JPH11278361A - Vehicle with auxiliary power device and controlling method thereof - Google Patents
Vehicle with auxiliary power device and controlling method thereofInfo
- Publication number
- JPH11278361A JPH11278361A JP10079672A JP7967298A JPH11278361A JP H11278361 A JPH11278361 A JP H11278361A JP 10079672 A JP10079672 A JP 10079672A JP 7967298 A JP7967298 A JP 7967298A JP H11278361 A JPH11278361 A JP H11278361A
- Authority
- JP
- Japan
- Prior art keywords
- unit
- vehicle
- driving force
- human
- auxiliary power
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
【0001】[0001]
【発明の属する技術分野】本発明は、人力と補助動力装
置による補助動力とを用いて、駆動する補助動力装置付
き車輌及びその制御方法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle with an auxiliary power unit that is driven using human power and auxiliary power of an auxiliary power unit, and a control method therefor.
【0002】[0002]
【従来の技術】近年、電動モータなどの既知の駆動装置
を補助動力装置として装備し当該補助動力装置による補
助動力を操作者や使用者などによる人力駆動力に加え
て、走行、駆動する補助動力装置付き車輌が知られてい
る。具体的に言えば、例えば操作者がペダルを踏むこと
により生じるペダル踏力(回転力)、あるいはハンドリ
ムを回すことにより生じる回転力に、電動モータを駆動
することにより生じる補助動力を加えて、車輪を回転し
走行する電動モータ付き自転車、電動モータ付き車椅子
または荷物搬送車等がある。このような補助動力装置付
き車輌では、人力駆動力を検出して、検出した人力駆動
力に基づいて電動モータを制御することが一般的であ
る。つまり、この補助動力装置付き車輌では、検出した
人力駆動力に対する上述の補助動力の比率(以下、”補
助比率”という)を制御することにより、該車輌を駆動
していた。従来の補助動力装置付き車輌としては、例え
ば特開平8−34385号公報に開示された電動モータ
付き乗り物がある。この従来の補助動力装置付き車輌で
は、走行時間の経過に伴って、補助比率を次第に増大す
るよう構成していた。つまり、この従来の補助動力装置
付き車輌では、車輌の走行時間に比例して、電動モータ
を高速に回転し当該電動モータによる補助動力の比率を
大きくしていた。2. Description of the Related Art In recent years, a known driving device such as an electric motor is provided as an auxiliary power device, and the auxiliary power of the auxiliary power device is added to the manual driving force of an operator or a user, and the auxiliary power for traveling and driving is provided. Vehicles with devices are known. Specifically, for example, an auxiliary power generated by driving an electric motor is added to a pedal depressing force (rotational force) generated by an operator depressing a pedal, or a rotational force generated by turning a hand rim, and a wheel is driven. There are a bicycle with an electric motor that rotates and runs, a wheelchair with an electric motor, a luggage carrier and the like. In such a vehicle with an auxiliary power unit, it is common to detect a manual driving force and control the electric motor based on the detected manual driving force. That is, in the vehicle with the auxiliary power device, the vehicle is driven by controlling the ratio of the above-described auxiliary power to the detected manual driving force (hereinafter referred to as “auxiliary ratio”). As a conventional vehicle with an auxiliary power unit, there is a vehicle with an electric motor disclosed in, for example, Japanese Patent Application Laid-Open No. 8-34385. In this conventional vehicle with an auxiliary power unit, the auxiliary ratio is configured to gradually increase as the traveling time elapses. That is, in the vehicle with the conventional auxiliary power device, the electric motor is rotated at a high speed in proportion to the traveling time of the vehicle to increase the ratio of the auxiliary power by the electric motor.
【0003】[0003]
【発明が解決しようとする課題】上記のような従来の補
助動力装置付き車輌では、操作者等の状態、例えば操作
者の疲労の度合いや車輌の走行環境に関係なく、走行時
間が長くなれば補助比率を単に大きくするよう構成して
いた。このため、この従来の補助動力装置付き車輌で
は、補助比率が走行時間の経過に伴い必要以上に増大し
て、操作者等が所望する補助比率よりも大きくなること
があった。つまり、この従来の補助動力装置付き車輌で
は、操作者等の状態や走行環境に応じて、その車輌を最
適に走行、駆動することができなかった。In a vehicle with the above-mentioned conventional auxiliary power unit, if the running time becomes long regardless of the condition of the operator, for example, the degree of fatigue of the operator or the running environment of the vehicle. It was configured to simply increase the auxiliary ratio. For this reason, in this conventional vehicle with an auxiliary power unit, the auxiliary ratio may increase more than necessary with the passage of the traveling time, and may become larger than the auxiliary ratio desired by the operator or the like. That is, in the vehicle with the conventional auxiliary power device, it was not possible to optimally travel and drive the vehicle according to the state of the operator or the like and the traveling environment.
【0004】この発明は、上記のような問題点を解決す
るためになされたものであり、操作者等の状態や車輌の
走行環境を自動的に検出して、検出した操作者等の状態
や車輌の走行環境に応じて、常に最適な補助比率を決定
し走行、駆動することができる補助動力装置付き車輌及
びその制御方法を提供することを目的とする。The present invention has been made to solve the above problems, and automatically detects the state of an operator or the like and the traveling environment of a vehicle, and detects the state of the detected operator or the like. It is an object of the present invention to provide a vehicle with an auxiliary power device that can always determine an optimal auxiliary ratio according to the traveling environment of the vehicle and can drive and drive the vehicle, and a control method thereof.
【0005】[0005]
【課題を解決するための手段】本発明の補助動力装置付
き車輌は、走行を行うための車輌走行部、前記車輌走行
部に人力駆動力を与える人力駆動部、及び前記車輌走行
部に補助動力を与える補助動力駆動部を備えた補助動力
装置付き車輌であって、前記人力駆動力を検出する人力
駆動力検出部、前記人力駆動力検出部からの検出した人
力駆動力のデータを少なくとも記憶する第1の記憶部、
及び前記第1の記憶部に記憶した人力駆動力のデータ
と、前記人力駆動力検出部からの検出した人力駆動力の
データとに基づいて、前記人力駆動部に対する前記補助
動力駆動部の補助比率を決定する補助比率決定部を備え
ている。このように構成することにより、操作者の疲労
の度合いなどの操作者等の状態を自動的に検出すること
ができ、最適な補助比率を決定して車輌を走行、駆動す
ることができる。According to the present invention, there is provided a vehicle with an auxiliary power unit, a vehicle running unit for running, a human powered unit for applying a manual driving force to the vehicle running unit, and an auxiliary power for the vehicle running unit. A vehicle with an auxiliary power device provided with an auxiliary power drive unit that provides the following: at least data of a human power drive force detected by the human power drive unit that detects the human power drive force, A first storage unit,
And an auxiliary ratio of the auxiliary power drive unit to the human power drive unit based on the data of the human drive force stored in the first storage unit and the data of the human drive force detected from the human drive force detection unit. Is provided. With this configuration, the state of the operator, such as the degree of fatigue of the operator, can be automatically detected, and the optimum assist ratio can be determined to drive and drive the vehicle.
【0006】別の観点による発明の補助動力装置付き車
輌は、走行を行うための車輌走行部、前記車輌走行部に
人力駆動力を与える人力駆動部、及び前記車輌走行部に
補助動力を与える補助動力駆動部を備えた補助動力装置
付き車輌であって、前記人力駆動力を検出する人力駆動
力検出部、走行環境を検出する走行環境検出部、前記走
行環境検出部からの検出した走行環境のデータに基づい
て、前記人力駆動力検出部からの検出した人力駆動力の
データを、基準走行環境で走行した場合での人力駆動力
のデータに変換する人力駆動力変換部、基準走行環境で
の人力駆動力の基準値を予め記憶した第2の記憶部、及
び前記第2の記憶部に記憶した人力駆動力の基準値と、
前記人力駆動力変換部からの変換後の人力駆動力のデー
タとに基づいて、前記人力駆動部に対する前記補助動力
駆動部の補助比率を決定する補助比率決定部を備えてい
る。このように構成することにより、操作者等の状態、
及び走行環境を自動的に検出することができ、最適な補
助比率を決定して車輌を走行、駆動することができる。According to another aspect of the present invention, there is provided a vehicle with an auxiliary power unit, a vehicle traveling unit for traveling, a human power driving unit for applying a manual driving force to the vehicle traveling unit, and an auxiliary for supplying an auxiliary power to the vehicle traveling unit. A vehicle with an auxiliary power device including a power drive unit, wherein a human-powered driving force detection unit that detects the human-powered driving force, a driving environment detection unit that detects a driving environment, and a driving environment detected from the driving environment detection unit. Based on the data, a human-powered driving force converter that converts the data of the human-powered driving force detected from the human-powered driving force detector into data of the human-powered driving force when traveling in the reference traveling environment, A second storage unit in which the reference value of the manual driving force is stored in advance, and a reference value of the manual driving force stored in the second storage unit;
An auxiliary ratio determining unit that determines an auxiliary ratio of the auxiliary power driving unit to the human power driving unit based on the converted data of the manual driving force from the manual driving force conversion unit. With this configuration, the state of the operator, etc.,
And the driving environment can be automatically detected, and the optimum auxiliary ratio can be determined to drive and drive the vehicle.
【0007】別の観点による発明の補助動力装置付き車
輌は、走行を行うための車輌走行部、前記車輌走行部に
人力駆動力を与える人力駆動部、及び前記車輌走行部に
補助動力を与える補助動力駆動部を備えた補助動力装置
付き車輌であって、前記車輌の走行距離を算出する走行
距離算出部、及び前記走行距離算出部からの走行距離に
基づいて、前記人力駆動部に対する前記補助動力駆動部
の補助比率を決定する補助比率決定部を備えている。こ
のように構成することにより、操作者等の状態を自動的
に検出することができ、最適な補助比率を決定して車輌
を走行、駆動することができる。According to another aspect of the present invention, there is provided a vehicle with an auxiliary power unit, a vehicle running unit for running, a human powered unit for applying a manual driving force to the vehicle running unit, and an auxiliary for providing an auxiliary power to the vehicle running unit. A vehicle with an auxiliary power device including a power drive unit, wherein the travel distance calculation unit calculates the travel distance of the vehicle, and the auxiliary power to the human power drive unit based on the travel distance from the travel distance calculation unit An auxiliary ratio determining unit that determines an auxiliary ratio of the driving unit is provided. With such a configuration, the state of the operator or the like can be automatically detected, and the optimum auxiliary ratio can be determined to drive and drive the vehicle.
【0008】本発明の補助動力装置付き車輌の制御方法
は、走行を行うための車輌走行部、前記車輌走行部に人
力駆動力を与える人力駆動部、及び前記車輌走行部に補
助動力を与える補助動力駆動部を備えた補助動力装置付
き車輌の制御方法であって、前記車輌走行部に与えられ
た人力駆動力を人力駆動力検出部により検出する工程、
検出した人力駆動力のデータを第1の記憶部に記憶する
工程、及び前記第1の記憶部に記憶した以前の人力駆動
力のデータと、前記人力駆動力検出部からの現時点の人
力駆動力のデータとに基づいて、前記人力駆動部に対す
る前記補助動力駆動部の補助比率を決定する工程を備え
ている。このように構成することにより、操作者の疲労
の度合いなどの操作者等の状態を自動的に検出すること
ができ、最適な補助比率を決定して車輌を走行、駆動す
ることができる。[0008] A control method of a vehicle with an auxiliary power device according to the present invention comprises a vehicle running unit for running, a human power driving unit for applying a manual driving force to the vehicle running unit, and an auxiliary for providing an auxiliary power to the vehicle running unit. A method for controlling a vehicle with an auxiliary power device including a power driving unit, wherein a human driving force applied to the vehicle traveling unit is detected by a human driving force detection unit,
Storing the detected data of the manual driving force in the first storage unit, and the data of the previous human driving force stored in the first storage unit; and the current human driving force from the human driving force detection unit. And determining the auxiliary ratio of the auxiliary power drive unit to the human power drive unit based on the above data. With this configuration, the state of the operator, such as the degree of fatigue of the operator, can be automatically detected, and the optimum assist ratio can be determined to drive and drive the vehicle.
【0009】別の観点による発明の補助動力装置付き車
輌の制御方法は、走行を行うための車輌走行部、前記車
輌走行部に人力駆動力を与える人力駆動部、及び前記車
輌走行部に補助動力を与える補助動力駆動部を備えた補
助動力装置付き車輌の制御方法であって、前記車輌走行
部に与えられた人力駆動力、及び走行環境を人力駆動力
検出部、及び走行環境検出部によりそれぞれ検出する工
程、前記走行環境検出部からの現時点の走行環境のデー
タに基づいて、前記人力駆動力検出部からの現時点の人
力駆動力のデータを、基準走行環境で走行した場合での
人力駆動力のデータに変換する工程、及び前記人力駆動
力変換部からの変換後の人力駆動力のデータと基準走行
環境での人力駆動力の基準値とに基づいて、前記人力駆
動部に対する前記補助動力駆動部の補助比率を決定する
工程を備えている。このように構成することにより、操
作者等の状態、及び走行環境を自動的に検出することが
でき、最適な補助比率を決定して車輌を走行、駆動する
ことができる。According to another aspect of the present invention, there is provided a control method of a vehicle with an auxiliary power unit, comprising: a vehicle traveling unit for performing traveling; a human-powered driving unit for applying a manual driving force to the vehicle traveling unit; A method of controlling a vehicle with an auxiliary power device provided with an auxiliary power drive unit that provides a human-powered driving force applied to the vehicle traveling unit, and a traveling environment by a human-powered driving force detection unit and a traveling environment detection unit, respectively. Detecting, based on the current driving environment data from the driving environment detecting unit, the current human driving force data from the human driving force detecting unit, the human driving force when traveling in the reference driving environment. The step of converting into the data of, and based on the converted data of the human driving force from the human driving force conversion unit and the reference value of the human driving force in the reference traveling environment, And a step of determining an auxiliary ratio of auxiliary power drive unit. With this configuration, the state of the operator and the like and the traveling environment can be automatically detected, and the vehicle can be driven and driven by determining the optimal assist ratio.
【0010】別の観点による発明の補助動力装置付き車
輌の制御方法は、走行を行うための車輌走行部、前記車
輌走行部に人力駆動力を与える人力駆動部、及び前記車
輌走行部に補助動力を与える補助動力駆動部を備えた補
助動力装置付き車輌の制御方法であって、前記車輌の走
行距離を算出する工程、及び前記走行距離算出部からの
走行距離に基づいて、前記人力駆動部に対する前記補助
動力駆動部の補助比率を決定する工程を備えている。こ
のように構成することにより、操作者等の状態を自動的
に検出することができ、最適な補助比率を決定して車輌
を走行、駆動することができる。According to another aspect of the invention, there is provided a control method of a vehicle with an auxiliary power unit, comprising: a vehicle traveling unit for traveling; a human power driving unit for applying a manual driving force to the vehicle traveling unit; A method of controlling a vehicle with an auxiliary power device including an auxiliary power drive unit that provides a driving power to the human-powered drive unit based on a travel distance from the vehicle and a travel distance from the travel distance calculation unit. A step of determining an auxiliary ratio of the auxiliary power drive unit. With such a configuration, the state of the operator or the like can be automatically detected, and the optimum auxiliary ratio can be determined to drive and drive the vehicle.
【0011】[0011]
【発明の実施の形態】以下、本発明の補助動力装置付き
車輌及びその制御方法を示す好ましい実施例について、
図面を参照しながら説明する。尚、以下の説明では、本
発明の補助動力装置付き車輌の一つの好ましい実施例と
して、脚力(ペダル踏力)と補助動力とを組み合わせて
走行する自転車を構成した例について説明する。また、
他の実施例としては、ホイールチェア(車椅子)であっ
てもよい。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a preferred embodiment showing a vehicle with an auxiliary power unit and a control method thereof according to the present invention will be described.
This will be described with reference to the drawings. In the following description, as an example of a preferred embodiment of a vehicle with an auxiliary power device according to the present invention, an example will be described in which a bicycle that travels by combining leg power (pedal force) and auxiliary power is configured. Also,
Another example is a wheelchair.
【0012】《第1の実施例》図1は本発明の第1の実
施例である補助動力装置付き車輌の概略構成を示す構造
図であり、図2は図1に示した補助動力装置付き車輌の
構成を示すブロック図である。図1、及び図2に示すよ
うに、本実施例の補助動力装置付き車輌は、当該車輌を
走行するための車輌走行部1、前記車輌走行部1を駆動
するための人力駆動部2及び補助動力駆動部3、及び前
記補助動力駆動部3の制御を行う制御部4を具備してい
る。車輌走行部1は、路面と接して車輌を走行するため
の車輪1a,1b、及び車輪1a,1bを回転自在にそ
れぞれ支持する支持機構1c,1dを備えている。車輌
走行部1には、人力駆動部2からの人力駆動力と補助動
力駆動部3からの補助動力が供給され、これにより上記
車輪1a,1bが回転して車輌が走行する。人力駆動部
2は、操作者や使用者などの人力を受け取るためのペダ
ル2aと、その人力を人力駆動力として車輌走行部1に
伝達するためのペダルクランク2bやチェーン、一方向
クラッチ、及び合力軸などからなる伝達機構2cを備え
ている。補助動力駆動部3は、電動モータなどの既知の
駆動装置3aと当該駆動装置3aの電源を構成する二次
電池などの電池3bを備え、制御部4からの指示信号に
基づいて作動(回転)する。さらに、補助動力駆動部3
は、その回転力を補助動力として伝達機構2cを介して
車輌走行部1に伝達する。尚、補助動力駆動部3は、例
えば駆動装置3aの通電電流などの補助動力の大きさを
示すための情報を制御部4に逐次出力している。FIG. 1 is a structural view showing a schematic structure of a vehicle with an auxiliary power unit according to a first embodiment of the present invention, and FIG. 2 is a diagram showing a vehicle with an auxiliary power unit shown in FIG. FIG. 2 is a block diagram illustrating a configuration of a vehicle. As shown in FIGS. 1 and 2, the vehicle with an auxiliary power device according to the present embodiment includes a vehicle traveling unit 1 for traveling the vehicle, a human-powered driving unit 2 for driving the vehicle traveling unit 1, and an auxiliary vehicle. A power drive unit 3 and a control unit 4 for controlling the auxiliary power drive unit 3 are provided. The vehicle traveling unit 1 includes wheels 1a, 1b for traveling the vehicle in contact with a road surface, and support mechanisms 1c, 1d for rotatably supporting the wheels 1a, 1b, respectively. The vehicle running unit 1 is supplied with the manual driving force from the human driving unit 2 and the auxiliary power from the auxiliary power driving unit 3, whereby the wheels 1a and 1b rotate and the vehicle runs. The human power drive unit 2 includes a pedal 2a for receiving human power such as an operator and a user, and a pedal crank 2b, a chain, a one-way clutch, and a resultant force for transmitting the human power to the vehicle traveling unit 1 as human power. A transmission mechanism 2c including a shaft is provided. The auxiliary power drive unit 3 includes a known drive device 3a such as an electric motor and a battery 3b such as a secondary battery constituting a power supply of the drive device 3a, and operates (rotates) based on an instruction signal from the control unit 4. I do. Further, the auxiliary power drive unit 3
Transmits the rotational force as auxiliary power to the vehicle running unit 1 via the transmission mechanism 2c. In addition, the auxiliary power drive unit 3 sequentially outputs information indicating the magnitude of the auxiliary power, such as a current supplied to the drive device 3a, to the control unit 4.
【0013】制御部4は、人力駆動部2から車輌走行部
1に伝達された人力駆動力を検出する人力駆動力検出部
5、前記人力駆動力検出部5からの人力駆動力のデータ
を記憶する第1の記憶部6、及び操作者等の状態を推
定、判断して、検出した人力駆動力に対する補助動力の
比率(以下、”補助比率”という)を決定する補助比率
決定部7を備えている。人力駆動力検出部5としては、
例えばクランク軸2b’の外周面にアモルファス合金製
で「ハハーーー」のパターンの状態のスリットを設けた帯
状磁性膜を貼り付け、ペダルクランク2bにかかる人力
駆動力の変化に応じてこの磁性膜の各部にねじれ歪みを
生じ、それによりさらに透磁率の変化を生じ、それを2
個以上の微少コイルによって検出するようにした磁歪式
のトルクセンサ(同一出願人が平成9年12月に特許出
願)を、好適に用いうる。このトルクセンサによって人
力駆動力を所定のサンプリング周期(例えば、1msec)
で検出する。人力駆動力検出部5は、第1の記憶部6、
及び補助比率決定部7に検出した人力駆動力のデータを
出力する。第1の記憶部6は、RAMあるいは類似の記
憶素子により構成され、人力駆動力検出部5から入力し
た人力駆動力のデータを記憶する。この第1の記憶部6
は、人力駆動力検出部5から入力する人力駆動力のデー
タを所定の時間(例えば、人力駆動力の値が所定値をは
じめて越えてから10sec)で書き換み、保持する。補
助比率決定部7は、所定の周期(例えば、10sec)毎
に、人力駆動力検出部5からの人力駆動力のデータと第
1の記憶部6に記憶されている人力駆動力のデータとを
比較する。これにより、補助比率決定部7は、操作者等
の状態、例えば疲労の度合いを自動的に推定、判断し
て、最適な補助比率を決定することが可能となる。具体
的に言えば、例えば人力駆動力検出部5から入力した現
時点の人力駆動力のデータが第1の記憶部6に記憶され
ている以前の人力駆動力のデータよりも小さい場合、補
助比率決定部7は、操作者の疲労の度合いが増加してい
ると判断して、現時点の補助比率よりも大きい値の補助
比率を決定する。これにより、補助比率を大きくする指
示信号が、制御部4から補助動力駆動部3に出力され、
より大きな補助動力が車輌走行部1に伝達されて、操作
者の疲労を軽減することが可能となる。尚、上述のサン
プリング周期、時間間隔、及び周期は、図示しないテン
キーなどの入力機器によって制御部4に設定される。ま
た、この入力機器を用いて、操作者が所望する人力駆動
力のデータを第1の記憶部6に設定入力する構成として
もよい。The control section 4 stores a manual driving force detecting section 5 for detecting the manual driving force transmitted from the manual driving section 2 to the vehicle running section 1 and data of the manual driving force from the manual driving force detecting section 5. A first storage unit 6 and an auxiliary ratio determining unit 7 that estimates and determines the state of the operator and the like and determines the ratio of the auxiliary power to the detected manual driving force (hereinafter, referred to as “auxiliary ratio”). ing. As the human-powered driving force detection unit 5,
For example, a band-shaped magnetic film made of an amorphous alloy and provided with slits in a “ha-ha-ha” pattern is attached to the outer peripheral surface of the crankshaft 2b ′, and each part of the magnetic film is changed according to a change in the manual driving force applied to the pedal crank 2b. Causes a torsional strain in the magnetic material, which further causes a change in the magnetic permeability,
A magnetostrictive torque sensor (a patent application filed in December 1997 by the same applicant) that is detected by more than one micro coil can be preferably used. The human-powered driving force is converted by the torque sensor into a predetermined sampling cycle (for example, 1 msec).
To detect. The human-powered driving force detection unit 5 includes a first storage unit 6,
And outputs data of the detected manual driving force to the auxiliary ratio determining unit 7. The first storage unit 6 is configured by a RAM or a similar storage element, and stores data of the manual driving force input from the manual driving force detection unit 5. This first storage unit 6
Rewrites and holds the manual driving force data input from the manual driving force detection unit 5 for a predetermined time (for example, 10 seconds after the value of the manual driving force first exceeds the predetermined value). The assist ratio determination unit 7 compares the data of the manual driving force from the manual driving force detection unit 5 with the data of the manual driving force stored in the first storage unit 6 at predetermined intervals (for example, 10 seconds). Compare. Accordingly, the auxiliary ratio determination unit 7 can automatically estimate and determine the state of the operator or the like, for example, the degree of fatigue, and determine the optimal auxiliary ratio. Specifically, for example, when the data of the current manual driving force input from the manual driving force detecting unit 5 is smaller than the previous manual driving force data stored in the first storage unit 6, the assist ratio determination is performed. The unit 7 determines that the degree of fatigue of the operator is increasing, and determines an auxiliary ratio having a value larger than the current auxiliary ratio. Thereby, an instruction signal for increasing the auxiliary ratio is output from the control unit 4 to the auxiliary power drive unit 3,
Greater auxiliary power is transmitted to the vehicle traveling unit 1, so that fatigue of the operator can be reduced. The above-described sampling period, time interval, and period are set in the control unit 4 by an input device (not shown) such as a numeric keypad. Further, the input device may be configured to set and input the data of the human-powered driving force desired by the operator into the first storage unit 6.
【0014】次に、本実施例の補助動力装置付き車輌の
制御方法について、図3を参照して説明する。図3は、
図1に示した補助動力装置付き車輌の動作を示すフロー
チャートである。図3に示すように、本実施例の補助動
力装置付き車輌では、まず人力駆動力検出部5が人力駆
動部2から車輌走行部1に伝達された人力駆動力を検出
する(ステップS1)。続いて、人力駆動力検出部5
は、検出した人力駆動力のデータを第1の記憶部6と補
助比率決定部7に出力する(ステップS2)。次に、補
助比率決定部7は、人力駆動力検出部5から入力した現
時点の人力駆動力のデータと第1の記憶部6に記憶され
ている以前の人力駆動力のデータとを比較して、現時点
の人力駆動力のデータが以前の人力駆動力のデータより
も大きいかどうかについて判断する(ステップS3)。
現時点の人力駆動力のデータが以前の人力駆動力のデー
タよりも大きい場合、補助比率決定部7は操作者の疲労
の度合いが減少していると判断して、現時点の補助比率
よりも小さい補助比率を決定する(ステップS4)。こ
れにより、制御部4から補助動力駆動部3に補助比率を
小さくする指示信号が出力される。現時点の人力駆動力
のデータが以前の人力駆動力のデータよりも小さい場
合、補助比率決定部7は操作者の疲労の度合いが増加し
ていると判断して、現時点の補助比率よりも大きい補助
比率を決定する(ステップS5)。これにより、制御部
4から補助動力駆動部3に補助比率を大きくする指示信
号が出力される。Next, a control method for a vehicle with an auxiliary power unit according to the present embodiment will be described with reference to FIG. FIG.
2 is a flowchart showing an operation of the vehicle with an auxiliary power device shown in FIG. 1. As shown in FIG. 3, in the vehicle with the auxiliary power unit according to the present embodiment, first, the human-powered driving force detecting unit 5 detects the human-powered driving force transmitted from the human-powered driving unit 2 to the vehicle traveling unit 1 (Step S1). Subsequently, the manual driving force detecting unit 5
Outputs the data of the detected manual driving force to the first storage unit 6 and the auxiliary ratio determination unit 7 (Step S2). Next, the assist ratio determination unit 7 compares the data of the current manual driving force input from the manual driving force detection unit 5 with the data of the previous manual driving force stored in the first storage unit 6. Then, it is determined whether or not the data of the current manual driving force is larger than the previous data of the manual driving force (step S3).
If the current data of the manual driving force is larger than the previous data of the manual driving force, the assist ratio determination unit 7 determines that the degree of the operator's fatigue is decreasing, and the assist ratio smaller than the current assist ratio is determined. The ratio is determined (step S4). As a result, an instruction signal for reducing the auxiliary ratio is output from the control unit 4 to the auxiliary power drive unit 3. If the current data of the manual driving force is smaller than the previous data of the manual driving force, the assist ratio determination unit 7 determines that the degree of the operator's fatigue is increasing, and the assist ratio is larger than the current assist ratio. The ratio is determined (step S5). As a result, an instruction signal for increasing the auxiliary ratio is output from the control unit 4 to the auxiliary power drive unit 3.
【0015】以上のように、本実施例の補助動力装置付
き車輌では、人力駆動力検出部5が人力駆動部2から車
輌走行部1に伝達された人力駆動力を検出し、第1の記
憶部6が検出した人力駆動力のデータを所定の時間で書
き換み、保持する。さらに、本実施例の補助動力装置付
き車輌では、補助比率決定部7が人力駆動力検出部5か
ら入力した現時点の人力駆動力のデータと第1の記憶部
6に記憶されている以前の人力駆動力のデータとを比較
している。これにより、本実施例の補助動力装置付き車
輌は、操作者の状態を自動的に推定、判断し最適な補助
比率を決定して、車輌を走行、駆動することができる。As described above, in the vehicle with the auxiliary power unit according to the present embodiment, the human-powered driving force detecting unit 5 detects the human-powered driving force transmitted from the human-powered driving unit 2 to the vehicle traveling unit 1, and stores the first data. The data of the human-powered driving force detected by the unit 6 is rewritten and held for a predetermined time. Further, in the vehicle with the auxiliary power unit according to the present embodiment, the data of the current manual driving force input from the manual driving force detection unit 5 by the auxiliary ratio determination unit 7 and the previous human power stored in the first storage unit 6 It is compared with the driving force data. As a result, the vehicle with the auxiliary power unit according to the present embodiment can run and drive the vehicle by automatically estimating and determining the state of the operator, determining an optimal auxiliary ratio, and driving the vehicle.
【0016】尚、上記の説明以外に、所定の走行時間間
隔での人力駆動力の最大値を第1の記憶部6に記憶し
て、補助比率決定部7が前記最大値を基準値として、操
作者の疲労の度合いを推定、判断する構成でもよい。ま
た、周期的に変化する人力駆動力の平均値や実効値に基
づいて、操作者の疲労の度合いを推定してもよい。さら
に、車輌の平均速度等に基づいて、操作者の疲労の度合
いを推定してもよい。また、操作者の疲労の度合いが減
少していると判断した場合、現時点の補助比率よりも小
さい補助比率を決定して、補助比率を小さくする構成に
ついて説明したが、必ずしも補助比率を小さくする必要
はなく、現時点の補助比率を維持する構成でもよい。ま
た、補助比率を決定する際に人力駆動力を以前のデータ
と比較して行っているが、データの値に限定されるもの
ではなく幅を持たせてもよい。例えば、以前のデータの
90〜110%の範囲内であれば補助比率を変更しない
構成としてもよい。In addition to the above description, the maximum value of the manual driving force at a predetermined traveling time interval is stored in the first storage unit 6, and the auxiliary ratio determination unit 7 uses the maximum value as a reference value. A configuration in which the degree of fatigue of the operator is estimated and determined may be used. Further, the degree of fatigue of the operator may be estimated based on the average value or the effective value of the human driving force that changes periodically. Further, the degree of operator fatigue may be estimated based on the average speed of the vehicle and the like. In addition, when it is determined that the degree of fatigue of the operator is reduced, an auxiliary ratio smaller than the current auxiliary ratio is determined and the auxiliary ratio is reduced. However, it is not always necessary to reduce the auxiliary ratio. However, a configuration that maintains the current auxiliary ratio may be used. In addition, when determining the assist ratio, the human-powered driving force is compared with the previous data, but the present invention is not limited to the value of the data and may have a range. For example, the configuration may be such that the auxiliary ratio is not changed if it is within the range of 90 to 110% of the previous data.
【0017】《第2の実施例》図4は、本発明の第2の
実施例である補助動力装置付き車輌の構成を示すブロッ
ク図である。この実施例では、補助動力装置付き車輌の
構成において、車輌の走行環境を検出する走行環境検出
部を設け、検出した人力駆動力及び走行環境のデータに
基づいて補助比率を決定するよう構成した。それ以外の
各部は、第1の実施例に示すものと同様であるのでそれ
らの重複した説明は省略する。図4に示すように、本実
施例の補助動力装置付き車輌では、車輌の走行環境を検
出する走行環境検出部8、検出した走行環境のデータに
基づいて、人力駆動力検出部5から入力した人力駆動力
のデータを、車輌が基準走行環境で走行した場合での人
力駆動力のデータに変換する人力駆動力変換部9、及び
基準走行環境での人力駆動力の基準値を予め記憶した第
2の記憶部10が制御部14内に設けられている。走行
環境検出部8は、車輌の速度Vを検出する既知の速度セ
ンサと、当該車輌と接する路面の傾斜角θを検出するた
めの検出部材とを備え、検出した速度V、及び傾斜角θ
を用いて当該車輌に作用する走行抵抗dを算出する。走
行環境検出部8は、速度V、傾斜角θ、及び走行抵抗d
を車輌の走行環境として人力駆動力変換部9に出力す
る。尚、この走行抵抗dは、上記傾斜角θ、路面からの
動摩擦力、及び風などによる空気抵抗などに規定される
ものである。<< Second Embodiment >> FIG. 4 is a block diagram showing a configuration of a vehicle with an auxiliary power unit according to a second embodiment of the present invention. In this embodiment, in a configuration of a vehicle with an auxiliary power unit, a driving environment detecting unit for detecting a driving environment of the vehicle is provided, and an auxiliary ratio is determined based on the detected data of the manual driving force and the driving environment. The other parts are the same as those shown in the first embodiment, and the duplicate description thereof will be omitted. As shown in FIG. 4, in the vehicle with the auxiliary power unit according to the present embodiment, the driving environment detecting unit 8 that detects the traveling environment of the vehicle is input from the manual driving force detecting unit 5 based on the detected data of the traveling environment. A manual driving force conversion unit 9 that converts the data of the manual driving force into data of the manual driving force when the vehicle travels in the reference driving environment, and a reference value of the human driving force in the reference driving environment that is stored in advance. Two storage units 10 are provided in the control unit 14. The traveling environment detection unit 8 includes a known speed sensor for detecting the speed V of the vehicle, and a detection member for detecting the inclination angle θ of the road surface in contact with the vehicle. The detected speed V and the inclination angle θ
Is used to calculate the running resistance d acting on the vehicle. The traveling environment detector 8 determines the speed V, the inclination angle θ, and the traveling resistance d.
Is output to the human-powered driving force converter 9 as the traveling environment of the vehicle. The running resistance d is defined by the inclination angle θ, the dynamic frictional force from the road surface, the air resistance due to wind, and the like.
【0018】人力駆動力変換部9は、予め設定された車
輌の運動方程式を用いて、人力駆動力検出部5から入力
した人力駆動力のデータを基準走行環境で走行した場合
の人力駆動力のデータに変換する(詳細は後述)。人力
駆動力変換部9は、変換した人力駆動力のデータを補助
比率決定部7に出力する。尚、ここでいう基準走行環境
とは、上記傾斜角が0度であって、さらに前記路面から
の動摩擦力や空気抵抗を車輌が受けない場合、すなわち
走行抵抗がない場合での走行環境をいう。第2の記憶部
10は、RAMあるいは類似の記憶素子により構成さ
れ、基準走行環境での人力駆動力の基準値を予め保持、
記憶している。補助比率決定部7は、人力駆動力変換部
9からの人力駆動力のデータと第2の記憶部10に予め
記憶されている基準走行環境での人力駆動力の基準値と
を比較する。これにより、補助比率決定部7は、操作者
等の状態を自動的に推定、判断して、最適な補助比率を
決定することが可能となる。このように、本実施例の補
助動力装置付き車輌では、現時点での人力駆動力及び走
行環境を自動的に検出して、これらの人力駆動力及び走
行環境のデータに基づいて、最適な補助比率を決定し車
輌を走行、駆動することが可能となる。The human-powered driving force conversion unit 9 converts the human-powered driving force data input from the human-powered driving force detection unit 5 into a human-powered driving force when the vehicle runs in the reference traveling environment, using a predetermined equation of motion of the vehicle. Convert to data (details will be described later). The manual driving force conversion unit 9 outputs the converted data of the manual driving force to the auxiliary ratio determination unit 7. Here, the reference traveling environment refers to a traveling environment when the inclination angle is 0 degree and the vehicle does not receive kinetic frictional force or air resistance from the road surface, that is, when there is no traveling resistance. . The second storage unit 10 is configured by a RAM or a similar storage element, and stores in advance a reference value of the manual driving force in the reference traveling environment.
I remember. The assist ratio determination unit 7 compares the data of the manual driving force from the manual driving force conversion unit 9 with the reference value of the manual driving force in the reference traveling environment stored in the second storage unit 10 in advance. This makes it possible for the auxiliary ratio determination unit 7 to automatically estimate and determine the state of the operator or the like and determine the optimal auxiliary ratio. As described above, the vehicle with the auxiliary power unit according to the present embodiment automatically detects the current human-powered driving force and the driving environment, and based on the data of the human-powered driving force and the driving environment, determines the optimum auxiliary ratio. Is determined, and the vehicle can be driven and driven.
【0019】ここで、人力駆動力変換部9における人力
駆動力のデータの変換方法について、具体的に説明す
る。まず、車輌が走行抵抗dを受けることなく傾斜角θ
の路面を走行する場合での変換方法について、説明す
る。この場合、車輌の運動方程式は、下記の(1)式に
より示される。尚、(1)式では、車輌全体の質量をm
とし、車輌の加速度、及び重力加速度をそれぞれα、及
びgとする。さらに、(1)式では、人力駆動力、及び
補助比率をFh、及びbによりそれぞれ表している。Here, a method of converting the data of the manual driving force in the manual driving force conversion section 9 will be specifically described. First, the vehicle is not subjected to the running resistance d without the inclination angle θ.
A conversion method when the vehicle travels on a road surface will be described. In this case, the equation of motion of the vehicle is represented by the following equation (1). In equation (1), the mass of the entire vehicle is m
And the acceleration of the vehicle and the gravitational acceleration are α and g, respectively. Further, in the equation (1), the manual driving force and the assist ratio are represented by Fh and b, respectively.
【0020】 mα + mgsinθ = Fh + b×Fh −−−(1)Mα + mgsinθ = Fh + b × Fh (1)
【0021】(1)式において、傾斜角θ=0とする
と、基準走行環境での車輌の運動方程式は、次の(2)
式により表される。また、(1)式は、下記の(3)式
に変形することができる。In equation (1), assuming that the inclination angle θ = 0, the equation of motion of the vehicle in the reference traveling environment is given by the following equation (2).
It is represented by an equation. The expression (1) can be transformed into the following expression (3).
【0022】 mα = Fh’ + b×Fh’ −−−(2) mα = Fh + b×Fh − mgsinθ −−−(3)Mα = Fh ′ + b × Fh ′-(2) mα = Fh + b × Fh-mgsin θ-(3)
【0023】但し、(2)式では、Fh’は変換すべき
基準走行環境での人力駆動力を示している。これらの
(2)式、及び(3)式を変形して、下記の(4)式を
得ることができる。However, in equation (2), Fh 'indicates a human-powered driving force in the reference traveling environment to be converted. By modifying these equations (2) and (3), the following equation (4) can be obtained.
【0024】 Fh’ = Fh − mgsinθ ÷ (1 + b) −−−(4)Fh ′ = Fh−mgsin θ ÷ (1 + b) − (4)
【0025】上記(4)式の右辺の各パラメータは、既
知の値もしくは人力駆動力検出部5、及び走行環境検出
部8により検出される値である。つまり、車輌が走行抵
抗dを受けることなく傾斜角θの路面を走行する場合、
人力駆動力変換部9は予め入力されている車輌全体の質
量m、及び重力加速度gと、補助比率決定部7からの現
時点での補助比率bと、人力駆動力検出部5、及び走行
環境検出部8にそれぞれ検出された現時点での人力駆動
力Fh、及び傾斜角θを(4)式に代入することによ
り、基準走行環境で走行した場合の人力駆動力Fh’に
変換、算出することができる。Each parameter on the right side of the above equation (4) is a known value or a value detected by the manual driving force detecting unit 5 and the driving environment detecting unit 8. That is, when the vehicle travels on a road surface having an inclination angle θ without receiving the traveling resistance d,
The human-powered driving force conversion unit 9 is provided with the mass m and the gravitational acceleration g of the entire vehicle, the current auxiliary ratio b from the auxiliary ratio determination unit 7, the human-powered driving force detection unit 5, and the driving environment detection. By substituting the current human-powered driving force Fh and the inclination angle θ detected by the unit 8 into the equation (4), it is possible to convert and calculate the human-powered driving force Fh ′ when traveling in the reference traveling environment. it can.
【0026】次に、車輌が走行抵抗dを受けて傾斜角θ
の路面を走行する場合での変換方法について、説明す
る。この場合、車輌の運動方程式は、その速度Vを用い
て下記の(5)式により示される。Next, the vehicle receives the running resistance d and receives the inclination angle θ.
A conversion method when the vehicle travels on a road surface will be described. In this case, the equation of motion of the vehicle is expressed by the following equation (5) using the velocity V.
【0027】 mα + dV + mgsinθ = Fh + b×Fh −−−(5)Mα + dV + mgsinθ = Fh + b × Fh (5)
【0028】(5)式において、基準走行環境での走行
抵抗をd’とし傾斜角θ=0とすると、基準走行環境で
の車輌の運動方程式は、次の(6)式により表される。
また、(5)式は、下記の(7)式に変形することがで
きる。In equation (5), assuming that the running resistance in the reference running environment is d 'and the inclination angle θ = 0, the equation of motion of the vehicle in the reference running environment is expressed by the following equation (6).
Equation (5) can be transformed into the following equation (7).
【0029】 mα + d’V = Fh’ + b×Fh’ −−−(6) mα + d’V = Fh + b×Fh + (d’ − d)V − mgsinθ −−−(7)Mα + d′ V = Fh ′ + b × Fh ′ --- (6) mα + d′ V = Fh + b × Fh + (d′−d) V−mgsinθ −− (7)
【0030】これらの(6)式、及び(7)式を変形し
て、下記の(8)式を得ることができる。By modifying the equations (6) and (7), the following equation (8) can be obtained.
【0031】 Fh’ = Fh + ((d’ − d)V − mgsinθ) ÷ (1 + b) −−−(8)Fh ′ = Fh + ((d′−d) V−mgsin θ) ÷ (1 + b) − (8)
【0032】ここで、車輌の走行抵抗dは、次の(9)
式を用いることによって算出することができる。この
(9)式は、上述の(5)式を変形したものであり、走
行環境検出部8が傾斜角θを検出したとき、当該走行環
境検出部8は検出した傾斜角θを(9)式に代入し現時
点での走行抵抗dを算出して、検出した傾斜角θと共に
人力駆動力変換部9に出力する。Here, the running resistance d of the vehicle is given by the following (9)
It can be calculated by using an equation. This equation (9) is a modification of the above equation (5), and when the traveling environment detection unit 8 detects the inclination angle θ, the traveling environment detection unit 8 converts the detected inclination angle θ into (9) The running resistance d at the present time is calculated by substituting into the equation, and the calculated running resistance d is output to the human-powered driving force converter 9 together with the detected inclination angle θ.
【0033】 d = ((1 + b)Fh − mα −mgsinθ) ÷ V −−−(9)D = ((1 + b) Fh−mα−mgsinθ) ÷ V −− (9)
【0034】この(9)式により得られた走行抵抗dを
(8)式に代入することにより、人力駆動力Fh’を算
出することができる。つまり、車輌が走行抵抗dを受け
て傾斜角θの路面を走行する場合、人力駆動力変換部9
は予め入力されている車輌全体の質量m、重力加速度
g、及び基準走行環境での走行抵抗d’と、補助比率決
定部7からの現時点での補助比率bと、人力駆動力検出
部5に検出された現時点での人力駆動力Fhと、走行環
境検出部8に検出された現時点での速度V、傾斜角θ、
及び走行抵抗dを(8)式に代入することにより、基準
走行環境で走行した場合の人力駆動力Fh’に変換、算
出することができる。尚、車輌の運動方程式は、上記
(1)式、及び(5)式に限定されるものでなく、例え
ば走行抵抗dだけを含んだものでもよい。また、走行抵
抗dを(9)式を用いた演算により求める構成について
説明したが、既知の検出器を用いて直接検出する構成で
もよい。By substituting the running resistance d obtained by the equation (9) into the equation (8), the manual driving force Fh 'can be calculated. That is, when the vehicle travels on the road surface having the inclination angle θ in response to the traveling resistance d, the human-powered driving force converter 9
Are input in advance to the mass m of the entire vehicle, the gravitational acceleration g, the running resistance d 'in the reference running environment, the current assist ratio b from the assist ratio determiner 7, and the human-powered driving force detector 5. The detected current human-powered driving force Fh, the current speed V detected by the traveling environment detecting unit 8, the inclination angle θ,
And, by substituting the running resistance d into the equation (8), it is possible to convert and calculate the human driving force Fh ′ when the vehicle travels in the reference traveling environment. The equation of motion of the vehicle is not limited to the above equations (1) and (5), but may include, for example, only the running resistance d. Further, the configuration in which the running resistance d is obtained by calculation using the equation (9) has been described, but a configuration in which the running resistance d is directly detected using a known detector may be used.
【0035】次に、本実施例の補助動力装置付き車輌の
制御方法について、図5を参照して説明する。図5は、
図4に示した補助動力装置付き車輌の動作を示すフロー
チャートである。図5に示すように、この実施例の補助
動力装置付き車輌では、人力駆動力検出部5が人力駆動
部2から車輌走行部1に伝達された人力駆動力を検出
し、走行環境検出部8が走行環境を検出する(ステップ
S6)。続いて、人力駆動力検出部5、及び走行環境検
出部8は、それぞれ検出した人力駆動力及び走行環境の
データを人力駆動力変換部9に出力する(ステップS
7)。次に、人力駆動力変換部9は、入力した人力駆動
力のデータと走行環境のデータとを用いて、当該人力駆
動力のデータを基準走行環境で走行した場合の人力駆動
力のデータに変換する(ステップS8)。続いて、人力
駆動力変換部9は、変換後の人力駆動力のデータを補助
比率決定部7に出力する(ステップS9)。次に、補助
比率決定部7は、人力駆動力変換部9から入力した変換
後の人力駆動力のデータと第2の記憶部10に記憶され
ている基準走行環境での人力駆動力の基準値とを比較し
て、変換後の人力駆動力のデータが上記基準値よりも大
きいかどうかについて判断する(ステップS10)。変
換後の人力駆動力のデータが基準値よりも大きい場合、
補助比率決定部7は操作者の疲労の度合いが減少してい
ると判断して、現時点の補助比率よりも小さい補助比率
を決定する(ステップS11)。これにより、制御部4
から補助動力駆動部3に補助比率を小さくする指示信号
が出力される。変換後の人力駆動力のデータが基準値よ
りも小さい場合、補助比率決定部7は操作者の疲労の度
合いが増加していると判断して、現時点の補助比率より
も大きい補助比率を決定する(ステップS12)。これ
により、制御部4から補助動力駆動部3に補助比率を大
きくする指示信号が出力される。Next, a control method for a vehicle with an auxiliary power unit according to this embodiment will be described with reference to FIG. FIG.
5 is a flowchart showing the operation of the vehicle with an auxiliary power device shown in FIG. 4. As shown in FIG. 5, in the vehicle with the auxiliary power unit of this embodiment, the human driving force detecting unit 5 detects the human driving force transmitted from the human driving unit 2 to the vehicle traveling unit 1, and the driving environment detecting unit 8 Detects the traveling environment (step S6). Subsequently, the human-powered driving force detection unit 5 and the driving environment detection unit 8 output the detected data of the human-powered driving force and the driving environment to the human-powered driving force conversion unit 9 (step S).
7). Next, the human-powered driving force conversion unit 9 converts the data of the human-powered driving force into the data of the human-powered driving force when traveling in the reference driving environment, using the input data of the human driving force and the data of the traveling environment. (Step S8). Subsequently, the manual driving force conversion unit 9 outputs the converted data of the manual driving force to the auxiliary ratio determination unit 7 (step S9). Next, the assist ratio determining unit 7 converts the converted human driving force data input from the human driving force converting unit 9 and the reference value of the human driving force in the reference driving environment stored in the second storage unit 10. Then, it is determined whether or not the converted manual driving force data is larger than the reference value (step S10). If the converted manual driving force data is larger than the reference value,
The auxiliary ratio determination unit 7 determines that the degree of fatigue of the operator has decreased, and determines an auxiliary ratio smaller than the current auxiliary ratio (step S11). Thereby, the control unit 4
Outputs an instruction signal to the auxiliary power drive 3 to reduce the auxiliary ratio. When the converted data of the manual driving force is smaller than the reference value, the assist ratio determination unit 7 determines that the degree of the operator's fatigue is increasing, and determines an assist ratio larger than the current assist ratio. (Step S12). As a result, an instruction signal for increasing the auxiliary ratio is output from the control unit 4 to the auxiliary power drive unit 3.
【0036】以上のように、本実施例の補助動力装置付
き車輌では、人力駆動力検出部5が人力駆動部2から車
輌走行部1に伝達された人力駆動力を検出し、走行環境
検出部8が車輌の走行環境を検出する。さらに、本実施
例の補助動力装置付き車輌では、人力駆動力変換部9
が、入力した人力駆動力のデータと走行環境のデータと
を用いて、入力した現時点での人力駆動力のデータを基
準走行環境で走行した場合の人力駆動力のデータに変換
する。そして、補助比率決定部7が、人力駆動力変換部
9から入力した変換後の人力駆動力のデータと第2の記
憶部10に記憶されている基準走行環境での人力駆動力
の基準値とを比較している。これにより、本実施例の補
助動力装置付き車輌は、操作者の状態だけでなく走行環
境も自動的に推定、判断し最適な補助比率を決定して、
車輌を走行、駆動することができる。尚、人力駆動力の
基準値としては、例えばその最大値や平均値、実効値を
用いてもよい。さらに、補助比率の変更は、その都度行
ってもよいし、また遅延させて(例えば人力駆動力の値
が所定値以下になった以降)もよい。As described above, in the vehicle with the auxiliary power unit according to the present embodiment, the human driving force detecting unit 5 detects the human driving force transmitted from the human driving unit 2 to the vehicle traveling unit 1 and the driving environment detecting unit 8 detects the traveling environment of the vehicle. Further, in the vehicle with the auxiliary power unit according to the present embodiment, the human-powered driving force converter 9
Converts the input data of the human-powered driving force at the present time into the data of the human-powered driving force when traveling in the reference driving environment, using the input data of the human-powered driving force and the data of the traveling environment. Then, the assist ratio determining unit 7 calculates the converted data of the human driving force input from the human driving force converting unit 9 and the reference value of the human driving force in the reference traveling environment stored in the second storage unit 10. Are compared. Thereby, the vehicle with the auxiliary power unit of the present embodiment automatically estimates and determines not only the state of the operator but also the driving environment, and determines the optimal auxiliary ratio,
The vehicle can be driven and driven. As the reference value of the manual driving force, for example, a maximum value, an average value, and an effective value thereof may be used. Further, the change of the auxiliary ratio may be performed each time, or may be delayed (for example, after the value of the manual driving force becomes equal to or less than a predetermined value).
【0037】《第3の実施例》図6は、本発明の第3の
実施例である補助動力装置付き車輌の構成を示すブロッ
ク図である。この実施例では、補助動力装置付き車輌の
構成において、車輌の走行距離を算出する走行距離算出
部を設け、算出した走行距離に基づいて補助比率を決定
するよう構成した。それ以外の各部は、第1の実施例に
示すものと同様であるのでそれらの重複した説明は省略
する。図6に示すように、本実施例の補助動力装置付き
車輌は、車輌の走行距離を算出する走行距離算出部11
を制御部24内に設けている。この走行距離算出部11
は、例えば車輌の速度を検出する既知の速度センサを用
いて速度を検出することにより、車輌の走行距離を算出
する。走行距離算出部11は、算出した走行距離を補助
比率決定部7に出力する。走行距離が増加するに伴っ
て、操作者の疲労の度合いは一般的に増加する。このた
め、補助比率決定部7は走行距離の増加に応じて操作者
の疲労の度合いが大きくなったと推定、判断して、大き
い補助比率を選択、決定する。これにより、補助比率を
大きくする指示信号が、制御部4から補助動力駆動部3
に出力され、より大きな補助動力が車輌走行部1に伝達
されて、操作者の疲労を軽減することが可能となる。<< Third Embodiment >> FIG. 6 is a block diagram showing the configuration of a vehicle with an auxiliary power unit according to a third embodiment of the present invention. In this embodiment, in the configuration of the vehicle with the auxiliary power unit, a travel distance calculation unit for calculating the travel distance of the vehicle is provided, and the assist ratio is determined based on the calculated travel distance. The other parts are the same as those shown in the first embodiment, and the duplicate description thereof will be omitted. As shown in FIG. 6, the vehicle with the auxiliary power unit according to the present embodiment has a mileage calculating unit 11 for calculating the mileage of the vehicle.
Is provided in the control unit 24. This traveling distance calculation unit 11
Calculates the travel distance of the vehicle by detecting the speed using, for example, a known speed sensor that detects the speed of the vehicle. The traveling distance calculation unit 11 outputs the calculated traveling distance to the auxiliary ratio determination unit 7. As the mileage increases, the degree of operator fatigue generally increases. For this reason, the auxiliary ratio determination unit 7 estimates and determines that the degree of operator fatigue has increased in accordance with the increase in the traveling distance, and selects and determines a large auxiliary ratio. As a result, an instruction signal for increasing the auxiliary ratio is sent from the control unit 4 to the auxiliary power drive unit 3.
, And larger assist power is transmitted to the vehicle traveling unit 1, so that fatigue of the operator can be reduced.
【0038】次に、本実施例の補助動力装置付き車輌の
制御方法について、図7を参照して説明する。図7は、
図6に示した補助動力装置付き車輌の動作を示すフロー
チャートである。図7に示すように、この実施例の補助
動力装置付き車輌では、走行距離算出部11が車輌の走
行距離を算出する(ステップS13)。続いて、走行距
離算出部11が、算出した走行距離を補助比率決定部7
に出力する(ステップS14)。次に、補助比率決定部
7は、走行距離算出部11から入力した車輌の走行距離
に基づいて、操作者の疲労の度合いが増加していると判
断して、現時点の補助比率よりも大きい補助比率を決定
する(ステップS15)。これにより、制御部4から補
助動力駆動部3に補助比率を大きくする指示信号が出力
される。Next, a control method for a vehicle with an auxiliary power unit according to this embodiment will be described with reference to FIG. FIG.
7 is a flowchart showing the operation of the vehicle with an auxiliary power device shown in FIG. 6. As shown in FIG. 7, in the vehicle with the auxiliary power unit of this embodiment, the traveling distance calculation unit 11 calculates the traveling distance of the vehicle (Step S13). Subsequently, the mileage calculation unit 11 calculates the mileage calculated by the auxiliary ratio determination unit 7.
(Step S14). Next, the auxiliary ratio determination unit 7 determines that the degree of operator fatigue is increasing based on the traveling distance of the vehicle input from the traveling distance calculation unit 11, and the auxiliary ratio that is larger than the current auxiliary ratio. The ratio is determined (step S15). As a result, an instruction signal for increasing the auxiliary ratio is output from the control unit 4 to the auxiliary power drive unit 3.
【0039】以上のように、本実施例の補助動力装置付
き車輌では、走行距離算出部11が車輌の走行距離を算
出し、補助比率決定部7が走行距離の増加に応じて補助
比率を大きくしている。これにより、本実施例の補助動
力装置付き車輌は、他の実施例のものに比べて簡易的な
構成を用いて、操作者の状態を自動的に推定、判断し最
適な補助比率を決定して、車輌を走行、駆動することが
できる。尚、上記の説明では、走行距離の増加に応じて
補助比率を大きくする構成について説明したが、走行時
間をカウントして、走行距離及び走行時間の増加に応じ
て補助比率を大きくする構成でもよい。As described above, in the vehicle with the auxiliary power unit according to the present embodiment, the traveling distance calculating unit 11 calculates the traveling distance of the vehicle, and the auxiliary ratio determining unit 7 increases the auxiliary ratio in accordance with the increase in the traveling distance. doing. As a result, the vehicle with the auxiliary power unit of this embodiment uses a simpler configuration than those of the other embodiments, automatically estimates and determines the state of the operator, and determines the optimal auxiliary ratio. Thus, the vehicle can be driven and driven. In the above description, the configuration in which the auxiliary ratio is increased in accordance with the increase in the traveling distance has been described. However, the configuration may be such that the traveling time is counted and the auxiliary ratio is increased in accordance with the increase in the traveling distance and the traveling time. .
【0040】尚、上述の第1乃至第3の実施例の制御部
を適宜組み合わせて、補助比率を決定する構成としても
よい。また、人力駆動力検出部により検出した人力駆動
力のデータを積分演算して、操作者の疲労の度合いを推
定、判断し補助比率を決定するよう構成してもよい。It should be noted that the auxiliary ratio may be determined by appropriately combining the control units of the first to third embodiments. Further, the configuration may be such that the data of the manual driving force detected by the manual driving force detection unit is integrated, and the degree of fatigue of the operator is estimated and determined to determine the assist ratio.
【0041】[0041]
【発明の効果】以上のように、本発明の補助動力装置付
き車輌及びその制御方法では、人力駆動力検出部が人力
駆動部から車輌走行部に伝達された人力駆動力を検出
し、第1の記憶部が検出した人力駆動力のデータを所定
の時間間隔で書き換え、保持する。さらに、本発明の補
助動力装置付き車輌では、補助比率決定部が、人力駆動
力検出部から入力した現時点の人力駆動力のデータと第
1の記憶部に記憶されている以前の人力駆動力のデータ
とを比較している。これにより、本発明の補助動力装置
付き車輌では、操作者の疲労の度合いを自動的に推定、
判断して、最適な補助比率を決定し車輌を走行、駆動す
ることができる。また、他の発明の補助動力装置付き車
輌及びその制御方法では、人力駆動力検出部が人力駆動
部から車輌走行部に伝達された人力駆動力を検出し、走
行環境検出部が車輌の走行環境を検出する。さらに、こ
の補助動力装置付き車輌では、人力駆動力変換部が、入
力した人力駆動力のデータと走行環境のデータとを用い
て、入力した現時点での人力駆動力のデータを基準走行
環境で走行した場合の人力駆動力のデータに変換する。
そして、補助比率決定部が、人力駆動力変換部から入力
した変換後の人力駆動力のデータと第2の記憶部に記憶
されている基準走行環境での人力駆動力の基準値とを比
較している。これにより、この補助動力装置付き車輌
は、操作者の状態だけでなく走行環境も自動的に推定、
判断し最適な補助比率を決定して、車輌を走行、駆動す
ることができる。また、他の発明の補助動力装置付き車
輌及びその制御方法では、走行距離算出部が車輌の走行
距離を算出し、補助比率決定部が走行距離の増加に応じ
て補助比率を大きくしている。これにより、この補助動
力装置付き車輌は、制御部の構成を簡略化することがで
き、操作者の状態を自動的に推定、判断し最適な補助比
率を決定して、車輌を走行、駆動することができる。As described above, in the vehicle with the auxiliary power unit and the control method therefor according to the present invention, the human-powered driving force detecting unit detects the human-powered driving force transmitted from the human-powered driving unit to the vehicle running unit, and Is rewritten at predetermined time intervals and held. Further, in the vehicle with the auxiliary power unit according to the present invention, the auxiliary ratio determining unit determines whether the data of the current manual driving force input from the manual driving force detection unit and the previous manual driving force stored in the first storage unit. Compare with the data. Thereby, in the vehicle with the auxiliary power unit of the present invention, the degree of operator fatigue is automatically estimated,
By making the determination, the optimum auxiliary ratio can be determined, and the vehicle can be driven and driven. According to another aspect of the invention, there is provided a vehicle with an auxiliary power unit and a control method therefor, wherein the human-powered driving force detecting unit detects the human-powered driving force transmitted from the human-powered driving unit to the vehicle running unit, and the driving environment detecting unit detects the driving environment of the vehicle. Is detected. Further, in the vehicle with the auxiliary power unit, the human-powered driving force conversion unit uses the input human-powered driving force data and the traveling environment data to convert the inputted current human-powered driving data into the reference driving environment. Is converted into the data of the human-powered driving force in the case of performing.
Then, the assist ratio determining unit compares the converted data of the manual driving force input from the manual driving force conversion unit with the reference value of the manual driving force in the reference traveling environment stored in the second storage unit. ing. As a result, the vehicle with the auxiliary power unit automatically estimates not only the state of the operator but also the driving environment,
The vehicle can be driven and driven by judging and determining the optimal auxiliary ratio. In another aspect of the invention, the mileage calculating unit calculates the mileage of the vehicle, and the assist ratio determining unit increases the assist ratio as the mileage increases. As a result, in the vehicle with the auxiliary power device, the configuration of the control unit can be simplified, and the state of the operator is automatically estimated and determined, and the optimal auxiliary ratio is determined, and the vehicle is driven and driven. be able to.
【図1】本発明の第1の実施例である補助動力装置付き
車輌の概略構成を示す構造図FIG. 1 is a structural diagram showing a schematic configuration of a vehicle with an auxiliary power unit according to a first embodiment of the present invention.
【図2】図1に示した補助動力装置付き車輌の構成を示
すブロック図FIG. 2 is a block diagram showing a configuration of the vehicle with an auxiliary power unit shown in FIG. 1;
【図3】図1に示した補助動力装置付き車輌の動作を示
すフローチャートFIG. 3 is a flowchart showing the operation of the vehicle with the auxiliary power unit shown in FIG. 1;
【図4】本発明の第2の実施例である補助動力装置付き
車輌の構成を示すブロック図FIG. 4 is a block diagram showing a configuration of a vehicle with an auxiliary power unit according to a second embodiment of the present invention.
【図5】図4に示した補助動力装置付き車輌の動作を示
すフローチャートFIG. 5 is a flowchart showing the operation of the vehicle with the auxiliary power unit shown in FIG. 4;
【図6】本発明の第2の実施例である補助動力装置付き
車輌の構成を示すブロック図FIG. 6 is a block diagram showing a configuration of a vehicle with an auxiliary power unit according to a second embodiment of the present invention.
【図7】図6に示した補助動力装置付き車輌の動作を示
すフローチャートFIG. 7 is a flowchart showing the operation of the vehicle with the auxiliary power unit shown in FIG. 6;
1 車輌走行部 2 人力駆動部 3 補助動力駆動部 4,14,24 制御部 5 人力駆動力検出部 6 第1の記憶部 7 補助比率決定部 8 走行環境検出部 9 人力駆動力変換部 10 第2の記憶部 11 走行距離算出部 REFERENCE SIGNS LIST 1 vehicle traveling unit 2 human power driving unit 3 auxiliary power driving unit 4, 14, 24 control unit 5 human power driving force detection unit 6 first storage unit 7 auxiliary ratio determination unit 8 running environment detection unit 9 human power driving force conversion unit 10 th 2 storage unit 11 Running distance calculation unit
───────────────────────────────────────────────────── フロントページの続き (72)発明者 榎本 康男 大阪府門真市大字門真1006番地 松下電器 産業株式会社内 (72)発明者 井上 利勅 大阪府門真市大字門真1006番地 松下電器 産業株式会社内 ──────────────────────────────────────────────────の Continuing on the front page (72) Inventor Yasuo Enomoto 1006 Kadoma Kadoma, Osaka Prefecture Inside Matsushita Electric Industrial Co., Ltd.
Claims (6)
走行部に人力駆動力を与える人力駆動部、及び前記車輌
走行部に補助動力を与える補助動力駆動部を備えた補助
動力装置付き車輌であって、 前記人力駆動力を検出する人力駆動力検出部、 前記人力駆動力検出部からの検出した人力駆動力のデー
タを少なくとも記憶する第1の記憶部、及び前記第1の
記憶部に記憶した人力駆動力のデータと、前記人力駆動
力検出部からの検出した人力駆動力のデータとに基づい
て、前記人力駆動部に対する前記補助動力駆動部の補助
比率を決定する補助比率決定部を具備することを特徴と
する補助動力装置付き車輌。1. A vehicle with an auxiliary power device, comprising: a vehicle traveling unit for traveling, a human power driving unit for applying a manual driving force to the vehicle traveling unit, and an auxiliary power driving unit for supplying an auxiliary power to the vehicle traveling unit. A human-powered driving force detection unit that detects the human-powered driving force, a first storage unit that stores at least data of the human-powered driving force detected from the human-powered driving force detection unit, and a first storage unit. An auxiliary ratio determining unit that determines an auxiliary ratio of the auxiliary power driving unit to the human power driving unit based on the stored data of the manual driving force and the data of the human driving force detected from the human driving force detecting unit. A vehicle with an auxiliary power unit, comprising:
走行部に人力駆動力を与える人力駆動部、及び前記車輌
走行部に補助動力を与える補助動力駆動部を備えた補助
動力装置付き車輌であって、 前記人力駆動力を検出する人力駆動力検出部、 走行環境を検出する走行環境検出部、 前記走行環境検出部からの検出した走行環境のデータに
基づいて、前記人力駆動力検出部からの検出した人力駆
動力のデータを、基準走行環境で走行した場合での人力
駆動力のデータに変換する人力駆動力変換部、 基準走行環境での人力駆動力の基準値を予め記憶した第
2の記憶部、及び前記第2の記憶部に記憶した人力駆動
力の基準値と、前記人力駆動力変換部からの変換後の人
力駆動力のデータとに基づいて、前記人力駆動部に対す
る前記補助動力駆動部の補助比率を決定する補助比率決
定部を具備することを特徴とする補助動力装置付き車
輌。2. A vehicle with an auxiliary power device, comprising: a vehicle traveling unit for traveling; a human power driving unit for applying a manual driving force to the vehicle traveling unit; and an auxiliary power driving unit for supplying an auxiliary power to the vehicle traveling unit. A human-powered driving force detection unit that detects the human-powered driving force, a driving environment detection unit that detects a driving environment, based on data of the driving environment detected from the driving environment detection unit, the human-powered driving force detection unit A human-powered driving force converting unit that converts the data of the human-powered driving force detected from the data into the data of the human-powered driving force when traveling in the reference traveling environment, and stores the reference value of the human-powered driving force in the reference traveling environment in advance. 2 based on the reference value of the human-powered driving force stored in the second storage unit and the data of the human-powered driving force after the conversion from the human-powered driving force conversion unit. Auxiliary power drive Assisting power apparatus with a vehicle, characterized by comprising an auxiliary ratio determining unit that determines an auxiliary ratio.
走行部に人力駆動力を与える人力駆動部、及び前記車輌
走行部に補助動力を与える補助動力駆動部を備えた補助
動力装置付き車輌であって、 前記車輌の走行距離を算出する走行距離算出部、及び前
記走行距離算出部からの走行距離に基づいて、前記人力
駆動部に対する前記補助動力駆動部の補助比率を決定す
る補助比率決定部を具備することを特徴とする補助動力
装置付き車輌。3. A vehicle with an auxiliary power device, comprising: a vehicle traveling unit for traveling; a human power driving unit for applying a manual driving force to the vehicle traveling unit; and an auxiliary power driving unit for applying an auxiliary power to the vehicle traveling unit. A travel distance calculation unit that calculates a travel distance of the vehicle, and an auxiliary ratio determination that determines an auxiliary ratio of the auxiliary power drive unit to the human power drive unit based on a travel distance from the travel distance calculation unit. A vehicle with an auxiliary power unit, comprising: a vehicle.
走行部に人力駆動力を与える人力駆動部、及び前記車輌
走行部に補助動力を与える補助動力駆動部を備えた補助
動力装置付き車輌の制御方法であって、 前記車輌走行部に与えられた人力駆動力を人力駆動力検
出部により検出する工程、 検出した人力駆動力のデータを第1の記憶部に記憶する
工程、及び前記第1の記憶部に記憶した以前の人力駆動
力のデータと、前記人力駆動力検出部からの現時点の人
力駆動力のデータとに基づいて、前記人力駆動部に対す
る前記補助動力駆動部の補助比率を決定する工程を備え
た補助動力装置付き車輌の制御方法。4. A vehicle with an auxiliary power device, comprising: a vehicle traveling unit for traveling; a human power driving unit for applying a manual driving force to the vehicle traveling unit; and an auxiliary power driving unit for applying an auxiliary power to the vehicle traveling unit. Detecting a human-powered driving force applied to the vehicle traveling unit by a human-powered driving force detection unit; storing data of the detected human-powered driving force in a first storage unit; Based on the data of the previous manual driving force stored in the first storage unit and the current data of the manual driving force from the manual driving force detection unit, the auxiliary ratio of the auxiliary power driving unit to the human driving unit is calculated. A method for controlling a vehicle with an auxiliary power unit, comprising a step of determining.
走行部に人力駆動力を与える人力駆動部、及び前記車輌
走行部に補助動力を与える補助動力駆動部を備えた補助
動力装置付き車輌の制御方法であって、 前記車輌走行部に与えられた人力駆動力、及び走行環境
を人力駆動力検出部、及び走行環境検出部によりそれぞ
れ検出する工程、 前記走行環境検出部からの現時点の走行環境のデータに
基づいて、前記人力駆動力検出部からの現時点の人力駆
動力のデータを、基準走行環境で走行した場合での人力
駆動力のデータに変換する工程、及び前記人力駆動力変
換部からの変換後の人力駆動力のデータと基準走行環境
での人力駆動力の基準値とに基づいて、前記人力駆動部
に対する前記補助動力駆動部の補助比率を決定する工程
を備えた補助動力装置付き車輌の制御方法。5. A vehicle with an auxiliary power device, comprising: a vehicle traveling unit for performing traveling; a human power driving unit for applying a manual driving force to the vehicle traveling unit; and an auxiliary power driving unit for supplying an auxiliary power to the vehicle traveling unit. Controlling the human-powered driving force applied to the vehicle traveling unit and the traveling environment by a human-powered driving force detection unit and a traveling environment detection unit, respectively, and the current traveling from the traveling environment detection unit Based on the environmental data, the step of converting the data of the current manual driving force from the manual driving force detection unit to the data of the manual driving force when traveling in the reference traveling environment, and the manual driving force conversion unit. The auxiliary power drive unit comprising: determining an auxiliary ratio of the auxiliary power drive unit to the human power drive unit based on the data of the human drive force after the conversion and the reference value of the human drive force in the reference traveling environment. Method of controlling the apparatus with a vehicle.
走行部に人力駆動力を与える人力駆動部、及び前記車輌
走行部に補助動力を与える補助動力駆動部を備えた補助
動力装置付き車輌の制御方法であって、 前記車輌の走行距離を算出する工程、及び前記走行距離
算出部からの走行距離に基づいて、前記人力駆動部に対
する前記補助動力駆動部の補助比率を決定する工程を具
備することを特徴とする補助動力装置付き車輌の制御方
法。6. A vehicle with an auxiliary power device, comprising: a vehicle running unit for running, a human power driving unit for applying a manual driving force to the vehicle running unit, and an auxiliary power driving unit for applying an auxiliary power to the vehicle running unit. Calculating the travel distance of the vehicle, and determining an auxiliary ratio of the auxiliary power drive unit to the human power drive unit based on the travel distance from the travel distance calculation unit. A method for controlling a vehicle with an auxiliary power unit.
Priority Applications (1)
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JP07967298A JP4183791B2 (en) | 1998-03-26 | 1998-03-26 | Vehicle with auxiliary power unit |
Applications Claiming Priority (1)
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JP07967298A JP4183791B2 (en) | 1998-03-26 | 1998-03-26 | Vehicle with auxiliary power unit |
Publications (2)
Publication Number | Publication Date |
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JPH11278361A true JPH11278361A (en) | 1999-10-12 |
JP4183791B2 JP4183791B2 (en) | 2008-11-19 |
Family
ID=13696689
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JP07967298A Expired - Fee Related JP4183791B2 (en) | 1998-03-26 | 1998-03-26 | Vehicle with auxiliary power unit |
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JP2014069690A (en) * | 2012-09-28 | 2014-04-21 | Honda Motor Co Ltd | Assist power control device for power-assisted bicycle |
JP2014069689A (en) * | 2012-09-28 | 2014-04-21 | Honda Motor Co Ltd | Assist power control device for power-assisted bicycle |
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