JP6909282B2 - 電動車両の制御方法および電動車両 - Google Patents
電動車両の制御方法および電動車両 Download PDFInfo
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- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
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- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/507—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking specific to autonomous vehicles
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- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/525—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data
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- G—PHYSICS
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- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
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- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
- A61G2203/72—General characteristics of devices with special adaptations, e.g. for safety or comfort for collision prevention
- A61G2203/726—General characteristics of devices with special adaptations, e.g. for safety or comfort for collision prevention for automatic deactivation, e.g. deactivation of actuators or motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- B60W2050/143—Alarm means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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Description
本実施の形態1の電動車両100は、図1に示すように、走行する方向と速度を搭乗者が指示するための操作手段101と、環境に存在する物体の方向と距離を算出する障害物検知センサ102と、操作手段101により入力された情報と障害物検知センサ102で検知された情報をもとに走行する方向と速度を決定する制御部103と、制御部103で決定された方向と速度で駆動する駆動部104と、電動車両100の走行状態を提示する走行状態提示部105から構成される。
101 操作手段
102 障害物検知センサ
103 制御部
104 駆動部
105 走行状態提示部
200 障害物
Claims (12)
- 周囲の物体との距離に応じて停止する電動車両の制御方法であって、
指示された情報に基づいて前記電動車両が指示された方向に第1速度で移動して対象物に接近する場合は、前記電動車両と前記対象物との距離が第1停止距離となる位置で前記電動車両を一旦停止させ、
その後、前記指示された方向である前記対象物の方向に移動する指示が一定時間継続する場合、前記第1速度より遅い第2速度に速度を切り替えて前記電動車両を前記対象物に接近させ、前記電動車両と前記対象物との距離が前記第1停止距離よりも短い第2停止距離となる位置で停止させ、
前記第1停止距離となる位置で前記電動車両が停止する前の移動の指示と、前記第1停止距離となる位置で前記電動車両を一旦停止させる前後で継続される移動の指示とは、前記電動車両の搭乗者によって操作される前記電動車両における同じ操作手段によって継続して行われる、
電動車両の制御方法。 - 指示された情報に基づいて前記電動車両が前記対象物から離れる場合は、前記電動車両と前記対象物との距離が前記第1停止距離となる位置までは前記電動車両を前記第2速度で移動させた後、前記第1停止距離となる位置で前記電動車両を停止させずに前記第1速度に速度を切り替えて前記電動車両を移動させる、
請求項1に記載の電動車両の制御方法。 - 前記第1停止距離は可変であり、前記対象物から前記電動車両が離れる場合の前記第1停止距離は、前記電動車両が前記対象物に近づく場合の前記第1停止距離よりも長い、
請求項2に記載の電動車両の制御方法。 - 前記第1停止距離となる位置で前記電動車両を一旦停止させた後さらに継続される指示は、前記電動車両の速度の情報を含む、
請求項1〜3のいずれか1項に記載の電動車両の制御方法。 - 前記第2速度は、前記電動車両と前記対象物との距離が前記第1停止距離となる位置で前記電動車両を一旦停止させた後、さらに継続される指示に含まれる速度の情報に基づかない速度である、
請求項1〜4のいずれか1項に記載の電動車両の制御方法。 - 前記電動車両には走行状態を提示する走行状態提示部が設けられており、前記第1速度で前記電動車両が移動する時と前記第2速度で前記電動車両が移動する時とで、前記走行状態提示部の提示内容が異なる、
請求項1〜5のいずれか1項に記載の電動車両の制御方法。 - 前記走行状態提示部は、音の発生により走行状態を聴覚的に提示する、
請求項6に記載の電動車両の制御方法。 - 前記走行状態提示部は、照明の点灯または点滅または色の変化により走行状態を視覚的に提示する、
請求項6に記載の電動車両の制御方法。 - 前記一定時間は、0.5秒から1秒である、
請求項1〜8のいずれか1項に記載の電動車両の制御方法。 - 前期第1停止距離は0.5m以上3m以下である、
請求項1〜9のいずれか1項に記載の電動車両の制御方法。 - 前期第2停止距離は0.05m以上1m以下である、
請求項1〜10のいずれか1項に記載の電動車両の制御方法。 - 請求項1〜11のいずれか1項に記載された制御方法で制御を行う制御部を備えた電動車両。
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JP7224843B2 (ja) * | 2018-10-15 | 2023-02-20 | 株式会社今仙電機製作所 | ロボット、このロボットを備えた搬送車、このロボットの制御方法及び制御プログラム |
WO2021024847A1 (ja) * | 2019-08-05 | 2021-02-11 | パナソニックIpマネジメント株式会社 | 電動台車 |
CN110716540B (zh) * | 2019-10-08 | 2022-08-26 | 深圳市乐骑智能科技有限公司 | 电动滑板车自动行驶系统 |
US11225228B2 (en) * | 2020-03-11 | 2022-01-18 | Baidu Usa Llc | Method for enhancing in-path obstacle detection with safety redundancy autonomous system |
CN112519735A (zh) * | 2020-12-28 | 2021-03-19 | 徐工集团工程机械股份有限公司科技分公司 | 一种工程机械用主动安全避障制动系统及方法 |
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JPH0659850B2 (ja) | 1986-06-30 | 1994-08-10 | ヤマハ発動機株式会社 | 低床小型車輌 |
JPH0223007A (ja) | 1988-07-07 | 1990-01-25 | Matsushita Electric Works Ltd | 電動車椅子 |
FR2660454B1 (fr) | 1990-03-27 | 1996-08-09 | Commissariat Energie Atomique | Procede de pilotage d'un vehicule tel qu'un fauteuil roulant pour personne handicapee. |
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2018
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US20190270450A1 (en) | 2019-09-05 |
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EP3611591A4 (en) | 2020-04-01 |
JP2020099200A (ja) | 2020-06-25 |
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