  FIGS. 4A to 4C are views in which the operation lever of the joystick device is tilted when the emergency vehicle stop system is operated. FIG. 4A is a view in which the operation lever is tilted. FIG. 4B is a schematic view showing the inside from the side when the operation lever is tilted. FIG. 4C is a schematic view showing the inside from the back when the operation lever is tilted.

  FIG. 4A shows an angle at which the operation lever is inclined. During normal driving of the automobile, the inclination of the control lever is limited to the angle B. In the range up to the angle B, the brake pedal is operated through the joystick device, and the automobile is braked. In the event of an emergency, the vehicle is forced down to A to activate the emergency vehicle stop system and stop the vehicle. An emergency is when an abnormality occurs in the power system of the joystick device, and the emergency vehicle stop system stops the vehicle with power different from that of the joystick device.

  FIG. 4B is a schematic view showing the inside from the side. Under normal conditions (in the case of B), the movement of the lower lever 31 is restricted by the ball plunger 32. The ball plunger 32 has a mechanism for pushing up the ball by the force of the spring, and the lower lever is pushed by the force received from the ball and the operation lever becomes heavy, so that the driver cannot tilt the operation lever. In the normal operation region, the angle B is the limit of the brake operation region. In an emergency (in the case of A), when the driver pushes the operation lever strongly, the ball of the ball plunger 32 sinks due to pressure from the lower lever, and the operation lever is inclined to an angle A. When the lower lever presses the mechanical switch, the emergency vehicle stop system can be activated, and the emergency stop function is exhibited.

  FIG. 4C shows the positions of the mechanical switch 33 and the ball plunger 32 when pushed to an angle A in an emergency. In this state, the emergency brake is applied and the car stops. The angle at which the mechanical switch is pressed is the limit of the emergency braking operation area.

  Although not shown, in the case where two ball plungers 32 are provided as shown in FIG. 3D, the force that the lower lever 31 receives from the ball at the normal time is greater than when the ball plunger 32 is one. As a result, a large resistance force is applied when the operation lever is tilted, so that the driver can be prevented from tilting beyond the limit of the brake operation region. Therefore, malfunction of the mechanical switch 33 can be effectively prevented. On the other hand, in the case of emergency stop in an emergency, the direction in which the lower lever 31 can move is limited by the two ball plungers 32. If the driver pushes the operation lever in the direction in which the driver can move, the emergency vehicle stop system can be operated, and the operability of the operation lever in the case of an emergency stop is improved.

  In this way, the emergency vehicle stop system can be activated by changing the angle at which the operation lever is tilted without releasing the hand from the operation lever.

  Although the embodiment has been described in which the mechanical switch is operated by being physically pressed by the lower lever, for example, a sensor that can sense the position of the lower lever may be used. Moreover, although the embodiment using the ball plunger 32 has been described, the same function can be exhibited by other mechanisms that limit the movement of the lower lever.

  As described above, according to the embodiment of the present invention, there is provided a joystick device for driving a vehicle that supports driving of an automobile, an operation lever that accepts a driver's operation, and the displacement of the operation lever. An emergency device that activates the accelerator pedal and the brake pedal and an emergency switch that operates when the operating lever makes a specific displacement. Even if an abnormality occurs in the actuator, the vehicle can be stopped. Further, since the emergency vehicle stop system is activated by giving a specific displacement to the operation lever, the emergency vehicle stop system can be activated in a series of operations without the driver releasing his / her hand from the operation lever.

1, 8 Operation lever 2 Joy device BOX
3 Brake / accelerator link 4 Steering wheel drive link 5 Steering 6 Brake pedal 7 Accelerator pedal 9 Turning knob 10 Fixed bracket 11 Handle driving chain 12 Extension shift lever 13 Clutch on / off switch 14 Power parking brake switch 20 Winker switch 30 Support point 31 Below Lever 32 Ball plunger 33 Mechanical switch

Claims (4)

A joystick device for driving a vehicle that supports driving of an automobile,
An operation lever for accepting a driver's operation;
A fulcrum supporting the operation lever;
A lower lever at the lower end of the operating lever through the fulcrum;
When the operation lever is displaced by a specific amount in the forward direction of the automobile, a resistance force is applied to the lower lever by the pressure of the spring, and the operation lever is displaced to the final end in the forward direction of the automobile. A ball plunger to limit,
An operating device for operating the brake pedal of the automobile when the operating lever is displaced in the forward direction of the automobile, and operating the accelerator pedal of the automobile when the operating lever is displaced in the backward direction of the automobile;
An emergency switch that is actuated by contact with the lower lever only when the operating lever is displaced to the final end in the forward direction of the automobile,
When the operation lever is operated in the forward direction of the automobile with a force exceeding the resistance of the ball plunger against the lower lever, the restriction on the operation lever is released, and the lower lever contacts the emergency switch. And the emergency vehicle stop system which emergency-stops the said motor vehicle by operating said emergency switch operates, The joystick device for vehicle driving | operation characterized by the above-mentioned.   The joystick device for driving a vehicle according to claim 1, wherein a plurality of the ball plungers are provided.   When the ball plunger receives a force exceeding the resistance against the lower lever, the ball sinks in the direction of the spring, so that the operation lever is displaced to the final end in the forward direction of the automobile. The joystick device for driving a vehicle according to claim 1 or 2, wherein the joystick device can be used. The joystick device for driving a vehicle according to any one of claims 1 to 3, wherein the emergency switch is a mechanical switch.

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