WO2019244449A1 - Système de commande d'unité mobile et procédé de commande d'unité mobile - Google Patents

Système de commande d'unité mobile et procédé de commande d'unité mobile Download PDF

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Publication number
WO2019244449A1
WO2019244449A1 PCT/JP2019/015400 JP2019015400W WO2019244449A1 WO 2019244449 A1 WO2019244449 A1 WO 2019244449A1 JP 2019015400 W JP2019015400 W JP 2019015400W WO 2019244449 A1 WO2019244449 A1 WO 2019244449A1
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WIPO (PCT)
Prior art keywords
vehicle
torque
unit
information
moving body
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PCT/JP2019/015400
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English (en)
Japanese (ja)
Inventor
隆志 原
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株式会社デンソー
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Publication of WO2019244449A1 publication Critical patent/WO2019244449A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/18—Controlling the braking effect
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Definitions

  • the present disclosure relates to a mobile control system and a mobile control device.
  • An acceleration detection unit that detects the acceleration of the vehicle in the regenerative state, and a weight determination unit that determines whether the weight of the vehicle exceeds a predetermined threshold depending on whether the detected acceleration exceeds a threshold, 2.
  • a vehicle control device including a vehicle (for example, JP-A-2009-171727).
  • the acceleration detection unit determines whether the weight of the vehicle exceeds a threshold value by detecting the acceleration at the time of deceleration of the vehicle, and determines the acceleration at the time of deceleration based on the result. Switch.
  • a moving object control system includes a moving body having a driving unit, a moving body control device for controlling the moving body, and transmitting, to the moving body control device, loading information on at least a weight of an object to be loaded on the moving body.
  • Information communication terminal An input unit that receives the loading information, and a torque determination unit that determines a torque generation amount for causing the mobile to travel at a predetermined acceleration / deceleration using the loading information;
  • a drive control unit that controls the drive unit using the torque generation amount and causes the moving body to travel at the acceleration / deceleration.
  • the loading information is transmitted to the input unit by an operation of the information communication terminal by a person using the mobile object.
  • the information communication terminal transmits the information on the object loaded on the mobile object, and the wireless communication unit of the mobile object can receive the information.
  • Control of estimating the weight of the moving body from the loading information and running the moving body at a predetermined acceleration / deceleration in accordance with the estimated value of the weight can be executed. Therefore, it is possible to estimate the weight of the moving body regardless of the traveling state of the moving body, and adjust the acceleration / deceleration when the moving body starts and stops according to the increase or decrease in the weight of the moving body.
  • the moving object does not need to include a device for measuring acceleration or a device for measuring weight. Therefore, a moving body capable of adjusting the acceleration / deceleration according to the weight without increasing the size of the moving body can be obtained.
  • FIG. 1 is an explanatory diagram showing the overall configuration of the mobile control system.
  • FIG. 2 is a flow chart of control executed by the mobile object control system
  • FIG. 3 is an explanatory diagram illustrating an entire configuration of a mobile control system according to the second embodiment.
  • FIG. 4 is a flowchart of control executed by the mobile control system according to the second embodiment.
  • the mobile control system 100 of the first embodiment includes a vehicle 10, an information communication terminal 60, and a vehicle data management center 40.
  • vehicle data management center 40 is also simply referred to as “management center 40”.
  • the vehicle 10 is, in the present embodiment, an automatic driving vehicle used for the purpose of a service (hereinafter, also referred to as a “mobile service”) for transporting people and cargo in a predetermined section.
  • the vehicle 10 may be a vehicle for carrying only one of a person and a cargo, or may be a vehicle having a plurality of vehicle bodies connected to each other like an articulated bus.
  • the vehicle 10 includes a position detection unit 14, a navigation device 16, a wireless communication unit 12, a driving unit 18, and a vehicle control unit 20.
  • a moving body including a driving unit 18 is referred to as a vehicle 10
  • the moving body includes a wireless communication unit 12, a position detection unit 14, a navigation device 16, and a vehicle control unit 20. Absent.
  • “automatic driving” means driving in which all of the drive unit control, the brake control, and the steering angle control are automatically performed without the driver (driver) performing the driving operation of the vehicle 10. Therefore, in the automatic driving, the operation state of the drive unit, the operation state of the brake mechanism, and the steering angle of the wheel are automatically determined.
  • “Manual operation” means an operation for controlling the drive unit (depressing the accelerator pedal), an operation for controlling the brake (depressing the brake pedal), and an operation for controlling the steering angle (rotating the steering wheel). , Means the operation performed by the driver.
  • the position detection unit 14 has a function of detecting the position of the vehicle 10.
  • a GNSS receiver that measures the current position (longitude / latitude) of the vehicle 10 based on a navigation signal received from an artificial satellite constituting a GNSS (Global Navigation Satellite System) can be used.
  • the current position of the vehicle 10 can be transmitted to the management center 40 by the wireless communication unit 12.
  • the navigation device 16 is a control device that determines a planned traveling route of the vehicle 10.
  • the navigation device 16 has a function of determining a scheduled route in automatic driving based on the destination and the position of the vehicle 10 detected by the position detection unit 14.
  • the destination is determined by the navigation device 16 referring to the data of the moving section stored in the memory 24.
  • other sensors such as a gyro may be used in addition to the position detection unit 14 to determine or correct the scheduled route.
  • the wireless communication unit 12 is an input unit having a function of performing wireless communication with the outside of the vehicle 10.
  • the wireless communication unit 12 obtains a torque map for controlling the driving unit 18 of the vehicle 10, obtains data of a moving section to be referred by the navigation device 16, and transmits information that the vehicle 10 has reached a destination.
  • the drive unit 18 is an electric motor that drives wheels of the vehicle 10. As the drive unit 18, one or more prime movers of an internal combustion engine and an electric motor can be used.
  • the vehicle control unit 20 is a control device that executes various controls for driving the vehicle 10.
  • the vehicle control unit 20 has a drive control unit 22 and a memory 24 as a storage unit.
  • the vehicle control unit 20 includes, for example, one or more ECUs.
  • the vehicle control unit 20 has a function of controlling the drive unit 18.
  • the vehicle control unit 20 controls the automatic driving of the vehicle 10 by controlling various control devices (not shown) using various information and detection values provided from various sensors (not shown).
  • various sensors for example, a vehicle speed sensor, a steering angle sensor, a yaw rate sensor, a forward detection sensor using a stereo camera or radar can be adopted.
  • a brake control device configured by an electronic control brake system (ECB) and a steering angle control device configured by an electric power steering system (EPS) can be adopted.
  • EAB electronic control brake system
  • EPS electric power steering system
  • the drive control unit 22 executes control for driving the drive unit 18 using the torque map in the memory 24.
  • the memory 24 includes a memory that stores a computer program relating to automatic driving of the vehicle 10 and a torque map described below in a non-volatile and read-only manner, for example, a ROM, and a memory that can be read and written by the vehicle control unit 20, for example, a RAM.
  • the memory 24 stores a torque map TM1, which is one of the torque maps TMj described later, and a moving section TT1 of the moving section 78 described later.
  • the information communication terminal 60 is a tablet terminal connected via a network, and is used by a person who uses a mobile service provided by the vehicle 10 (hereinafter, also referred to as a “user”).
  • the information communication terminal 60 includes a wireless communication unit 62 capable of communicating with the management center 40.
  • the information communication terminal 60 can input loading information 70, which is information on what is loaded on the vehicle 10 as a target of the mobile service (hereinafter also referred to as "target") as desired by the user.
  • target a target of the mobile service
  • a personal computer or a smartphone can be employed as the information communication terminal 60.
  • the loading information 70 includes information on the type 72 of the target object, the weight 74 of the target object, the quantity 76 of the target object, and the moving section 78 in which the target object is moved.
  • the loading information 70 is not limited to such information, and may include at least information on the weight of the target object.
  • the "information on the weight of the object” includes, in addition to the information on the weight of the object itself, for example, when the object is a person or an animal, information on the age, sex, height, etc. of the object. As described above, various types of information from which the estimated value of the weight of the object can be statistically derived are included.
  • the target object type 72 includes a person and a cargo, and is a type of an object loaded on the vehicle 10. In the present embodiment, the user selects one of a person and a cargo. Note that the target object type 72 is not limited to a person and a cargo, and various transportable objects can be adopted.
  • the object weight 74 the weight of the object is input or selected. As the weight 74 of the object, for example, when the object is a person, information different from the weight of the object, such as age and gender, may be input as described above.
  • the moving section 78 is a section where the target object is moved by the moving service. The user inputs or selects, for example, a start point and an end point as a section where the mobile service is used.
  • the wireless communication unit 62 transmits the loading information 70 input by the user to the wireless communication unit 42 of the management center 40.
  • the user desires the mobile service by the vehicle 10
  • the user operates the information communication terminal 60 to input the loading information 70, and then applies for the use of the mobile service.
  • the management center 40 is a so-called server connected via a network.
  • the management center 40 includes a wireless communication unit 42, a weight calculation unit 44, a torque determination unit 46, and a torque map storage unit 48 including a memory.
  • the management center 40 includes a CPU and a memory, and executes a computer program stored in a non-volatile storage medium to control the vehicle 10 as a control device for controlling the vehicle 10, a weight calculation unit 44, a torque determination unit 46, a torque map storage unit 48 functions are realized.
  • the wireless communication unit 42 performs communication between the wireless communication unit 12 of the vehicle 10 and the wireless communication unit 62 of the information communication terminal 60. More specifically, the wireless communication unit 42 functions as an input unit that receives the loading information 70 transmitted from the wireless communication unit 62 of the information communication terminal 60. The wireless communication unit 42 supplies the received loading information 70 to the weight calculation unit 44 described later. The wireless communication unit 42 further transmits one of the torque maps TMj determined by the torque determination unit 46 to be described later and information on the moving section 78 in the loading information 70 to the wireless communication unit 12 of the vehicle 10. Send.
  • the weight calculation unit 44 calculates an estimated value of the weight of the vehicle 10 in a state where the object is loaded. More specifically, the total weight of the vehicle 10 is calculated from the loading information 70 received from the wireless communication unit 42. In the present embodiment, the weight calculating unit 44 adds the total weight of the object by multiplying the weight 74 of the object by the number 76 of the object and the weight of the vehicle 10 to calculate the total weight of the vehicle 10. calculate. Further, the weight calculation unit 44 calculates the total weight of the vehicle 10 for each section in which the target object moves, using the information of the movement section 78.
  • the total weight of the vehicle 10 is calculated for each of the overlapping moving sections and the non-overlapping moving sections. Is done. Information on the calculated total weight of the vehicle 10 is supplied to the torque determination unit 46.
  • the torque map TMj is a map that defines the amount of torque generation necessary to achieve a predetermined acceleration for each total weight of the vehicle 10.
  • the “acceleration” includes both an acceleration for starting the vehicle 10 by acceleration and a deceleration for stopping the vehicle 10 (hereinafter also referred to as “acceleration / deceleration”).
  • the acceleration / deceleration may be a mode in which a predetermined jerk is set and is changed according to time.
  • n is an integer of 1 or more, and is a number corresponding to the value of the total weight of the vehicle 10.
  • the torque map TMj is prepared and stored in advance as the number n of the patterns of the amount of torque generation for each assumed total weight of the vehicle 10.
  • the torque map TM0 is a torque map corresponding to the total weight of the vehicle 10 when no object is loaded on the vehicle 10
  • the torque map TMn is, for example, a target of the maximum weight that the vehicle 10 allows loading.
  • 4 is a torque map corresponding to the total weight of the vehicle when an object is loaded on the vehicle.
  • the number (n) of the torque maps TMj is a predetermined number corresponding to a change in the total weight of the vehicle 10, for example, every 10 kg.
  • the torque determination unit 46 acquires information on the total weight of the vehicle 10 calculated by the weight calculation unit 44, and generates one torque map (for example, a torque map TM1) corresponding to the total weight of the vehicle 10. It is read from the torque map storage unit 48.
  • the torque map TM1 determined by the torque determining unit 46 is sent to the wireless communication unit 12 of the vehicle 10 by the wireless communication unit 42 and stored in the memory 24 of the vehicle control unit 20 of the vehicle 10.
  • the torque map TM1 stored in the memory 24 is read by the drive control unit 22.
  • the drive control unit 22 can cause the vehicle 10 to run at a predetermined acceleration / deceleration by controlling the drive unit 18 with the torque generation amount specified by the torque map TM1.
  • each unit of the mobile control system 100 of the present embodiment executes the following processing.
  • the control of the moving object control system 100 is started, for example, when an ignition key of the vehicle 10 to be controlled is turned on.
  • the control may be started when there is an input from the information communication terminal 60 by the user.
  • an initial value of the torque map TMj (for example, the torque map TM0) is stored in the memory 24 of the vehicle 10.
  • step S10 when the user inputs the loading information 70 through the information communication terminal 60 and applies for a mobile service, the management center 40 receives the loading information 70.
  • the moving section 78 included in the loading information 70 includes the information of the moving section TT1 having the moving section from the start point A1 to the end point A2.
  • step S12 the vehicle control unit 20 reflects the information of the moving section TT1 as the destination of the navigation device 16. More specifically, the management center 40 transmits to the vehicle 10 the information of the moving section TT1 including the information of the start point A1 and the information of the end point A2 in the received loading information 70. The vehicle control unit 20 of the vehicle 10 stores the received information on the moving section TT1 in the memory 24 (see FIG. 1).
  • step S14 the vehicle 10 starts toward the start point A1 of the moving section TT1 according to the control performed by the navigation device 16 to set the destination as the start point A1.
  • the drive control unit 22 of the vehicle 10 refers to the torque map TM0, controls the drive unit 18, and starts at a predetermined acceleration.
  • the vehicle 10 travels on the scheduled route determined by the navigation device 16 referring to the moving section TT1 and heads for the starting point A1.
  • step S16 the vehicle 10 stops at the start point A1.
  • the vehicle 10 is stopped by the same processing as that at the time of departure. That is, the vehicle 10 is decelerated at a predetermined acceleration by the control of the drive unit 18 by the drive control unit 22 with reference to the torque map TM0, and is stopped at the start point A1.
  • the position detection unit 14 of the vehicle 10 transmits information that the vehicle 10 has reached the destination to the management center 40 by the wireless communication unit 12.
  • step S18 the vehicle 10 stopped at the destination is loaded with the object included in the loading information 70 by the user.
  • the object is the user himself, the user may get on the vehicle 10 by himself.
  • Completion of the loading of the object is performed by, for example, the operation of a button provided on the vehicle 10 or the operation of the information communication terminal 60 by the user.
  • the management center 40 acquires the information of the completion of the loading of the object.
  • step S20 the management center 40 determines a new torque map according to the received loading information 70. More specifically, the weight calculation unit 44 calculates the total weight of the vehicle 10 with reference to the weight 74 of the object and the number 76 of the objects in the received loading information 70 (Step S22). In step S24, the torque determining unit 46 acquires the information on the total weight, and selects a torque map corresponding to the value of the total weight from the torque map TMj stored in the torque map storage unit 48. Here, it is assumed that the torque map TM1 is selected by the torque determination unit 46. In step S26, the selected torque map TM1 is transmitted to the vehicle 10 by the wireless communication unit 42. The torque map TM1 is stored in the memory 24 by overwriting the torque map TM0 already stored in the memory 24 of the vehicle 10. As a result, the torque map in the next moving section of the vehicle 10 is reflected as a control target of the vehicle control unit 20.
  • step S30 the vehicle 10 starts toward the end point A2 which is the next stop position. More specifically, the vehicle 10 starts when it recognizes that the user has finished loading the object and that the torque map TM1 has been stored. At this time, the vehicle 10 is accelerated and started at a predetermined acceleration by the control of the drive unit 18 by the drive control unit 22 with reference to the torque map TM1. That is, the vehicle 10 can be started at an acceleration corresponding to the total weight of the vehicle 10 in consideration of the weight of the object loaded at the start point A1. Thereby, the vehicle 10 can start at a predetermined acceleration even if the weight changes due to the loaded object, for example, the load collapses due to sudden start, or the acceleration increases / decreases. The sway of the vehicle 10 can be suppressed to reduce passenger discomfort.
  • step S32 the vehicle 10 is decelerated by a predetermined acceleration with reference to the torque map TM1 and stopped at the end point A2 by the same control as when starting the vehicle. More specifically, when the navigation device 16 recognizes that the vehicle 10 has approached the destination end point A2, the drive control unit 22 controls the drive unit 18 with reference to the torque map TM1. The vehicle 10 is decelerated by a predetermined acceleration. Thus, the vehicle 10 is decelerated at a predetermined acceleration and stopped at the end point A2 irrespective of a change in the weight of the vehicle 10 as in the case of departure.
  • the control for running the vehicle 10 at the predetermined acceleration / deceleration executed by the mobile object control system 100 of the present embodiment is not limited to the control at the start point or the end point of one moving section, and the vehicle 10 runs within the moving section. It is also executed during acceleration and deceleration not including stopping of the middle vehicle 10 and during acceleration and deceleration including stopping.
  • step S34 the target object is removed from the stopped vehicle 10.
  • the object is a user
  • the user gets off the vehicle
  • the receiver of the cargo unloads the cargo.
  • Completion of the loading of the object is performed, for example, by operating the button of the vehicle 10 or operating the information communication terminal 60 by the user or the recipient of the cargo.
  • the management center 40 acquires the information of the completion of the getting off of the object.
  • the mobile service corresponding to the loading information 70 received in step S10 is completed in step S34.
  • step S40 the management center 40 checks whether or not new loading information (hereinafter, also referred to as “different loading information 70”) different from the above-described loading information 70 is newly received. More specifically, the management center 40 confirms whether or not another loading information 70 has been received during the period in which the above-described steps S14 to S32 are being controlled. With the completion of step S34, the vehicle 10 may stop as it is and wait for reception of another loading information 70.
  • the processing by the mobile control system 100 returns to step S20.
  • another loading information 70 has not been received (S40: NO)
  • the mobile control system 100 checks whether or not to end the processing (step S50).
  • the processing by the mobile object control system 100 is ended (S50: YES).
  • the management center 40 receives the process of ending the control from the vehicle 10, updates the torque map TM1 to the torque map TM0 that is the initial value, and executes the process of moving the vehicle 10 to the initial position. Good. If the process is not completed (S50: NO), the process of the mobile control system 100 returns to step S10.
  • the loading information 70 of an object loaded on the vehicle 10 is transmitted from the information communication terminal 60 by a user operation, and the vehicle 10 Can be received. It is possible to execute a control of estimating the total weight of the vehicle 10 from the loading information 70 and running the vehicle 10 at a predetermined acceleration / deceleration according to the estimated value of the total weight. Therefore, it is possible to estimate the weight of the vehicle 10 irrespective of the running state of the vehicle 10 and adjust the acceleration / deceleration at the time of departure and stop of the vehicle 10 according to the increase or decrease of the weight of the vehicle 10. Further, the vehicle 10 including the moving object control system of the present embodiment does not need to include a device for measuring acceleration or a device for measuring weight. Therefore, the number of parts of the vehicle 10 can be reduced, and the acceleration / deceleration according to the weight can be adjusted without increasing the size of the vehicle 10.
  • the loading information 70 of the object loaded on the vehicle 10 is input from the information communication terminal 60 of the user of the vehicle 10.
  • the total weight of the vehicle 10 can be estimated from the information input by the user of the vehicle 10. Therefore, a change in the weight of the vehicle 10 according to the use state of the vehicle 10 can be grasped.
  • the information can be transmitted by a simpler method.
  • the information 70 on the weight of the object and the movement section 78 is included in the loading information 70 on the object loaded on the vehicle 10. Therefore, the loading information 70 of the object loaded on the vehicle 10 can be made more specific information, and the accuracy of the estimated value of the weight of the vehicle 10 is improved.
  • the torque determination unit 46 is provided in the management center 40 which is an external server. Therefore, the vehicle 10 can be started or stopped at a predetermined acceleration / deceleration with a simpler configuration than in a case where the torque determination unit 46 is provided in the vehicle 10. Also, for example, even when there are a plurality of vehicles 10 including the mobile object control system 100 of the present embodiment, information on the weight of each vehicle 10 can be collectively managed in the server.
  • the vehicle 10 is controlled so as to have a predetermined acceleration / deceleration according to one torque map selected from the plurality of torque maps TMj.
  • the processing speed can be increased.
  • the mobile control system 100b of the second embodiment includes a vehicle 10b, an information communication terminal 60, and a management center 40b.
  • the mobile control system 100b of the second embodiment is different from the mobile control system 100 of the first embodiment in that a vehicle 10b is provided instead of the vehicle 10 and a management center 40b is provided instead of the management center 40. Different.
  • the vehicle 10b is a manually driven vehicle driven by a driver's operation, and includes an accelerator (not shown) and an accelerator opening detection unit 19.
  • the accelerator opening detection unit 19 detects one accelerator opening (accelerator depression amount) input to the vehicle 10b by the driver, and transmits the detection result to the vehicle control unit 20.
  • An appropriate torque value TC described later is stored in the memory 24 of the vehicle 10b.
  • the other configuration of the vehicle 10b is the same as the vehicle 10 of the first embodiment.
  • various accelerators such as a lever-operated accelerator can be employed in addition to a pedal-type accelerator such as an accelerator pedal.
  • the management center 40b includes a weight calculation unit 44 and a torque determination unit 46b.
  • the management center 40b is different from the first embodiment in that a torque determining unit 46b is provided instead of the torque determining unit 46 and that the torque center storage unit 48 is not provided in the first embodiment. , And is the same as the torque determination unit 46 of the first embodiment.
  • the torque determining unit 46b obtains information on the total weight of the vehicle 10b calculated by the weight calculating unit 44, and generates the amount of torque necessary to realize a predetermined acceleration / deceleration for each total weight of the vehicle 10b. (Hereinafter, also referred to as “proper torque value TC”).
  • the torque appropriate value TC defines a torque generation amount for running the vehicle 10 at an acceleration / deceleration according to the accelerator opening of the accelerator operated by the driver.
  • the appropriate torque value TC determined by the torque determining unit 46b is transmitted by the wireless communication unit 42 to the wireless communication unit 12 of the vehicle 10b, and stored in the memory 24 of the vehicle control unit 20 of the vehicle 10b.
  • the torque determination unit 46b may be configured to select a torque map, similarly to the torque determination unit 46 of the first embodiment.
  • the drive control unit 22 reads information on the proper torque value TC stored in the memory 24.
  • the drive control unit 22 generates a torque generation amount specified by the torque appropriate value TC according to the accelerator opening detected by the accelerator opening detecting unit 19.
  • the amount of torque generation also increases in accordance with the increase in the accelerator opening. That is, the drive control unit 22 controls the drive unit 18 in accordance with the increase in the accelerator opening of the driver so that the torque generation amount is specified by the torque appropriate value TC, and the vehicle 10b is controlled to the accelerator opening. Accordingly, the vehicle can be driven at a predetermined acceleration / deceleration.
  • each unit of the mobile control system 100b according to the second embodiment executes the following processing.
  • the control executed by the mobile object control system 100b of the second embodiment executes steps S13 to S33 instead of steps S14 to S32 of the control executed by the mobile object control system 100 of the first embodiment.
  • Other control by the mobile control system 100b of the second embodiment is the same as the control by the mobile control system 100 of the first embodiment.
  • step S10 when the user inputs the loading information 70 through the information communication terminal 60 and applies for a mobile service, the management center 40 receives the loading information 70.
  • the moving section 78 of the loading information 70 includes the information of the moving section TT1 having the moving section from the start point A1 to the end point A2.
  • step S13 the vehicle 10b starts toward the start point A1 of the moving section TT1 by the operation of the vehicle 10b including the operation of the accelerator by the driver.
  • the accelerator opening detection unit 19 detects the accelerator opening input to the vehicle 10b by the driver, and transmits the detection result to the vehicle control unit 20.
  • the drive control unit 22 of the vehicle 10b refers to the initial value of the appropriate torque value TC (hereinafter, also referred to as “appropriate torque value TC0”), and is defined by the appropriate torque value TC0 according to the input accelerator opening.
  • the driving unit 18 is controlled so that the torque is generated, and the vehicle starts at a predetermined acceleration.
  • the vehicle 10b heads for the starting point A1 by the operation of the driver.
  • step S15 the vehicle 10b stops at the start point A1 by the driver's operation. At this time, the vehicle 10 is decelerated at a predetermined acceleration by the control of the drive unit 18 by the drive control unit 22 with reference to the appropriate torque value TC0, and is stopped at the start point A1.
  • step S18 the target object is loaded on the vehicle 10b. Note that the processing in step S18 may be the same as the processing in step S18 in the first embodiment.
  • step S21 the management center 40b determines a new appropriate torque value TC according to the received loading information 70. More specifically, the weight calculating unit 44 calculates the total weight of the vehicle 10b with reference to the weight 74 of the object and the number 76 of the objects in the received loading information 70 (Step S23). The torque determining unit 46b acquires information on the calculated total weight and calculates an appropriate torque value TC (hereinafter, also referred to as “appropriate torque value TC1”) corresponding to the value of the total weight (step S25). In step S27, the appropriate torque value TC1 is transmitted to the vehicle 10b by the wireless communication unit 42 and stored in the memory 24. Thereby, the appropriate torque value in the next moving section of the vehicle 10b is reflected as an object to be controlled by the vehicle control unit 20.
  • the appropriate torque value TC1 is transmitted to the vehicle 10b by the wireless communication unit 42 and stored in the memory 24.
  • step S31 the vehicle 10b starts to the end point A2, which is the next stop position, by the driver's operation.
  • the drive control unit 22 controls the drive unit 18 in accordance with the driver's operation of the accelerator so that the torque generation amount is defined by the appropriate torque value TC1, and the vehicle 10b is driven at a predetermined acceleration. Start off.
  • the vehicle 10b is accelerated at a predetermined acceleration and is started. That is, the vehicle 10b can be started at an acceleration corresponding to the total weight in consideration of the weight of the object loaded at the start point A1.
  • step S33 the vehicle 10b is decelerated by a predetermined acceleration with reference to the appropriate torque value TC1 and stopped at the end point A2, as in the case of starting.
  • the control for running the vehicle 10b at a predetermined acceleration / deceleration executed by the moving object control system 100b of the present embodiment is not limited to the control at the start point and the end point of one moving section, and the vehicle travels in the moving section. It is also executed during acceleration and deceleration not including stopping of the middle vehicle 10 and during acceleration and deceleration including stopping.
  • the moving object control system 100b of the second embodiment when the driver drives the vehicle 10b, even if the driver does not know the weight of the vehicle 10b, It is possible to generate a torque generation amount corresponding to the accelerator opening degree by the driver's operation and corresponding to the weight of the vehicle 10b. Therefore, the vehicle 10b can start or stop at a predetermined acceleration / deceleration according to the total weight of the vehicle 10b regardless of the skill of the driver's operation. Further, the torque generation amount is determined such that the torque generation amount increases in accordance with the increase in the accelerator opening of the driver. Therefore, even when the accelerator opening changes due to the driver's operation, the torque generation amount can be determined according to this change.
  • Embodiment 1 In the moving object control system of each of the above embodiments, an automatic driving vehicle and a manually driven vehicle are used as examples of the moving object. However, the present disclosure is not limited to this, and various moving objects are applied except for a train and a tram. it can.
  • the number of vehicles is not limited to one, and a plurality of separate vehicles that can be driven individually may be used. In this case, the torque determination unit may individually determine the amount of torque generation of each of the plurality of vehicles.
  • the torque determination unit 46 determines the torque map after the vehicle 10 is stopped and the target object is loaded.
  • the torque determining unit 46b determines an appropriate torque value after the vehicle 10b is stopped and an object is loaded.
  • the torque determination unit determines, for example, a torque map or an appropriate torque value after loading an object during a period from when the management center receives the loading information to when the object is loaded. There may be.
  • a torque map or an appropriate torque value in a state where the object is loaded is applied.
  • the weight calculation unit, the torque determination unit, and the torque map storage unit are provided in the management center.
  • the weight calculation unit, the torque determination unit, and the torque map storage unit may be provided in a moving body.
  • the moving object control device provided in the moving object includes the weight calculating unit, the torque determining unit, and the torque map storage unit, and the wireless communication unit functions as an input unit that receives the loading information from the information communication terminal.
  • Embodiment 4 In the mobile control system 100 of the first embodiment, one mobile service corresponding to the loading information 70 received in step S10 is completed in step S34.
  • a mode may be adopted in which a plurality of mobile services are received each time the loading information is received and merged with each other.
  • a mode may be adopted in which the moving sections are merged and updated such that the moving distance of the vehicle becomes the shortest distance according to the information on the moving section of the received loading information.
  • the amount of torque generation corresponding to each updated moving section is determined, the total weight of the vehicle is calculated for each moving section of the vehicle, and the acceleration / deceleration for each moving section is determined in advance. The torque generation amount is determined so that
  • the loading information 70 includes the weight 74 of the target object.
  • the loading information may not include information on the weight of the target object.
  • the loading information includes information other than the weight of the target object such as age or gender instead of the weight of the target object. It may be input.
  • the loading information includes information on the age and gender of the target person, and the information is converted into information on the weight of the target object using an average value of statistical weight. As described above, a mode in which the weight of the target object is estimated from information different from the weight of the target object may be adopted.
  • the present disclosure is not limited to the above-described embodiment, and can be implemented with various configurations without departing from the spirit thereof.
  • the technical features in the embodiments corresponding to the technical features described in the summary of the invention may be used to solve some or all of the above-described problems or to partially or wholly provide the above-described effects. In order to achieve this, replacement and combination can be appropriately performed. If the technical features are not described as essential in this specification, they can be deleted as appropriate.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

L'invention concerne un système de commande d'unité mobile comprenant : une unité mobile (10) comprenant une unité pilote (18) ; un dispositif de commande d'unité mobile (20, 40) qui commande l'unité mobile ; et un terminal de communication d'informations (60) destiné à transmettre, au dispositif de commande d'unité mobile, des informations de chargement (70) relatives au moins au poids d'un objet chargé sur l'unité mobile. Le dispositif de commande d'unité mobile comprend : une unité d'entrée (12, 42) qui reçoit les informations de chargement ; une unité de détermination de couple (46) qui utilise les informations de chargement pour déterminer la quantité de couple générée pour amener l'unité mobile à se déplacer à une vitesse d'accélération/de décélération prédéfinie ; et une unité de commande pilote (22) qui commande l'unité pilote avec la quantité de couple générée et amène l'unité mobile à se déplacer à la vitesse d'accélération/de décélération. Les informations de chargement sont transmises à l'unité d'entrée suite à l'actionnement du terminal de communication d'informations par une personne utilisant l'unité mobile.
PCT/JP2019/015400 2018-06-20 2019-04-09 Système de commande d'unité mobile et procédé de commande d'unité mobile WO2019244449A1 (fr)

Applications Claiming Priority (2)

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JP2018116691A JP2019217903A (ja) 2018-06-20 2018-06-20 移動体制御システムおよび移動体制御装置
JP2018-116691 2018-06-20

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Publication number Priority date Publication date Assignee Title
KR20220057274A (ko) * 2020-10-29 2022-05-09 재상전자주식회사 전기이륜차 및 그의 속도 제어방법

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03182662A (ja) * 1989-12-11 1991-08-08 Nissan Motor Co Ltd 車両用エンジンの制御装置
JP2007232578A (ja) * 2006-03-01 2007-09-13 Pioneer Electronic Corp 経路情報提供装置、経路情報提供方法及びプログラム
JP6319507B1 (ja) * 2017-12-08 2018-05-09 トヨタ自動車株式会社 車両の遠隔操作システム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03182662A (ja) * 1989-12-11 1991-08-08 Nissan Motor Co Ltd 車両用エンジンの制御装置
JP2007232578A (ja) * 2006-03-01 2007-09-13 Pioneer Electronic Corp 経路情報提供装置、経路情報提供方法及びプログラム
JP6319507B1 (ja) * 2017-12-08 2018-05-09 トヨタ自動車株式会社 車両の遠隔操作システム

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