WO2007034567A1 - Drive-by-wire steering system of automobile vehicle - Google Patents

Drive-by-wire steering system of automobile vehicle Download PDF

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Publication number
WO2007034567A1
WO2007034567A1 PCT/JP2005/017663 JP2005017663W WO2007034567A1 WO 2007034567 A1 WO2007034567 A1 WO 2007034567A1 JP 2005017663 W JP2005017663 W JP 2005017663W WO 2007034567 A1 WO2007034567 A1 WO 2007034567A1
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WO
WIPO (PCT)
Prior art keywords
steering
operation
device
vehicle
wheel
Prior art date
Application number
PCT/JP2005/017663
Other languages
French (fr)
Japanese (ja)
Inventor
Yoshiaki Takida
Original Assignee
Yoshiaki Takida
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Yoshiaki Takida filed Critical Yoshiaki Takida
Priority to PCT/JP2005/017663 priority Critical patent/WO2007034567A1/en
Publication of WO2007034567A1 publication Critical patent/WO2007034567A1/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D1/00Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/02Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D1/00Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/02Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
    • B62D1/12Hand levers
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05GCONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/04Controlling members for hand actuation by pivoting movement, e.g. levers
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05GCONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/58Rests or guides for relevant parts of the operator's body
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05GCONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks

Abstract

A drive-by-wire steering system for steering an automobile vehicle by a drive-by-wire system, wherein steering signals are input from a slide lever type or joystick type steering input device which is a man-machine interface steered by a driver into a steering control device through steering signal cables by a steering operation performed by the driver. In the steering control device, a steering device steering a steering wheel shaft is controlled for steering. Since the steering signal input device and the steering control device or the steering device steering the steering wheel shaft are connected to each other through the steering signal cables, apparatuses for steering functions can be simplified, and the mounting position of the steering device on the vehicle can be set rather freely. The steering signal input device can be mounted on the arm rest part of an operator's seat instead of on a steering wheel on which the steering signal input device was mounted in conventional automobile vehicles.

Description

 Technical Document Automotive Vehicle Drive-by-Wire One Steering System Technical Field

 The present invention is an automobile vehicle steering apparatus. Automobiles have been used as a steering method since the early days, and the vehicle has run along the road by moving the tire mounting shaft angle to the left and right. However, as a man-machine interface between the vehicle and the driver at that time, The driver is equipped with a steering wheel for steering operation. Since the vehicle is self-propelled with the engine as power, the passenger needs to steer the vehicle along the road. In recent years, an auto-driven automobile vehicle has been studied, but the steering method of the automobile vehicle is a handlebar shaft that can be obtained by rotating the circular handle left and right in most cases when the driver is equipped on the vehicle. This is a method of steering by converting the rotational motion into the left and right angles of the mounting shaft of the steering wheel, which is the front wheel. In the present invention, the steering lever that is newly installed at the armrest position of the driver's seat is not operated by the conventional method using the steering wheel, and the steering signal is transmitted to the steering control device through the steering signal cable. In this method, the vehicle is steered by controlling the steering motor of the steering device that is newly installed on the steering shaft from the device. Instead of directly steering the handle left and right with the hand as in the past, this is a method of steering the handle shaft with a steering device equipped on the handle shaft. It replaces the conventional steering wheel that is equipped with a man-machine interface when steering a vehicle, and is completely different from the concept of using a steering wheel that is a conventional vehicle steering method. Wire) Vehicle steering method and drive-by-wire vehicle steering system. Background art

Conventionally, things that require passenger control include automobile vehicles and airplanes or trains or ships, as well as motorcycles and bicycles. In the case of an automobile vehicle, a circular handle has been equipped as a steering device since the beginning of the invention of the automobile, and the handle shaft is mechanically Currently, most automobiles are equipped with power steering as a device to compensate for the force required to rotate. On the other hand, in the case of airplanes, the advancement of the function of steering equipment has already progressed, and the fly-by-wire control system has been adopted from the conventional mechanical type as the control device installed in the aircraft. Disclosure of the invention

 An object of the present invention is to reduce driver fatigue when driving on an automobile road, and driving an automobile in a posture when sitting on a single sofa with both elbows in a living room at home. It is possible.

 In the present invention, a driver operates a steering lever and a win force switch newly provided on the right or left armrest portion of the driver's seat in the right driver's seat or the left driver's seat, respectively, through the steering signal cable. The steering signal is input to the steering control device newly installed in the vehicle. Upon receiving the steering signal, the steering control device detects the driver's steering operation with the steering operation lever, and performs the steering operation by controlling the handle shaft rotation motor equipped on the steering device newly installed on the handle shaft. Is. In that case, it may be necessary to operate the winker device, which is a vehicle equipment. However, the driver must be equipped at the steering wheel so that the driver does not have to wake up and operate the winker device. Yes Lever-type win-force-In addition to the switch, an armrest blinker switch is installed on the armrest of the driver's seat.

 In addition to the steering operation function, the steering lever switch can be provided with an operation function for accelerating or decelerating while the vehicle is running by forming it as an input device that can move back and forth. Brief Description of Drawings

 FIG. 1 shows an example of a steering slide switch that is installed in a driver's seat armrest portion of a motor vehicle equipped with a drive-by-wire steering system as an embodiment and that steers a steering wheel of the vehicle. FIG.

FIG. 2 is a diagram for explaining a driver's seat of a vehicle equipped with an automobile vehicle drive-by-wire steering system as an embodiment. FIG. 3 (a) is a diagram showing a steering device which is a component of the vehicle drive-by-wire steering system, and shows a mounting state where the vehicle is mounted and installed at a position corresponding to the handle shaft. FIG. 3 (b) is a diagram for explaining the configuration of the steering device.

 FIG. 4 (a) is a configuration diagram of the automobile vehicle drive-by-wire steering system. Fig. 4 (b) shows the operating speed ratio of the drive motor shown in Fig. 3 (b) or the steering wheel which operates corresponding to the operation ratio of the steering lever shown in Fig. 1 and Fig. 5 (b). It is a figure for demonstrating an operating angle ratio.

 Fig. 5 (a) is a diagram for explaining the optimum shape of the steering wheel, which is a conventional steering device, and Fig. 5 (b) is formed in a shape different from the steering operation slide switch shown in Fig. 1. It is a figure which shows the steering operation control lever which is a grip lever type steering operation part. FIG. 5 (c) is a diagram showing an armrest winker switch installed in the driver's seat seat rest portion among the components of the automobile vehicle drive-by-wire steering system. BEST MODE FOR CARRYING OUT THE INVENTION

The automobile vehicle drive-by-wire steering system according to the present embodiment is a steering operation lever as shown in FIG. 1 (a) and FIG. 1 (b), which is installed in the armrest portion of the automobile vehicle driver's seat. Steering slide switch 1 · Steering acceleration / deceleration slide switch 2 or Steering control lever 555 as shown in Fig. 5 (b) . As shown in Fig. 1, when the steering slide levers 1 and 2 are operated to slide to the left (Left), the steering wheel of the vehicle moves in the direction in which the vehicle turns to the left. On the other hand, the steering wheel of the vehicle operates in the direction in which the vehicle turns to the right by operating it to slide to the right (Right). In FIG. 1 (b), in addition to the steering function for steering the vehicle, the vehicle has a function for adjusting the vehicle running speed by forming the steering slide switch so as to be movable back and forth. An example of the steering acceleration / deceleration slide switch 21 is shown. When accelerating and decelerating from the current running speed while the vehicle is running, slide the steering acceleration / deceleration slide lever 2 of the steering acceleration / deceleration slide switch 21 forward or backward to accelerate or decelerate. Operation is possible. Conventionally, it is equipped with a speed maintaining function that keeps the vehicle running speed at a constant speed, and in addition to the steering wheel. Vehicles equipped with acceleration switches and deceleration switches that perform acceleration operation or deceleration operation from a constant travel speed are manufactured by each automobile manufacturer, but acceleration that performs acceleration operation and deceleration operation of the vehicle speed is performed. A steering acceleration / deceleration slide switch 21 having a deceleration operation function is provided. The steering acceleration / deceleration slide switch 21 shown in FIG. 1 (b) is slidably operated on the left side (Left), so that the steering wheel steers in the direction in which the vehicle turns to the left, while the right side ( The steering wheel is steered in the direction in which the vehicle turns to the right and the vehicle speed is accelerated by the sliding operation in the forward direction (Fast). On the other hand, the vehicle deceleration setting operation operation is made possible by performing the operation of pulling in the forward direction (Slow) in a sliding manner. The vehicle operation for the actual acceleration / deceleration operation is controlled by the steering acceleration / deceleration slide switch 21. During the operation operation, the vehicle gradually accelerates or decelerates to reach the speed that the driver wants to set. The method may be a method of returning to neutral, or a method of accelerating or decelerating at a constant interval speed every time it is operated once in the front (F) direction or the rear (S) direction. The speed is set within the safe range set in advance by the driver at the time of vehicle manufacture using the acceleration / deceleration setting switch, which is a component of the steering operation unit 44 on the console panel 21 1 298 of the vehicle shown in Fig. 2. It is preferable to enable setting. The steering acceleration / deceleration slide lever 21 provided with the steering acceleration / deceleration slide switch 21 performs acceleration / deceleration operation in the front side (F) direction or the rear side (S) direction, as well as the left side (L) direction or right side (R). By operating the steering in the direction, vehicle operation such as changing lanes while gradually accelerating, for example, can be performed using only the steering acceleration / deceleration slide switch 21 without using the pedal pedal of the driver's foot 240.

Steering wheels that are activated by operating the steering slide switch 1 1 and the steering acceleration / deceleration slide switch 21 or the steering operation control lever 555 are mechanically operated by operating the handle shaft using the conventional vehicle steering operation method. Unlike the method of steering the connected steered wheels, this is a drive-by-wire method that controls the steering device by inputting a steering signal from the steering operation lever to the steering control device through the steering signal cable. In addition to being able to reduce the weight of the vehicle, it is not necessary to limit the wheel that is equipped with the vehicle to the left and right as the steering wheel. In addition to the front wheel, the rear wheel that the vehicle is equipped with is not shown. Steering wheels that steer the rear wheels in such a way that the steering operation is performed to change the angle in the same direction as the front wheels, or the steering operation is performed to change the angle of the rear wheels of the vehicle in addition to the front wheels in the opposite direction to the front wheels. As a constituent element of the steering operation unit 45 in order to switch whether or not the interlock steering operation is performed, it is possible to respond by installing a steering wheel switching switch near the steering operation lever.

FIG. 2 (a) is a diagram for explaining a driver's seat of an automobile vehicle equipped with an automobile vehicle drive-by-wire steering system according to an embodiment of the present invention. Steering slide switch 201 · Armrest winker switch 202 · Handle 210 · Center console panel 21 1 'Dashboard 21 5 · Windshield 230 · Shift lever 220 · Driver's seat 250, Left armrest 27 0 · Right armrest 205 · An accelerator pedal portion and a brake pedal portion or clutch pedal portion 240 are shown. The driver has the power to sit on the driver's seat 250 and drive normally.When driving a vehicle, it is often operated in the city area where there are many turns, such as the steering wheel 210 and the lever type winker equipped around the steering wheel. The switch or shift lever 220 or the accelerator pedal and brake pedal or clutch pedal 240 is a force that is a constant distance when traveling on long straight roads without traffic lights or intersections such as intercity roads. In general, the steering operation is performed so that the driving lane does not protrude. When driving on long straight roads or highways for long distances, the driver could not release his hand from the steering wheel 210 during driving to keep the vehicle's driving path so that it does not protrude from the lane. . When driving a car, the driver does not move while sitting in the driver's seat. The only thing to move the upper body is to check the safety of the left and right, front and rear, or around the handle 210 and the center. This is when the switches on console panel 21 1 are operated. In addition, in order for the driver to operate the steering wheel 210 with the driver's seat 250, it is difficult to perform the steering operation by buckling, so the seat belt that is equipped with the driver's seat 250 tends to be set relatively loose. When driving on narrow roads where there are many left and right turns, it is necessary to confirm safety, so it may not be possible to sit still on the driver's seat 250, but drive long distances such as intercity roads. In many cases, it is only necessary to take care that the vehicle keeps the course so that the vehicle does not protrude from the driving lane, and a large steering operation by the handle 210 is hardly required. Therefore, when driving on a straight road where there is no need to make a right or left turn at the intersection, instead of the steering wheel 210, the driver seat 250 Steering operation is possible by placing both arms on Mrest 270/205 and holding the course so that the driving lane does not protrude with steering slide switch 201. Compared to the case where it had to be, the posture can be maintained easily, so fatigue during running can be reduced. Even if you are traveling on a straight road, you may need to change lanes, so the driver can operate without having to raise her body from the seat seat 250 and reach around the handle 210. In addition to the lever-type winker switch around 210, armrest winker switch 202 is newly installed around armrest 205/270 or armrest 205/270.

 FIG. 2 (b) shows another embodiment of the present invention, and is a view for explaining a driver seat of an automobile vehicle equipped with an automatic vehicle drive-by-wire steering system not equipped with a handle 210. FIG. . The driver sitting on the driver's seat 28 8 without the steering wheel 210, which is a conventional steering operation unit, is equipped with the steering operation control lever described in FIG. Perform at 555 · 282. In addition, the shift lever 220 for switching the drive gear, which is the drive system device shown in FIG. 2 (a), is also equipped with a drive-by-wire shift operation lever switch 280 that is mounted on the armrest 287. The vehicle driving method itself is a vehicle drive-by-wheel steering system, which is a new vehicle driving device, and since the steering wheel 210 is not provided, the driver's seat is clearly felt widely. Some airplanes already use a lever-type control input device that is installed in the armrest part of the cockpit seat, but automobiles steer left and right unlike airplanes that steer the vehicle up and down and left and right. Since it only needs to be operated, it is considered that the steering operation can be performed with the steering control switch 555 alone as well as the steering slide switch 11 and the steering acceleration / deceleration slide switch 21 in which the steering wheel 210 is used even in the case of an automobile. It is done. Steering performance is highly improved as a man-machine interface, and the driver's own steering ability to steer it is also improved by the conventional steering method with the handle 210 if you are used to the steering method in the vehicle drive-by-wire-steering system. There is a possibility of replacing it.

In order for the driver to know the current steering wheel angle, there are times when the steering wheel 210 is the most difficult to understand, but it is necessary to display it so that the steering wheel angle can be understood. Shown in (b) of Figure 2 As you can see from the console panel 290, the visibility is good.For example, a simplified illustration of a tire diagram is displayed on a liquid crystal display. It is considered appropriate to equip the steering display unit 47 that knows the state of the steered wheel as a function. Steering wheel angle data necessary for display on the console panel 290 is collected from the steering control device 41, which is a component of the vehicle drive-by-wire steering system. In addition, several operation switches are provided as components of the display device and the steering operation unit 44 provided in the center console panel 298 or the console panel 290. This is a steering wheel state display method for reading the steering operation / steering operation ratio curve data and performing data setting and data setting described in FIG. 4 (b).

 The armrest part 28728 1 is equipped with a handle part 2 1 0 and switches 285, 28, 28, etc. Equip.

Unlike an airplane, in the case of an automobile, the driver's posture is often shaken back and forth or left and right during a vehicle start operation, vehicle deceleration stop operation, or right / left turn. In the past, it was possible to hold the handle 210 and support it with both arms, but if it was not equipped with the armrest 210, it would be wrapped around and supported by the driver's body and armrest shape or When checking the safety of the front, rear, left and right while holding the body well, it is necessary to deal with it by devising a seat belt function that easily tilts the upper body forward. FIG. 3 (a) shows a state in which the steering shaft 321 is mounted on the steering wheel shaft 320 to which the steering wheel 310 is attached. In practice, the steering shaft 320 and the steering wheel 320 are fixedly mounted on the vehicle side. Is. (B) in FIG. 3 is a diagram for explaining the internal structure of the steering device 321 shown in (a) of FIG. 3 and is composed of a handle shaft 389, a handle shaft gear 385, a steering gear 384, and a steering motor 382. To do. When the driver sitting in the driver seat 250 · 288 steers the steering slide switch 201 · steering operation control lever 555 in the left-right direction, the input steering signal is transmitted to the steering control device 41 through the steering signal cable. The steering control device 41 controls the steering motor 382 based on the steering signal received through the steering signal cable. The power of the steering motor 382 steers the handle shaft 389 through several steering gears 384 that are optimally set to operate the handle shaft gear 385. Traditionally, the driver made the handle 310 The steering wheel was converted from the steering shaft 320 by the steering operation and transmitted to the steering wheel. In this case, power steering was used as a device to reduce the force required to operate the steering wheel 310. It was equipped. In the vehicle vehicle drive-by-wire steering method, as shown in (a) of FIG. 3, the steering device 32 1 having the components shown in (b) of FIG. The steering device 321 that is not used when the steering operation is performed on the steering wheel can be a load, and the operating force supplemented by the power steering is optimally adjusted with the function to supplement the force for operating the handle shaft 320. There is a need to. When the load of the steering device 321 when not operating is large, the steering motor 382 is operated by operating the steering lever at the steering gear 384 and the handle shaft gear 385 of the steering device 321. It is also possible to use the steering gear mechanism structure 384 in which the operation operation is judged only when the steering gear 384 is moved and the steering gear 384 moves and moves. As an example, the steering power machine equipped with the steering device 321 has been described in the case of the steering motor 382. However, the steering power machine need not be limited to the steering motor 382, and the power of the hydraulic steering power machine is transferred to the steering gear 385. A transmission method may be used.

FIG. 4 (a) is a block diagram for explaining an automobile vehicle drive-by-wire steering system according to the present invention. MPU40, a centralized control device that controls the entire automobile vehicle from the past, the steering slide switch 11 and steering acceleration / deceleration that the driver sitting on the driver's seat 250 · 288 equips with the armrest 270 · 20 5 · 281 · 287 When the slide switch 21 or the steering operation control lever 555 is operated, a steering signal is transmitted to the steering control device 41 through the steering cable, and the steering motor 382 provided in the steering device 382 provided on the steering shaft 320 from the steering control device 41. Control operation. The mounting position of the steering control device 41 may be the steering device 46 mounted on the handle shaft 320 or the MPU40, which is a centralized control device that controls the entire vehicle. The driver operates the armrest winker switches 202 and 289 installed in the armrest parts 270, 205, 281 and 287 of the driver seat 250 · 288 and inputs the winker control signal to the turn indicator control part 42 through the winker cable. The direction indicator control unit 42 controls the operation of the blinker devices of the left and right vehicles. Steering acceleration / deceleration A speed control unit 43 that receives a speed setting signal input by a driver operating the slide switch 21 and sets a traveling speed while transmitting / receiving a speed control signal to / from the MPU 40. Steering thruster Id switch 1 1 · Steering acceleration / deceleration slide switch 21 · Steering operation control lever 555 'Steering wheel switching switch' Center console panel operation unit 211 · 298 Steering operation unit 45, Armrest win force 1 switch 202 · 289 Direction indication Steering device 46, Steering device 46, which is a functional equipment that steers steering shaft 320, Console panel 290 that displays steering wheel status display, and center console panel 298 that displays steering operation steering operation ratio curve when setting The driver has a function to input a speed setting signal when setting the vehicle traveling speed. For example, the speed setting section 48 and the speed setting section 48, which are the steering acceleration / deceleration slide switch 21, are equipped with a vehicle vehicle drive-by-wire one steering system. As a method of setting the speed of the selected vehicle, it is installed in the foot pedal section 240/295 of the driver's seat 250/288 In addition to adjusting the speed using the accelerator pedal and brake pedal to be operated or the speed setting switch 501 that has conventionally been installed in the handle part 210, the speed is set to the armrest part 270, 205, 287, 281 of the driver's seat 250 · 288 For example, a steering acceleration / deceleration slide switch 21 having a function. Alternatively, in the case of actual formation, it is formed in the form of a joystick type input device equipped with several input switches which are, for example, computer man-machine interface input devices (b in FIG. 5). This is a component when the steering operation control lever 555 equipped with several button type switches or left and right seesaw type input switches equipped on the steering operation control grip 507 shown in FIG. Conventionally, since there is a vehicle of a type in which the steering wheel part 210 is equipped with a speed setting switch, it is considered practical that the control function part of the speed setting part 48 is functionally equipped in the MCU 40. The power source 49 supplies power to each component, and the battery installed in the vehicle is the power source.

 FIG. 4 (b) shows a steering operation steering operation ratio curve indicated by a steering device operation ratio (Y axis) to a steering operation device operation ratio (X axis) of the vehicle drive-by-wire steering system of the present invention. It is a figure for demonstrating. Steering slide switch 1 1 shown in Fig. 1 (a) and Steering acceleration / deceleration slide switch 21 shown in Fig. 1 (b) or steering operation control lever — 555 It represents the steering wheel operating angle ratio (Y axis) to the ratio (X axis).

The left side of the steering slide switch 11 and the steering acceleration / deceleration slide switch 21 shown in FIG. 1 or the steering operation control lever 555 shown in FIG. Each operation operation ratio and the steering operation ratio of the steering device 47 in which the Y axis operates correspondingly are shown. When the steering slide switch 1 or 2 or the steering operation control grip 507 is steered in the left-right direction indicated by the X axis, the steering operation ratio of the steering device 47 is represented by a steering operation steering operation ratio curve indicated by a proportional curve. Can do.

 In the case of the steering slide switch 1 1 and the steering acceleration / deceleration slide switch 21, the left and right movable distances of the steering slide lever 1 and the steering acceleration / deceleration slide lever 2 are short, so that the steering motor 382 provided in the steering device 46 is controlled. The method is considered suitable. When the steering slide levers 1 and 2 are operated to the left and right, the steering motor 382 operates at the operation ratio of the steering operation steering operation ratio curve shown by the solid line in the graph shown in FIG. When the steering motor 382 is operated, the handle 210 is also rotated at the same time, but the steering operation is performed while adjusting the operation of the steering motor 382 with the strength of the operation of the steering slide levers 1 and 2, and steering to the required steering operation is performed. At this point, if the operation is continued as it is, it will be 100% on the shaft and the steering wheel will be steered until it is fully turned, so return the steering slide levers 1 and 2 to neutral. That is, when the handle 210 is operated, the hand is released from the handle 210. Since the operation of the steering motor 382 is stopped while the vehicle is traveling and the steering wheel is steered, the steering wheel naturally returns to the straight traveling state. Depending on the vehicle speed at that time and the required travel curve, whether the steering slide levers 1 and 2 can remain neutral or if it is necessary to maintain the curve travel, perform the steering operation as necessary Alternatively, when the vehicle is returned straight ahead, the steering slide levers 1 and 2 are operated in the direction opposite to the direction in which the steering operation was performed earlier, so that the reverse rotation operation is performed even when the handle 210 is operated. By doing so, the steered wheel quickly returns straight. When steering with the steering slide levers 1 and 2 provided in the steering slide switch 1 1 and the steering acceleration / deceleration slide switch 21, as shown by the solid line in Fig. 4 (b), from the neutral position indicated by the X axis "0" The steering operation by the steering motor 382 is performed only in the direction of the steering operation.

On the other hand, the steering method in the case of the steering operation control lever 555 is a grip lever type, and it is possible to ensure a relatively movable distance to the left and right, so that the steering wheel operating angle ratio is used as the Y axis for steering. Is considered possible. As shown by the dotted line in Fig. 4 (b), the steering wheel angle (Y axis) is controlled relative to the operation ratio (X axis) of the steering operation control grip 507. It corresponds so that it may represent with a rudder operation steering operation ratio curve. The steering wheel angle when the steering operation control grip 507 is held at a constant operation operation ratio (X axis) holds the constant steering wheel angle (Y axis) corresponding to the proportional curve. The steering wheel status is displayed on the console panel 290, which is the steering display section 47, in a simplified illustration so that it can be easily seen visually. Is possible. In the case of the handle 210 operation, this is a state in which the handle 210 is steered to some extent and the position is held by hand. On the other hand, in order to return the steered wheel in the operating state to the straight traveling state, the steering operation control grip 507 is moved straight from the state of the steering wheel operating ratio (Y axis) corresponding to the current operating operation ratio (X axis). When returning to a certain Y-axis “0”, the steering operation control grips 507 can be released and the steering wheel can be returned to the straight state by moving the steering operation control grip 507 or the steering operation control grip In the case of performing an operation of returning the 507 toward the neutral operation position (X axis) of “0”, the steering control device 41 reversely rotates the steering motor 382 provided in the steering device 47, and the steering wheel The steering wheel returns to the straight traveling state while following the steering operation steering operation ratio curve indicated by the dotted line toward “0” of the steering wheel operation ratio (Y axis) in the straight traveling state. When performing the steering operation with the described steering operation control grip 507, the steering control device 41 determines the vehicle speed at that time and steers in a stepless manner within the range where the vehicle does not exceed the limit value of the driving performance. The operation steering operation ratio curve is variably set. For example, when the vehicle speed is low, the steering operation is performed using the dotted steering operation ratio curve shown in FIG. 4B, and when the vehicle speed is high, the steering operation steering operation ratio curve is indicated by a single dotted line. It is considered that it is safe in terms of vehicle running to equip the steering control device 41 with a function for variably setting the steering operation steering ratio curve that is optimal for the current speed so that the steering operation can be performed. When the vehicle speed is high, it is possible to prevent the rudder from becoming too effective with a slight operation of the steering control control grip 507. As another possible safety function, the steering operation control grip 55 of the steering operation control lever 55 5 operates lightly when the vehicle speed is slow, and it is necessary for steering operation when the vehicle speed is high. It is conceivable to equip the steering operation control lever support 509 with a function that operates with heavy force. As described above, in the case of the steering operation control lever 555, a force that assumes a steering operation device of an automobile vehicle drive-by-wire-steering system instead of the steering wheel 210 that is a conventional steering operation device. In the case of 1 and the steering acceleration / deceleration slide switch 21 alone, it is not assumed as a substitute for the conventional handle 210, but is used in combination with the handle 210 to support it so that it does not protrude from the driving lane when traveling straight ahead. It is considered realistic to assume a simple steering operation function. Therefore, when the driver is steering with the steering slide switch 1 1 and the steering acceleration / deceleration slide switch 21, the driver can reach the handle 210 immediately and can switch to the steering operation with the handle 210 at any time. There is a need. When a large steering operation is required, the steering operation is performed on the handle 210 side.

The steering operation ratio curve is set so that the steering wheel operation ratio increases or decreases in proportion to the steering operation ratio rather than linearly proportionally. This is to prevent over-sensitivity. This is to prevent nerve stress from being applied to the driver when the rudder is too sensitive during driving. Another purpose is to prevent fluttering that occurs from a slight operation of the steering slide lever during straight running. As shown by the solid line in Fig. 4 (b), the steering motor operating speed ratio (Y axis) to the steering slide lever operating ratio (X axis), or the steering operation control grip 507 as shown by the dotted line and the dotted line. How to set the steering wheel operation ratio (Y axis) to the operation operation ratio (X axis) can be variably set, and a standard steering operation steering operation ratio curve can be set at the vehicle manufacturing factory when the vehicle is manufactured. It is set in the ROM of the drive controller 41, and the driver's center console panel 211-298 allows the driver to arbitrarily set the operation ratio curve within a safe range. A method of storing and saving is suitable. By doing so, the steering operation area (X-axis) such as the setting for steering operation by small steering operation, the setting for steering operation by large steering operation, the steering operation setting for reacting sensitively or the response to blunting, etc. Arbitrary settings can be made every time. Alternatively, as shown as an example with a dotted line or a single dotted line in FIG. 4 (b), it is preferable to provide functional equipment that variably sets the vehicle speed within a safe range. FIG. 5A shows the shape of the handle 210. FIG. Traditionally, the handle 2 10 has almost a round shape, but there are some different shapes for racing and sports vehicles. When a driver is driving a vehicle equipped with a vehicle drive-by-wire steering system according to the present invention, particularly in the case of an ordinary passenger car, the steering slide switch 1 1 or the steering acceleration / deceleration slide switch 2 1 The driving posture is such that the driver sits deeply on the driver's seat 250 without using the handle 210 and leans against the backrest, as if sitting on a single-seat sofa with both armrests in the living room at home. It becomes possible. Therefore, when looking forward through the windshield 230 from the line of sight of the driver sitting in the driver seat 250 shown in Fig. 2 (a), the line of sight is necessarily lower than when the body is raised. Therefore, the line of sight may be narrowed when the upper position of the handle 210 is higher than the upper position of the dashboard 215. In order to prevent this, it is conceivable to equip the handle shaft 320 with a function capable of reducing the diameter of the handle 210 or reducing the height of the handle 2 10. The method of lowering the 0 position makes the position of the handle 210 too low. Therefore, it is optimal to form a handle shape 505 in which the upper part of the handle 500 is cut as shown in FIG. In addition, a handle shape 502 in which a lower portion of the handle 500 is cut is preferable so that a space around the knee of the driver's seat 250 can be secured when the driver gets on and off the vehicle. However, it is not common to form the shape of the handle 500 in a shape different from a perfect circle, so it is not common, so it is not a standard equipment as a vehicle specification but an equipment that can be selected with an option. The shape of the handle 500 as shown in FIG. 5 (a) is desired. In addition, the figure shows an example of a speed setting function switch 5001, which is conventionally provided at the center of the handle 500.

FIG. 5 (b) shows a steering operation input device formed in a shape different from the steering slide switch 11 shown in FIG. 1 (a) and the steering acceleration / deceleration slide switch 21 shown in FIG. 1 (b). Thus, the steering operation control lever 555 is provided with a more advanced steering operation input function. The driver performs the steering operation by operating the steering operation control grip 507 in the left direction or the right direction. The main body uses a durable metal material and the surface of the steering operation control grip 507 is in hand. Steering operation control formed from familiar materials The lever support 509 is installed in the armrest 281 · 287 next to the driver's seat 288. Such a lever-type steering device has been put to practical use in an airplane control device, but in the case of an automobile, unlike an airplane flying in the air, it frequently starts and stops or accelerates and decelerates while driving. In the case of the steering operation control lever 555, in addition to the steering operation, which is the functional purpose, the driver one accidentally happens to be able to support the posture with the steering wheel 210. It must be durable enough to withstand the forces that support the upper body. For this purpose, in addition to a mounting method in which the main body is made of a durable metal material and is firmly fixed, the mounting support shaft of the steering control control lever support 509 is fixedly mounted on the bearing stand side. One way to do this is to install a steering control lever that can absorb shocks and create a practical durable structure by using hard springs, hard rubber, or mounting hardware that has a shock absorbing function.

 In order to allow the driver to operate while steering with the steering operation control lever 555, the steering operation control grip 507 is conventionally provided with an acceleration / deceleration setting switch 501 at the steering wheel shown in FIG. The steering operation control grip acceleration setting switch 527 and the steering operation control grip deceleration setting switch 529, or the steering operation control grip winker switch 528, are equipped as a function so that the driver can steer and operate the steering operation control grip. Acceleration / deceleration setting and blinker operation can be performed without releasing the hand from the 507. The steering operation control grip acceleration setting switch 527 and the steering operation control grip deceleration setting switch 529 are push button type input switches, and the steering operation control grip winker switch 528 is a seesaw type left / right switching type push switch.

Since the steering signal input device and the steering control device or the steering device, which are the features of an automobile vehicle run-by-wire steering system, are connected by a signal cable or a control signal cable, the mounting position on the vehicle is relatively free. It can be set. Automobile vehicles have a right-hand drive specification 'Left-hand drive specification or drivers have right-handed or left-handed people. Especially, the steering signal input device as a man-machine interface is the steering slide switch 1 1 and the steering acceleration / deceleration slide switch. 21 or the steering control lever 555 or in the future the gear shift operation lever switch 280 of the drive system Rather than the driver side adjusting to the vehicle as in the past, the mounting base is mounted and installed in advance so that the installation location can be set on either the left or right side so that the vehicle can be set to the driver side. It is possible.

 FIG. 5 (c) is a diagram for explaining the operation of the armrest winker switch 202 shown in FIG. 2 (a) and the steering operation control grip win force switch 528 shown in FIG. 5 (b). . A switch that operates in a seesaw manner by depressing each of the left and right sides. In the case of the armrest winker switch 202, in addition to the conventional lever-type winker switch around the steering wheel 210, the driver's seat It is mounted on 250 armrest parts 270.205 together with vehicle window opening / closing switch or door lock switch. As an operation method, for example, when the driver operates the left winker device while driving the vehicle, the left indicator (L) 520 of the armrest winker switch 51 1 is pressed to send the win force one operation signal through the winker signal cable. Input to the control unit 43. The direction indicator control unit 43 judges by the winker operating state and the winker operating signal at the time of reception, and when the winker operating state is stopped, the blinking lighting operation of the left side winch force device equipped on the vehicle is started. On the other hand, when the right turn signal device is operated, the reverse operation is performed. When the left or right side of the armrest winker switch 511 is pressed, the left and right turn signal devices start blinking lighting operation. Either the left or the right blinks. The blinker lights up and the blinker device that is operating is turned off when the armless blinker switch 5 1 1 is currently operating the steering control grip winch force switch 528. When the opposite side is pressed once, the light is turned off. Alternatively, in the same way as the turn-off operation method when the winker device is activated when turning right or left with the conventional lever-type winker switch installed around the steering wheel, the direction indicator is on the way to return the steering operation angle of the steered wheel to the straight traveling state. The controller 43 automatically detects and ends the blinking operation.

At present, fly-by-wire control devices have already been put into practical use for airplanes, and they operate safely with hundreds of passengers while connecting to the Internet, such as an air traffic control system or the Internet. Even in the case of automobiles, the durability and reliability of a vehicle drive-by-wire steering system itself is completed to a practical level, and the safety level is equivalent to or higher than that of an airplane flying with hundreds of passengers. Need to secure is there. In the near future, it is considered that each vehicle will run while being connected to the Internet at all times via the Internet connection or a new automobile vehicle control system. It must be a motor vehicle drive-by-wire steering system that can completely protect against infringement via the net from the outside. There are already researches on autonomous driving vehicles that automatically run while confirming the position with GPS, or autonomous driving vehicles that automatically run according to the guidance signal from the guide cable embedded in the road. It is assumed that the system and each vehicle will be connected to the Internet. Considering the near future, the developer or manufacturer will be able to get on the vehicle and determine whether it can operate normally. It is considered necessary to formulate safety standards for new automobiles.

 If a bug in the vehicle drive-by-wire steering system itself or a malfunction due to system infringement from outside the vehicle occurs, the cause can be thoroughly investigated and dealt with in the form of the responsibility of the vehicle manufacturer. Automobile vehicle manufacturers are unlikely to manufacture vehicles that cannot sell their own vehicles.

 The name of the invention is the automobile vehicle drive-by-wire steering system, but the term drive-by-wire system is based on the common name of the fly-by-wire system, which is a pilot system already in practical use on airplanes. Since the present invention is an automobile and there is no general name yet, the invention name was applied for a drive-by-wire system in an automobile vehicle drive-by-wire steering system.

Industrial applicability

 Conventionally, an automobile has been steered by a steering wheel. Steering with the steering wheel is a method that allows the driver to take a long trip on a straight road that does not need to turn left or right. Driving the car was tired because I had to hold it.

By installing a steering input device for the driver's steering operation in addition to the steering wheel to the armrest of the driver's seat, the driver placed his arms on both armrests of the driver's seat by releasing his hand from the steering wheel. It is possible to drive in an easy posture and reduce driving fatigue. Although the conventional concept that the steering operation method of an automobile vehicle is performed by a steering wheel is used, the armrest unit is used while using the steering operation unit and the steering wheel until it gets used to the steering operation of the drive-by-wire method. If the grip type steering operation control lever and the steering control device or the steering performance of the steering device have advanced to a high degree while getting used to driving with the steering device equipped with the Fatigue can be reduced compared to the steering operation method.

 Armrest part that is used in combination with the handle steering part. It is considered that it takes some years for the driver to start driving a vehicle with only a grip-type steering control lever without a handle. In the case of a steering slide switch equipped on the vehicle, it is not difficult for the driver to perform steering operation at the steering operation part of the armrest part on a motorway with a straight line. It is practically useful because it can reduce the fatigue of the driver.

 Since the steering signal input device and the steering control device or the steering device that steers the handle shaft are connected by a signal cable, the vehicle mounting position of the steering signal input device can be set relatively freely. This can be handled by setting the position of the steering signal input device when the right-handed or left-handed vehicle is operated by the driver or the left-hand drive vehicle or the driver's dominant arm.

Claims

The scope of the claims
1. As a method of steering an automobile vehicle, a steering signal input means that is a steering signal input device that is movable in the left-right direction as a man-machine interface that performs a steering operation instead of a conventional steering operation by a driver;
 The steering signal input from the steering signal input device is transmitted to the steering control device that controls the steering device, which is a functional equipment for steering the steering shaft through the steering signal cable, and the steering device is mounted on the steering shaft from the steering control device. The steering device control means for controlling the steering power machine equipped with the steering control signal cable through the steering control signal cable, the steering wheel actuating means for transmitting the steering power of the steering power machine from the steering shaft to the steering wheel, and the driver of the vehicle seat An automotive vehicle drive-by-wire steering system in which the driver's vehicle is steered by steering operation with the steering signal input device.
2. A steering signal input device that is a man-machine interface in which a driver of a driver seat performs a steering operation,
 A steering operation control lever having a steering operation control grip which is a joystick type input device which is the computer's first input device;
 The vehicle vehicle drive-by-wire one-steering system according to claim 1, which is a steering operation method in which a steering signal is input to a steering control device by a steering operation control lever.
3. The vehicle equipment position is the armrest part of the driver's seat or around the armrest, and a steering slide switch or steering acceleration / deceleration slide switch that is slidably moved in the left-right direction is equipped as a steering signal input device.
 The automobile vehicle drive-by-wire steering system according to claim 1.
4. For a steering slide switch or a steering acceleration / deceleration slide switch that moves left and right and inputs a steering signal, It is designed to move in the front-rear direction, and the input signal when operating in the front-rear direction is used as the vehicle speed acceleration / deceleration signal to control the speed control unit or the entire vehicle as a component of the vehicle drive-by-wire steering system. Steering acceleration / deceleration slide switch, which is a steering signal input device that has a function to transmit to the MPU, which is a device, via a speed setting cable.
5. In addition to using the front wheel of the vehicle as the steering wheel, the rear wheel installed on the vehicle can be used as the steering wheel in the reverse direction of the front wheel steering wheel. Front and rear wheel steering means equipped with a steering device on the side,
 Front and rear wheel steering equipped with a steering device on the rear wheel side so that the steering angle of the rear wheel equipped on the vehicle in addition to the front wheel can be operated in conjunction with the front wheel steering wheel in the same direction. Means,
 In addition to being able to set whether to operate in the reverse direction with the rear wheel side as the steering wheel, it is also possible to set whether to operate in the same direction with the rear wheel side as the steering wheel Steering wheel switching means having a function;
 2. The vehicle drive-by-wire steering system according to claim 1, wherein a steering wheel for front and rear wheel steering operation can be switched by providing a front and rear wheel steering wheel switching function.
6. A winker switch formed as a seesaw-type switch equipped in addition to a winker switch conventionally formed with a lever-type switch, etc. around the steering wheel. Blinker signal input function to input
 A winker operation input device having a function of inputting a win force one operation end signal for ending the winker operation when either the left or right winker device is pressed opposite to the operating side during operation;
 A winker one signal transmitting means for inputting a winker actuating signal inputted from the winner one actuating operation input device to the direction indicator control device through a winker signal cable;
The winker control signal from the direction indicator control device A win force control device that controls the winker operation by inputting to the MPU, which is a control device for one device or the entire vehicle,
 A win force single operation input device where the equipment position is around the armrest or armrest of the driver's seat.
7. A joystick type input device equipped as a steering signal input device, which is a man-machine interface for the driver of the driver's seat to perform the steering operation,
A steering operation control port equipped with a seesaw-type switch, which is a win force operation input device, and a steering signal input device equipped with a steering operation control grip equipped with a steering operation control grip. '
8. A joystick type input device equipped as a steering signal input device, which is a man-machine interface where the driver of the driver's seat performs a steering operation operation,
A steering operation control device is a steering signal input device equipped with a vehicle speed setting signal input method equipped with a push button type switch, which is a vehicle speed setting switch, in a steering operation control grip.
9. So that the driver sitting in the driver ’s seat of the car can know what angle the steering wheel is now,
 A steered wheel angle display method that displays a simplified illustration of the tire condition on a display device mounted on the console panel of the driver's seat based on the steered wheel data collected from the steered wheel control device.
10. The driver should not steer the handle shaft by manually steering the handle.
A steering device that is a steering shaft steering means that performs steering operation by controlling a steering power machine with a steering control signal from a steering control device on a steering shaft gear that is mounted on the steering shaft via several steering gears.
1 1. Steering signal input means for inputting a steering signal from the steering signal input device to the steering control device;
The steering control device that has received the steering signal controls the operation of a steering power machine provided in the steering device, thereby driving a steering gear and a handle shaft gear of the steering device to perform a steering operation.
 In the case of a steering slide switch and a steering acceleration / deceleration slide switch, which is a switch with a small left / right movable distance when inputting a left / right steering signal provided in the steering signal input device, the steering control device is based on a steering signal input by a left / right steering operation. The automobile vehicle drive-by-wire steering system according to claim 1, wherein the operation control method is a method of controlling a steering power machine.
12. Steering signal input means for inputting a steering signal from the steering signal input device to the steering control device;
 A steering power control means for controlling a steering power machine equipped with the steering device by the steering control signal by the steering control device receiving the steering signal;
 Steering operation means for steering the steering shaft by driving the steering gear and the steering shaft gear of the steering device by the steering power machine;
 The joystick-type steering operation control lever, which has a mechanism structure that can secure a certain amount of left and right movable distance as a functional equipment for inputting the left and right steering signals of the steering signal input device, is based on the steering signal input by the left and right steering operations. The method of controlling the operation of the steering control device is
 The vehicle-by-wire drive-by-wire steering system according to claim 1, which is a steering wheel control method corresponding to a steering wheel left-right operation angle ratio equipped on the vehicle.
13. Steering signal input means for inputting a steering signal from the steering signal input device to the steering control device;
The steering control device that has received the steering signal drives the steering gear and the handle shaft gear to control the steering shaft by controlling the steering power machine equipped in the steering device with the steering control signal. Steering operation means,
 A steering control means for determining a steering operation ratio for performing a steering operation with respect to a steering operation ratio performed by a steering signal input device in a method of controlling a steering power machine operation speed ratio;
 2. The vehicle drive-by-wire steering system according to claim 1, which is a steering operation steering operation ratio curve in which a steering operation ratio with respect to a steering operation ratio input from a steering signal input device increases in a curve proportional manner.
 14. Steering signal input means for inputting a steering signal from the steering signal input device to the steering control device;
 The steering control device that has received the steering signal has a steering power control means for controlling the steering power provided to the steering device by the steering control signal;
 Steering operation means for steering the steering shaft by operating the steering gear and the steering shaft gear by the steering power machine;
 The steering control device is a method for controlling a steering wheel operating angle ratio of a steering wheel equipped in a vehicle, and a steering wheel control means for determining a steering wheel operating angle ratio with respect to a steering operation ratio input from a steering signal input device;
 The steering operation angle ratio is a curve in which the steering operation angle ratio increases or decreases in proportion to the steering operation ratio input from the steering signal input device, and the steering signal input device is returned from the left-right operation state to the neutral state. 2. The vehicle-by-wire drive-by-wire steering system according to claim 1, wherein the steered wheel operation ratio operates on the steering operation / steering operation ratio curve while reversing the operation operation.
 15. Steering signal input means for inputting a steering signal from the steering signal input device to the steering control device;
 Steering motor control means for driving the steering gear and the steering shaft gear to steer the steering shaft by controlling the operating speed of the steering power machine installed in the steering device by the steering control signal. ,
The steering control device that has received the steering signal operates the steering wheel with the steering control signal. Steering wheel operation ratio control means for controlling the steering wheel operation ratio at the time of making,
 The steering control device determines the steering operation ratio relative to the steering operation ratio, and the steering control device determines the vehicle speed at each time and variably sets the steering operation steering operation ratio curve within a safe range that does not exceed the vehicle steering performance limit. The automobile vehicle drive-by-wire steering system according to claim 1.
16. A mounting method for mounting a steering operation control lever on or around an armrest portion of a vehicle driver's seat,
 As a method to fix and attach the mounting support shaft that fixes the steering control lever support part to the bearing stand that is the mounting position on the vehicle, use a hard spring, hard rubber, or a fixture with shock absorbing function. This is a method of mounting a steering operation control lever, which is a method of mounting fixedly by absorbing impact.
PCT/JP2005/017663 2005-09-20 2005-09-20 Drive-by-wire steering system of automobile vehicle WO2007034567A1 (en)

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