WO2020095491A1

WO2020095491A1 - Vehicle

Info

Publication number: WO2020095491A1
Application number: PCT/JP2019/030424
Authority: WO
Inventors: 隆幸穴本; 和之海口; 勇一藤咲; 敏正森田
Original assignee: ヤマハ発動機株式会社
Priority date: 2018-11-08
Filing date: 2019-08-02
Publication date: 2020-05-14
Also published as: JP7252255B2; JPWO2020095491A1

Abstract

The purpose of the present invention is to provide a vehicle for which, while parts having a traveling function are able to be used for a long period, increased variations of parts are made available depending on intended use or preference, and for which it is possible to update an automatic driving control means to a new version. This vehicle is provided with a lower structure and an upper structure. The lower structure is provided with wheels and a vehicle control device. The upper structure is provided with an external sensor and an automatic driving control device. The automatic driving control device gives an instruction regarding a traveling level target of the vehicle on the basis of the result of the sensor. The upper structure is physically connected to the lower structure in a state of supporting the driving control device, while the upper structure supporting the automatic driving control device. The upper structure can be separated from the lower structure. The automatic driving control device is electrically connected to the driving control device. However, the automatic driving control device is electrically separated from the driving control device in a state where the upper structure is separated from the lower structure.

Description

vehicle

The present invention relates to a vehicle.

In recent years, the technology of vehicles that travel to the destination by automatic driving has been proposed. For example, Patent Document 1 discloses an automatic driving system mounted on a vehicle. The automatic driving system mounted on the vehicle of Patent Document 1 includes a navigation device and an automatic driving control device. The navigation device searches for a route from the current position of the vehicle to the destination. The automatic driving control device automatically controls the acceleration / deceleration and steering of the vehicle based on the information on the route and the result of the external environment monitoring. For example, the automatic driving control device controls a traveling driving force output device having a motor to generate a traveling driving force. As a result, the driving control of the vehicle is automated.

JP, 2017-83446, A

In such vehicles, it is desired to increase the number of variations and upgrade the automatic driving control means according to the application and taste while allowing the part that carries the driving function to be used for a long time.

An object of the present invention is to provide a vehicle that allows a portion that is responsible for driving to be used for a long period of time, increases variations in accordance with applications and tastes, and upgrades automatic driving control means.

Vehicles are desired to have variations according to uses such as commuting, sightseeing, transportation of luggage, or stay, preferences of users, and demands of the times. On the other hand, a vehicle traveling by automatic driving is a complicated and large-sized machine composed of a large number of parts. For this reason, it is desired that the vehicle be used for as long as possible in terms of sustainability of resources and environment and cost.
The present inventors examined long-term use and variations as follows.

The variations of the vehicle as described above can be considered as a function independent of traveling including automatic driving. In this case, it can be considered that the vehicle is divided into a part having a function of traveling and a part corresponding to a use, a preference, and a request of the times. Here, the wheels and the drive source realize functions related to traveling.
Therefore, for example, it is conceivable to configure the vehicle with a combination of a lower structure and an upper structure. The lower structure is a part responsible for traveling functions. The lower structure has a wheel and a drive source, and the upper structure is a part of a vehicle cabin (vehicle interior) combined with the lower structure.
By providing variations in the structure of the upper structure, the upper structure responds to applications and tastes. Then, the lower structure is designed to be commonly combined with the upper structure having various variations. That is, the functions of the autonomous driving are integrated in the lower structure so that the lower structure can perform the autonomous driving alone. It is considered that this makes it possible to increase the degree of freedom of the upper structure that is combined with the lower structure while allowing the lower structure for traveling under automatic driving control to be used for a long period of time.

A vehicle traveling under automatic driving control travels based on the recognition result of the external environment.
Even if the lower structure is common, the requirements for automatic traveling may differ if the configuration of the upper structure combined with the lower structure is different. For example, if the volume, shape, or weight of the upper structure is different, the acceleration, deceleration, curvature at the curve, stop position, traveling diagonal line, or traveling route that are carried out by automatic traveling may be different.
In other words, when the lower structure responsible for the autonomous driving function is common, it is required to design the upper structure to adapt to the function and performance of this common lower structure.
In this case, variations of the upper structure are likely to be restricted. That is, the application of the vehicle is likely to be restricted.
In addition, the development of autonomous driving technology is expected to make further progress in the future. If the lower structure is replaced according to the progress of the autonomous driving technology, the period during which the lower structure having the traveling function can be used is shortened.

Therefore, the present inventors further examined long-term use of the vehicle and variations of the vehicle. The present inventors examined the role of each part of the vehicle in more detail.
The present inventors considered a sensor for detecting an external environment, which was considered as a function of a lower structure for traveling of a vehicle traveling by automatic driving control, and an automatic driving control device for instructing driving according to the detected environment. I considered arranging and in the superstructure. In other words, contrary to the concept of vehicle design that combines the functions required for automatic vehicle operation into one structure, an external sensor that detects the external environment of the vehicle among the functions required for automatic driving and the detected environment We attempted to separate the automatic driving control device that directs driving according to the above from the lower structure and integrate it into the upper structure. Here, the driving instruction is not a lower level such as an instruction of the torque or current of each drive source, but is a level that at least indicates the traveling speed of the vehicle.
Since the external sensor and the automatic driving control device are integrated in the upper structure, the control of the automatic driving according to the configuration of the upper structure can be integrated in the upper structure. This superstructure is combined with a substructure with wheels and a drive source.
As a result, the upper structure can be designed to be applied to the vehicle application, and the traveling function and performance of the lower structure that combines the upper structure can be applied to the vehicle application.
Further, it is considered that the use and function of the vehicle will change according to the progress of autonomous driving technology in the future. In this case, it is conceivable that the structure of the upper structure may change depending on the use and function of the vehicle. By integrating the external sensor and the automatic driving control device in the superstructure, when designing the superstructure according to the application and function, the external sensor and the automatic driving control device are combined with a new automatic driving technology and a new application. It can be updated according to the function.
Then, the common lower structure can be continuously combined with different upper structures applied to different applications and new upper structures corresponding to the new autonomous driving technology.
Therefore, it is possible to increase the number of variations according to applications and tastes and upgrade the version of the automatic driving control means, while making it possible to use a portion having a traveling function for a long period of time.

The vehicle of the present invention has the following configuration.

(1) It is a vehicle,
Wheels and
A vehicle control device that controls driving, steering, and braking of the wheels, and an external sensor that detects the external state of the vehicle,
An automatic driving control device for instructing a traveling degree target of the vehicle based on a result of detection by the external sensor,
In a vehicle equipped with
A lower structure provided with the wheels and the vehicle control device that controls driving, steering, and braking of the wheels based on an instruction from the automatic driving control device;
An upper part that is removably physically connected to the lower structure, and that is provided with the external world sensor and the automatic driving control device that indicates a traveling degree target of the vehicle based on a detection result of the external world sensor. And a structure,
The upper structure is detachably physically connected to the lower structure supporting the vehicle control device while supporting the automatic driving control device, and is supported by the upper structure. A vehicle in which the automatic driving control device is electrically connected to the vehicle control device so as to be separable from the vehicle control device.

The vehicle configured as described above includes a lower structure and an upper structure. According to the above configuration, the lower structure is provided with the wheels and the vehicle control device. An external sensor and an automatic driving control device are provided in the upper structure. The automatic driving control device indicates a traveling degree target of the vehicle based on a result of the sensor. The upper structure is physically connected to the lower structure supporting the vehicle control device while supporting the automatic driving control device. The upper structure can be separated from the lower structure. The automatic driving control device is electrically connected to the vehicle control device. However, the automatic driving control device is electrically separated from the vehicle control device in a state where the upper structure is separated from the lower structure.
Since the upper structure includes the external sensor and the automatic driving control device, the automatic driving control according to the configuration of the upper structure can be integrated in the upper structure. This superstructure is combined with a substructure with wheels and a drive source.
As a result, while designing the upper structure to be applied to the use of the vehicle, by the control of the automatic traveling control device supported by the upper structure, the traveling function and performance of the lower structure combined with the upper structure, It can be applied to vehicle applications.
In addition, when the use and function of the vehicle change according to the progress of the autonomous driving technology in the future, the structure of the upper structure can also change according to the use and function of the vehicle. By integrating the external sensor and the automatic driving control device in the superstructure, when designing the superstructure according to the new application and function, the external sensor and the automatic driving control device are combined with the new automatic driving technology and new application. , And can be updated according to new features. For example, the range that can be selected as a target for the degree of travel of the vehicle is set according to the application and function of the vehicle reflected in the superstructure.
On the other hand, although the content of the instruction of the degree of travel of the vehicle that the vehicle control device receives may change depending on the application of the vehicle or the progress of autonomous driving technology, the performance of the lower structure that responds to the instruction It is considered that the device itself does not change much compared to the operation of automatic control based on a sensor, for example. The lower structure in the above configuration can be continuously combined with a plurality of types of upper structures applied to different applications and a new type of upper structure corresponding to a new autonomous driving technique. Therefore, it is possible to increase the number of variations according to applications and tastes and upgrade the version of the automatic driving control means, while making it possible to use a portion having a traveling function for a long period of time.

(2) The vehicle of (1),
The upper structure is physically connected so as to be separated from the lower structure supporting the vehicle control device while supporting the automatic driving control device,
The automatic driving control device may be physically and electrically separated from the vehicle control device while being supported by the upper structure, in a state where the upper structure is separated from the lower structure. It is connected to the controller.

According to the above configuration, the automatic driving control device is connected to the vehicle control device. However, the automatic driving control device is physically and electrically separated from the vehicle control device in a state where the upper structure is separated from the lower structure.
Since the automatic driving control device and the vehicle control device are physically and electrically separated from each other, the connected state and the separated state can be easily grasped. Therefore, when designing the upper structure according to new applications and functions, it is easy to update the external sensor and the automatic driving control device according to new automatic driving technology and new applications and functions, and It is easy to understand the connection status of the control device when using the and when replacing the upper structure.

(3) The vehicle of (1) or (2),
The upper structure includes an operating device for instructing the vehicle control device of a degree target of travel of the vehicle in response to an operation of a driver boarding the vehicle.

According to the above configuration, the vehicle can be driven by the driver's operation even on a road where the automatic driving control device cannot give an instruction. Since the operating device is provided in the upper structure, the operating device can be changed according to the operation adapted to the use and function of the vehicle.

(4) The vehicle of any one of (1) to (3),
The vehicle is a small personal wheeled vehicle.

According to the above configuration, it is possible to reduce the time that the driver spends driving, and realize a vehicle that can be manufactured with reasonable materials and manufacturing processes.

The vehicle of the present invention is a wheeled vehicle having wheels. The vehicle of the present invention is, for example, a small personal wheeled vehicle. The small personal wheel vehicle is, for example, a vehicle having a lateral size of 1500 mm or less and a footprint of 4.4 m ² or less.
However, the vehicle of the present invention may have a width direction length of 7 feet (2.1336 meters) or less, for example. The vehicle of the present invention may be, for example, a vehicle having a width of 2 passengers and a total capacity of 10 or less. The total capacity is the number of users who can board the vehicle.

For example, the automatic driving control device supported by the upper structure is connected to the vehicle control device so as to be electrically separable from the vehicle control device in a state where the upper structure is separated from the lower structure. The automatic driving control device is electrically and physically connected to the vehicle control device, for example.
Strictly speaking, the electrical connection and the physical connection between the automatic driving control device and the vehicle control device may not occur simultaneously. For example, in the process of separating the upper structure from the lower structure, electrical separation is performed by first disconnecting the electrical connector that is responsible for electrical connection. Thereafter, the upper structure is separated from the lower structure, or the automatic operation control device is removed from the upper structure to perform physical separation. Note that the electrical separation and the physical separation may be performed in the reverse order. Further, the electrical connection and the physical connection between the automatic driving control device and the vehicle control device may occur at the same time.
The electrical connection between the automatic driving control device and the vehicle control device is, for example, a wired connection. However, the electrical connection between the automatic driving control device and the vehicle control device may be wireless communication, for example. However, in this case, the wireless communication between the automatic driving control device and the vehicle control device is, for example, in-vehicle wireless communication that is possible in a state where the upper structure and the lower structure are connected.
The automatic driving control device detects, for example, a physical connection state between the automatic driving control device and the vehicle control device. For example, the automatic driving control device outputs an instruction when the physical connection state is detected, and prohibits the output of the instruction when the physical connection state is not detected. However, as the automatic driving control device, for example, a configuration that does not detect the physical connection state can be adopted.

Vehicles travel based on the track determined according to the external conditions of the vehicle. The vehicle indicates a traveling degree target of the vehicle based on the detection result of the external sensor. However, when determining the travel target of the vehicle, the vehicle may determine not only the result of detection by the external sensor, but also an instruction supplied from a central control device outside the vehicle, for example. For example, the vehicle may be supplied with route information from the central control device, and may determine a traveling path such as a lane based on the supplied route information. Further, the vehicle may have the ability to travel in response to an operation by an occupant.

From the detection of the external environment to the control of the physical device of the vehicle in automatic driving, for example, the following processes are sequentially performed.
・ Positioning of own vehicle position ・ Detection of relative position with respect to designated destination / runway ・ Detection of signal signs / obstacles around own vehicle ・ Plan runway including detour of obstacle ・ Vehicle control Automatic driving control device For example, it is responsible for the above processing. The automatic driving control device outputs a degree target to the vehicle control device as a result of the vehicle control process.

For example, the automatic driving control device determines a traveling path based on the result of detection by the external sensor, and instructs a travel degree target of the vehicle based on the determined traveling path.
The automatic driving control device determines, for example, a route to a destination based on the result of detection by an external sensor, determines a running route based on the determined route, and determines the degree of travel of the vehicle based on the determined running route. May be output. The route to the destination is, for example, a road used for traveling. The route is approximate position information. A track is a track along which a vehicle travels. The running path is detailed position information including when the vehicle moves in which lane of the road, in which part of the lane, or between lanes.

The state of the outside world is, for example, a state of a road on which a vehicle travels such as a guide sign, a state of another vehicle or a pedestrian on the road, or an obstacle. The guide sign includes, for example, a lane marking on the road and a guide line buried in the road.
The external sensor is a means for positioning the vehicle position and detecting obstacles or signal signs. Relative positioning or absolute positioning is used for positioning the vehicle position. Relative positioning is positioning in which a relative position of a vehicle is detected by detecting a mark (white line, guide line, etc.) on a road, for example. Absolute positioning is, for example, positioning that obtains latitude and longitude from GPS or 3D map matching. Relative positioning and absolute positioning may be selectable according to conditions or operations, for example.
The external sensor is, for example, an image camera, a Light Detection and Ranging (LiDAR), or an ultrasonic ray sensor.
Obstacle or signal sign detection can be omitted in controlled environments where it is not necessary to detect obstacles or signals. The controlled environment is, for example, a closed area in which only the vehicle controlled by monitoring / control outside the vehicle travels. Further, the detection of the obstacle or the signal sign can also be performed by, for example, a monitoring / control instruction outside the vehicle.

The output of the drive source is the output that drives the wheels. The output is represented as torque and speed, for example. The output may be represented as power, for example. The drive source is, for example, a motor. However, the drive source may be, for example, an engine. The vehicle can include multiple motors. The vehicle may have a drive source for each wheel. The vehicle may have one drive source corresponding to a plurality of wheels.

Indication of the degree of travel target is, for example, transmission of target data of at least the traveling speed or acceleration of the vehicle. The indication of the degree of travel target also includes a stop, or zero travel speed. The indication of the degree of travel target includes the degree target both in the front direction and the rear direction of the vehicle. The degree target instruction may include, for example, a steering angle instruction.

The terminology used herein is for the purpose of defining particular embodiments only and is not intended to limit the invention.
As used herein, the term “and / or” includes any and all combinations of one or more of the associated listed components.
As used herein, the use of the terms "including,""comprising," or "having" and variations thereof refers to the described feature, step, operation, It identifies the presence of elements, components and / or their equivalents, but can include one or more of steps, acts, elements, components, and / or groups thereof.
As used herein, the terms “attached”, “coupled” and / or their equivalents are used broadly, both direct and indirect attachment, and coupling, unless otherwise specified. Includes.
Unless defined otherwise, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
Terms such as commonly used dictionary-defined terms should be construed to have a meaning consistent with the meaning in the context of the relevant technology and this disclosure and are expressly defined herein. Unless otherwise stated, it should not be interpreted in the ideal or overly formal sense.
In describing the invention, it is understood that techniques and numerous steps have been disclosed.
Each of these has individual benefits, and each can also be used with one or more, and possibly all, of the other disclosed techniques.
Therefore, for the sake of clarity, this description refrains from unnecessarily repeating all possible combinations of individual steps.
Nevertheless, the specification and claims should be read with the understanding that all such combinations are within the scope of this invention and claims.
A new vehicle is described herein.
In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present invention.
However, it will be apparent to one skilled in the art that the present invention may be practiced without these specific details.
This disclosure is to be considered as illustrative of the invention and is not intended to limit the invention to the particular embodiments illustrated by the following drawings or description.

According to the present invention, it is possible to realize a vehicle capable of increasing the number of variations according to applications and tastes and upgrading the version of the automatic driving control means, while making it possible to use a portion that is responsible for driving for a long period of time.

1 shows a small personal wheel vehicle as an example of a vehicle, an operating device, a dedicated road on which a small personal wheel vehicle satisfying a predetermined standard travels, and a general road other than the dedicated road. 3 shows a small personal wheeled vehicle according to another form of vehicle. 3 shows a specific example of the operating device of FIGS. 1 and 2. 3 shows a specific example of the operating device of FIGS. 1 and 2.

Chronic congestion occurs in major cities and highways leading to major cities. This is because the number of vehicles owned by individuals has increased. Therefore, the introduction of public transportation is being actively implemented in order to eliminate the congestion. In addition, vehicle sharing is also performed in which vehicles are shared and used. However, public transportation and vehicle sharing do not match the mobility needs of individuals. For example, in public transportation and vehicle sharing, it is difficult to secure a personal space during use and movement at doors TO doors. Further, ride sharing such as taxi and motorcycle taxi can be used with a door TO door, but it is expensive and it is difficult to secure a personal space. In addition, for example, when using a vehicle owned by an individual to pick up a family member, it is possible to use it at the door TO door, to secure a personal space, etc. There is also a problem that the time is consumed.
There is a need for a reasonable transportation system that can be used for doors such as TO doors, can be used for personal purposes such as securing a personal space, can eliminate traffic congestion, etc.

The example of the present embodiment is a small personal wheeled vehicle control device and a small personal wheeled vehicle that can be used for a door to door, can be used personally such as securing a personal space, can eliminate traffic congestion, and can be reasonably priced. I will provide a.

There is a demand for reasonable transportation that reduces the time that the driver spends driving.
The example of the present embodiment provides a small personal wheeled vehicle control device and a small personalized wheeled vehicle that reduce the driver's time spent for driving and are reasonably priced.

The small personal wheel de vehicle is equipped with wheels. The small personal wheel vehicle includes a drive mechanism that generates a driving force of the vehicle, a traveling direction changing mechanism that changes a traveling direction, and a braking mechanism that generates a braking force of the vehicle. The small personal wheel vehicle includes a vehicle control device that controls a drive mechanism, a traveling direction changing mechanism, and a braking mechanism. The small personal wheel vehicle includes an operating device that is electrically connected to the vehicle controller. The vehicle control device controls the driving force, traveling direction, and braking force of the small personal wheeled vehicle based on the electric signal input from the operating device.
The vehicle control device is a device that controls a driving force, a traveling direction, and a braking force of a small personal wheeled vehicle. The vehicle control device controls the drive means, the steering means, and the braking means. The drive means includes, for example, a motor and a transmission. The steering means includes a steering mechanism that steers wheels, and an actuator that drives the steering mechanism. The braking means includes, for example, a regeneration control means or a mechanical braking mechanism.
The vehicle control device is electrically connected to the driving means, the steering means, and the braking means. That is, the vehicle control device is electrically connected to the drive mechanism, the traveling direction changing mechanism, and the braking mechanism.
The automatic driving control device is a device for automatically driving a small personal wheeled vehicle. The automatic driving control device is electrically connected to the vehicle control device.
The small personal wheel vehicle has various sensors necessary for automatic driving of the vehicle.
The various sensors are electrically connected to the control device. Some of the various sensors are electrically connected to the automatic driving control device. Some of the various sensors are electrically connected to the vehicle control device. The various sensors are electrically connected to the automatic driving control device and the vehicle control device.
In addition, the automatic driving control device and the vehicle control device may be configured as two parts having independent casings. The automatic driving control device and the vehicle control device may be configured as one component housed in one housing.
The cabin may be configured to have an automatic driving controller.
The cabin may be configured with a vehicle controller.
The chassis may be configured to have a vehicle controller.
The chassis may be configured with an automated driving control system.
The small personal wheel vehicle is, for example, a vehicle smaller than a bus. The small personal wheel vehicle is, for example, a vehicle having a passenger capacity of less than 10 people. For example, the vehicle (wheeled vehicle) has a left and right capacity of two or less and a total capacity of four or less. The small personal wheel vehicle has, for example, a size of 2000 mm or less in the left-right direction of the vehicle. The small personal wheel vehicle is, for example, a vehicle having a lateral size of 1500 mm or less and a footprint of 4.4 m ² or less. The small personal wheel vehicle is, for example, a vehicle having a sit-in type seat. The small personal wheel vehicle is, for example, a vehicle that can be driven by an engine, a vehicle that can be driven by an electric motor, or a vehicle that can be driven by an engine and an electric motor. The power source of the small personal wheel vehicle is not particularly limited. The small personal wheel vehicle is, for example, an off-road type vehicle or an on-road type vehicle. The small personal wheel vehicle is, for example, a two-wheeled vehicle, a three-wheeled vehicle, or a four-wheeled vehicle.

[Small personal wheeled vehicle that can be operated by multiple operating devices with different input operations]
The vehicle control device is configured to be electrically connectable to a plurality of types of operating devices having different input operations in response to at least one instruction of generation of driving force, change of traveling direction, and generation of braking force. This allows the driver to select an operating device, allowing for more personalization.
The vehicle control device is electrically connected to one operating device among a plurality of types of operating devices having different input operations, and the driving force of the small personal wheeled vehicle based on an electric signal input from the operating device, Controls the direction of travel and braking force.
The vehicle control device is electrically connected to a plurality of operating devices of different types having different input operations in a state in which a priority order is assigned, and the electric power input from the operating device based on the priority order. It controls the driving force, traveling direction and braking force of the small personal wheeled vehicle based on the signal.
A plurality of operating devices with different input operations used a steering handle that can rotate 360 degrees or more, a steering handle that rotates in a range of less than 180 degrees (bar, gun grip type), and a switch as used in a game machine. It includes a contact-type input device such as a controller, a smartphone / tablet / mouse pad for touch input, and a non-contact input device for recognizing and inputting a gesture of a joystick controller or a driver. Further, the control device may change the specifications or performance of the small personal wheeled vehicle during traveling in accordance with a plurality of types of operating devices having different input operations. For example, if the operating device is a joystick controller, the vehicle controller may set the maximum speed lower than usual.
The operating device may be mounted on a small personal wheel vehicle. The operating device may be configured to be attachable to and detachable from the small personal wheeled vehicle. The small personal wheel vehicle can be operated by a plurality of operating devices having different input operations. The small personal wheel vehicle may be operable with an operating device external to the vehicle that is not internal to the vehicle.

[Small personal wheeled vehicle that can be operated by an operating device outside the vehicle that does not exist inside the vehicle]
The vehicle control device is configured to be electrically connectable to an operating device that is not inside the vehicle but is outside the vehicle. The vehicle control device transmits data regarding the condition of the vehicle and the condition around the vehicle acquired by the plurality of sensors to the operating device. A driver outside the vehicle operates the operating device based on the conditions of the vehicle and the surroundings of the vehicle.
Accordingly, the driver can operate the small personal wheeled vehicle and move the small personal wheeled vehicle to the destination while being at home or office, for example. Therefore, it is possible to reduce the time consumption of the driver, such as the waiting time between picking up the family. Further, for example, a remote control agency service can be provided at a reasonable price.

[Small personal wheeled vehicle that can be driven by a central control device that controls multiple small personal wheeled vehicles and can be driven by a driver inside the vehicle or by a driver outside the vehicle]
The vehicle control device is configured so that a central control device for centrally controlling a plurality of small personal wheeled vehicles that travels on a dedicated road for traveling by a small personal wheeled vehicle that satisfies a predetermined standard can be electrically connected. It The vehicle control device controls the driving force, traveling direction, and braking force of the small personal wheeled vehicle based on the electric signal input from the central control device. Further, the vehicle control device is based on an electric signal input from an operating device operated by a driver inside the vehicle, or an electric signal input from an operating device operated by a driver outside the vehicle. The driving force, the traveling direction, and the braking force of the small personal wheel vehicle are controlled based on the.
As a result, the small personal wheeled vehicle travels on a dedicated road for traveling by the small personal wheeled vehicle satisfying a predetermined standard and is centrally controlled, so that the vehicle control device can be simplified. Also, on general-purpose roads other than dedicated roads, a driver inside the vehicle or a driver outside the vehicle operates and controls, so automatic driving control for automatic driving mounted on a small personal wheeled vehicle The device can be further simplified.
It is possible to provide a compact personal wheeled vehicle and a vehicle control device for a small personalized wheeled vehicle that can be used for doors and doors, can be used for personal purposes such as securing a personal space, can eliminate traffic congestion, and can be reasonably priced. it can.
It is possible to provide a reasonably priced small personal wheeled vehicle and a vehicle control device for a small personal wheeled vehicle, which reduces the time spent by the driver for driving.
For example, a transportation system in which a small personal wheel vehicle satisfying a predetermined standard runs on a dedicated road and is centrally controlled is considered to be one of public transportation facilities. However, since the small personal wheeled vehicle can be driven by a driver inside the vehicle or a driver outside the vehicle on a general road other than a dedicated road, this is also a personal means of transportation. .. Since both of them are compatible, this technology is considered to be a technology for personalizing public transportation. The small personal wheeled vehicle according to the present disclosure can satisfy personal use while being public transportation.
A small personal wheeled vehicle that meets the specified standards is a small personal wheeled vehicle that is limited to a certain range of vehicle specifications such as vehicle size and drive source output to facilitate centralized control. .. Small personal wheeled vehicles according to the present disclosure need not be vehicles of the same make. The small personal wheeled vehicle according to the present disclosure may be a vehicle manufactured by a different manufacturer as long as it meets a predetermined standard. The specifications (performance) of the small personal wheeled vehicle according to the present disclosure include, for example, a maximum speed of 45 to 60 km / h, an acceleration of 0 to 50 km / h within 10 seconds, and a maximum acceleration of 50 when controlled by centralized control. It is conceivable that the deceleration from 0 to 0 km / h should be within 5 seconds. As a specification (size) of the small personal wheeled vehicle according to the present disclosure, for example, the size of the vehicle in the left-right direction may be 1500 mm or less and the footprint may be 4.4 m ² or less.
Dedicated roads for small personal wheeled vehicles that meet the specified standards are prohibited to drive general vehicles other than the small personal wheeled vehicles that meet the specified standards, manual-driving vehicles, manpowered bicycles, etc. It is a road.
The central control unit is equipped with a mechanism that authenticates that it is a small personal wheeled vehicle that is allowed to travel when traveling on a dedicated road for small personal wheeled vehicles that meet the specified standards. Is also good. Specifically, a small personal wheeled vehicle may be equipped with an authentication module in which an authentication digital key is stored. The authentication module is electrically connected to the communication unit of the vehicle control device and can communicate with the central control device. This communication allows the small personal wheeled vehicles to enter the lane. A device for measuring the size of the vehicle may be provided on a dedicated road on which a small personal wheeled vehicle that satisfies a predetermined standard travels. Further, the ADAS of the small personal wheel vehicle, the presence / absence of sensors and actuators required for automatic operation, and the operating status may be checked, and the predetermined check items may be permitted. Further, the central control device may acquire maintenance information and vehicle inspection information of the small personal wheeled vehicle, and based on the information, permit the small personal wheeled vehicle to enter the dedicated road. In addition, the central control device obtains maintenance information and / or vehicle inspection information of the small personal wheeled vehicle, and based on this information, proposes information for urging appropriate maintenance and information regarding services to the vehicle owner and driver. You may. Further, when the information about the driver is registered, the information about various services can be provided to the driver in combination with the information about the vehicle and the information about the traveling of the vehicle.
Further, the central control device may be configured to be able to communicate with the diagnostic device mounted on the small personal wheeled vehicle. Each vehicle may be self-diagnosed by a diagnostic device while the vehicle is running, and the central control device may control each vehicle according to the degree of failure.
By using various sensors mounted on the small personal wheeled vehicle, the status of the dedicated road or other small personal wheeled vehicle for the small personal wheeled vehicle that meets the specified standard to monitor is monitored. You may. For example, the road surface condition of a road can be monitored and obstacles on the road can be found. The unevenness of the road surface can be monitored by an imaging device such as a camera. It is also possible to monitor the condition of the wheels. The monitoring device may be provided on a dedicated road on which a small personal wheel vehicle that meets a predetermined standard travels.
The information thus obtained can be used for centralized control of the vehicle. This enables more efficient control.
The small personal wheeled vehicle may be mechanically coupled to another small personal wheeled vehicle while traveling. After the connection, the leading small personal wheel vehicle may be controlled to pull another succeeding small personal wheel vehicle. Also, a plurality of small personal wheeled vehicles may be run in a row by electrical connection instead of mechanical connection.
The small personal wheeled vehicle can adjust the amount of energy it carries while driving. For example, if multiple small personal wheeled vehicles are mechanically linked, the amount of energy can be adjusted between the linked vehicles. In addition, the energy of the small personal wheel vehicle is provided between the energy supply device installed on the dedicated road for the small personal wheel vehicle that meets the specified standard and the energy replenishment device mounted on the small personal wheel vehicle. Can be replenished. A form such as contactless power supply or contact power supply can be adopted.
In addition, the dedicated road on which the small personal wheel vehicle satisfying a predetermined standard travels can be elevated. Also, by modularizing each element such as piers, road surfaces, and fences, the scale of the dedicated road can be easily changed according to the changes in the city. Moreover, maintenance can be easily performed. Further, by configuring each module with metal or resin instead of concrete, the scale of the dedicated road can be changed more easily. Maintenance can also be done more easily.
In addition, the dedicated road on which the small personal wheel vehicle satisfying a predetermined standard travels can be formed in a loop shape. Thereby, centralized control can be performed more easily. In addition, a dedicated road on which a small personal wheel vehicle satisfying a predetermined standard travels may be connected to a non-dedicated road.
The central control device described above has a function of controlling the operation of the small personal wheeled vehicle and a function of centrally managing and controlling information about the small personal wheeled vehicle or its driver. However, the central control unit need not have the function of controlling the operation of the small personal wheeled vehicle. The central control unit need not have the ability to centrally manage and control information about the small personal wheeled vehicle or its driver. The central control device may not be present. Equivalent functions may be distributed and processed by each small personal wheel vehicle.
Examples of the small personal wheeled vehicle according to the embodiment of the present disclosure include the following vehicles.

[Small personal wheels that meet specified standards can drive automatically on a dedicated road for driving vehicles, and a driver on a general-purpose road inside the vehicle can drive the vehicle, and a driver outside the vehicle. A small personal wheel that can be driven]
[Small personal wheeled vehicle that can drive on a dedicated road for small personal wheeled vehicles that meet a specified standard and that can be driven by a driver on a general road inside the vehicle] or
[Small personal wheeled vehicle that can drive automatically on a dedicated road for small personal wheeled vehicles that meet prescribed standards and that can be driven by a driver outside the vehicle].
As a result, a small personal wheeled vehicle that meets a specified standard travels on a dedicated road for traveling, so it is necessary for automatic driving compared to a vehicle that can automatically drive general roads that are mixed traffic. The automatic operation control device can be simplified. Also, on general-purpose roads other than dedicated roads, a driver inside the vehicle or a driver outside the vehicle operates and controls, so compared to vehicles that can automatically drive general-purpose roads that are mixed traffic. , It is possible to further simplify the automatic driving control device mounted on a small personal wheel vehicle for automatic driving. In addition, the small personal wheeled vehicle is also configured to be capable of automatically driving on a general road, and on the general road, a driver who is inside the vehicle or outside the vehicle drives or automatically drives. May be configured to be selectable.
To provide a compact personal wheeled vehicle and a self-driving control device for a small personalized wheeled vehicle that can be used for doors and doors, can be used personally such as securing a personal space, can eliminate traffic congestion, and are reasonably priced. You can
It is possible to provide a reasonably-priced small personal wheeled vehicle and an automatic driving control device for a small personal wheeled vehicle while reducing the time spent by the driver for driving.

[Small personal computer configured so that a part of the sensors required for automatic driving and an automatic driving control device for controlling the automatic driving can be replaced with a vehicle control device for controlling the driving force, the change in the traveling direction and the braking force of the vehicle. Wheeled Vehicle]
A part of the sensors required for automatic driving and an automatic driving control device that controls the automatic driving are configured to be replaceable with a vehicle control device that controls the driving force, the change in the traveling direction, and the braking force of the vehicle. An automatic driving control device that controls some of the sensors required for automatic driving and automatic driving is electrically connected and disconnected to the vehicle control device that controls the driving force, change in the traveling direction, and braking force of the vehicle. Can be configured.
With such a configuration, it is possible to easily upgrade some of the sensors required for automatic driving and the automatic driving control device that controls automatic driving.
With this configuration, it is possible to use the vehicle control device that controls the driving force, the change in the traveling direction, and the braking force of the vehicle for a long period of time.
A part of the sensor required for automatic driving and an automatic driving control device for controlling the automatic driving are provided in the cabin. The vehicle control device is provided on the chassis. The cabin is configured to be replaceable with respect to the chassis. The cabin is configured to be mechanically connectable to and disconnectable from the chassis.
With such a configuration, it is possible to easily upgrade some of the sensors required for automatic driving, the automatic driving control device that controls the automatic driving, and the cabin.
With such a configuration, the vehicle control device and the chassis that control the driving force, the change in the traveling direction, and the braking force of the vehicle can be used for a long period of time.

FIG. 1 shows a small personal wheel vehicle as an example of a vehicle, an operating device, a dedicated road on which a small personal wheel vehicle satisfying a predetermined standard travels, and a general road other than the dedicated road.
The small personal wheel vehicle 1 includes wheels (9FL, 9FRi, 9ReL, 9ReRi), a drive mechanism 5 as a drive source, a plurality of sensors as external sensors, an automatic driving control device 4B, and a vehicle control device 4A. Equipped with.
The drive source (drive mechanism 5) drives the wheels (9FL, 9FRi, 9ReL, 9ReRi).
The external world sensor (sensor 13) detects the external environment of the vehicle (small personal wheeled vehicle 1).
The automatic driving control device 4B gives an instruction on the degree of travel of the vehicle (small personal wheeled vehicle 1) based on the detection result of the external sensor (sensor 13).
The vehicle control device 4A is electrically connected to the automatic driving control device 4B and controls the output of the drive source (driving mechanism 5) based on an instruction from the automatic driving control device 4B. The vehicle control device 4A receives the instruction data of the traveling degree target. The vehicle control device 4A controls the change in the traveling direction of the vehicle and the braking force. The vehicle control device 4A controls the output torque or speed of the drive source (drive mechanism 5). The vehicle control device 4A does not have information on the route to the destination, for example. On the other hand, the automatic driving control device 4B has, for example, information on the route to the destination. In addition, the automatic driving control device 4B has, for example, information about lanes of roads that are routes.

The vehicle (small personal wheeled vehicle 1) includes a cabin 3 as a lower structure and a chassis 2 as an upper structure.
The lower structure (chassis 2) is provided with wheels (9FL, 9FRi, 9ReL, 9ReRi), a drive source (drive mechanism 5), and a vehicle control device 4A. A battery BT is provided in the lower structure (chassis 2). The battery BT supplies electric power to the drive source (drive mechanism 5) under the control of the vehicle control device 4A. The battery BT is provided in the lower structure together with the vehicle control device 4A and the drive source (drive mechanism 5), and the wiring of electric power is simple.
The upper structure (cabin 3) is physically and removably connected to the lower structure (chassis 2). The upper structure (cabin 3) is provided with an external sensor (sensor 13) and an automatic driving control device 4B.
For example, a configuration in which the battery BT is provided in the upper structure (cabin 3) can also be adopted. When the battery performance is improved with the progress of technology, or when the mounted battery BT is deteriorated with time, the battery BT can be easily replaced together with a new upper structure (cabin 3). Further, for example, a plurality of batteries may be provided in both the upper structure (cabin 3) and the lower structure (chassis 2).
The upper structure (cabin 3) is physically connected to the lower structure (chassis 2) that supports the vehicle control device 4A while being supported by the automatic driving control device 4B. The automatic driving control device 4B is electrically separably connected to the vehicle control device 4A.
For example, the automatic driving control device 4B and the vehicle control device 4A are physically and electrically connected. The automatic driving control device 4B and the vehicle control device 4A are physically and electrically connected, for example, by an electric wire and a connector (not shown). When the upper structure (cabin 3) and the lower structure (chassis 2) are separated, the connector is disconnected, and the automatic driving control device 4B and the vehicle control device 4A are physically and electrically separated. However, when the automatic driving control device 4B and the vehicle control device 4A are connected by wireless communication, the automatic driving control device 4B and the vehicle control device 4A are not physically connected but are electrically connected.

Since the upper structure (cabin 3) includes the external sensor (sensor 13) and the automatic driving control device 4B, the upper structure (cabin 3) has a function of automatic traveling control according to the configuration of the upper structure (cabin 3). ) Can be integrated together. This upper structure (cabin 3) is combined with a lower structure (chassis 2) provided with wheels (9FL, 9FRi, 9ReL, 9ReRi) and a drive source (drive mechanism 5).
As a result, while designing the upper structure (cabin 3) so as to be applied to the use of the vehicle (small personal wheeled vehicle 1), by the control of the automatic driving control device 4B integrated with the upper structure (cabin 3), The traveling of the lower structure (chassis 2) in which the upper structure (cabin 3) is combined can be applied to the use of the vehicle (small personal wheeled vehicle 1).
For example, the target speed and the request for acceleration / deceleration are different when the cabin 3 has a structure for carrying a person and when the cabin 3 is dedicated to luggage. In addition, depending on the size of the cabin 3, the traversable track may differ. For example, the route to the destination or the lane that can be passed is different.
In addition, if the application and function of the vehicle (small personal wheeled vehicle 1) change in accordance with the progress of autonomous driving technology in the future, the upper structure may be changed according to the application and function of the vehicle (small personal wheeled vehicle 1). The structure of (chassis 2) can also be changed. For example, the accuracy of the image to be detected, the type of medium used for the detection, or the detection algorithm changes. By consolidating the external sensor (sensor 13) and the automatic driving control device 4B in the upper structure (cabin 3), when the upper structure (cabin 3) is designed according to a new application and function, the external sensor (sensor) 13) and the automatic driving control device 4B can be updated according to a new automatic driving technology, a new application, and a new function.
On the other hand, the response performance itself of the lower structure (chassis 2) required for the instruction of the degree of travel target does not significantly change as compared with the operation of the automatic driving control device 4B. The lower structure (chassis 2) having the vehicle control device 4A can be subsequently combined with a new type of upper structure (cabin 3). Therefore, it is possible to increase the number of variations according to applications and tastes and upgrade the version of the automatic driving control means while allowing the chassis 2 which is a portion that carries the traveling function to be used for a long period of time.

The small personal wheeled vehicle 1, which is an example of the vehicle of this embodiment, will be described in more detail.

In FIG. 1, F is the front direction of the small personal wheel vehicle, Re is the rear direction, U is the upward direction, D is the downward direction, Ri is the right direction, and L is the left direction.
FIG. 1 shows a small personal wheeled vehicle, an operating device outside the vehicle that does not exist inside the vehicle, a dedicated road for traveling a small personal wheeled vehicle that satisfies a predetermined standard, and a general road other than the dedicated road. It represents.
The small personal wheel vehicle 1 has a chassis 2 and a cabin 3.
The chassis 2 includes a control device 4, a drive mechanism 5, a traveling direction changing mechanism 6, a braking mechanism 7, a front right wheel 9FRi, a front left wheel 9FL, a rear right wheel 9ReRi, and a rear left wheel 9ReL.
The control device 4 includes a vehicle control device 4A and an automatic driving control device 4B.
The vehicle control device 4A is electrically connected to the automatic driving control device 4B.
A part 13 of various sensors is electrically connected to the automatic driving control device 4B.
A part 13 of various sensors is electrically connected to the vehicle control device 4A.
Although not shown, sensors other than the part 13 of various sensors may be provided in the small personal wheeled vehicle 1. Sensors other than the part 13 of the various sensors may be connected to the automatic driving control device 4B.
The vehicle control device 4A is electrically connected to the drive mechanism 5, the traveling direction changing mechanism 6, and the braking mechanism 7.
The cabin 3 has an internal operating device 8IN provided inside the vehicle, a front right seat XFRi, a front left seat XFL, a rear right seat XReRi and a rear left seat ReL.
The cabin 3 has a part 13 of various sensors.
The cabin 3 has an automatic driving control device 4B.
The internal operating device 8IN is electrically connected to the vehicle control device 4A.
The internal operating device 8IN has a steering wheel 8INA that can rotate 360 degrees or more.
The external operating device 8OUT has an antenna 8OUT1 and a steering handle 8OUTA rotatable by 360 degrees or more.
The external operating device 8OUT is electrically connected to the vehicle control device 4A of the small personal wheeled vehicle 1 by radio.
The small personal wheel vehicle 1 is electrically connected to the central control device 11 and is centrally controlled by the central control device 11.
The central control device 11 has an antenna 111.
The central control device 11 is electrically connected to the vehicle control device 4A of the small personal wheeled vehicle 1 by radio.
The small personal wheeled vehicle 1 travels on a dedicated road 12E on which the small personal wheeled vehicle travels, a dedicated road boarding / alighting station 12S provided on the dedicated road 12E, and a general road 12G other than the dedicated road 12E.
In the figure, the dedicated road 12E for the small personal wheeled vehicle to travel and the dedicated road entry / exit station 12S provided on the dedicated road 12E are indicated by thick lines. The general road 12G other than the dedicated road 12E is indicated by a thin line.
The electrical connection format may be either a wired connection format or a wireless connection format. The type is not limited to a specific type as long as the electrical connection is satisfied.
Note that the wireless format may be any format that enables electrical connection. The wireless format is not limited to a particular format.

FIG. 2 illustrates a small personal wheeled vehicle according to another form of the present disclosure.
The cabin 3 is configured to be mechanically connectable / disconnectable to the chassis 2.
FIG. 2 shows a state in which the cabin 3 and the chassis 2 are physically separated.
The cabin 3 has a part 13 of various sensors.
The cabin 3 has an automatic driving control device 4B.
The cabin 3 has an internal operating device 8IN.
The chassis 2 has a vehicle control device 4A, a drive mechanism 5, a traveling direction changing mechanism 6 and a braking mechanism 7.
The cabin 3 is configured to be mechanically connectable / unconnectable to the chassis 2.
The cabin 3 is configured to be replaceable with respect to the chassis 2.
The automatic driving control device 4B is configured to be electrically connectable / non-connectable to the vehicle control device 4A.
The automatic driving control device 4B is configured to be replaceable with the vehicle control device 4A.
A part 13 of various sensors is configured to be electrically connectable / unconnectable to the automatic driving control device 4B.
A part 13 of various sensors is configured to be electrically connectable / non-connectable to the vehicle control device 4A.
A part 13 of various sensors is configured to be replaceable with the vehicle control device 4A.
With this configuration, it is possible to easily upgrade the part 13 of the sensor required for automatic operation.
With this configuration, it is possible to easily upgrade the automatic driving control device 4B that controls the automatic driving.
With such a configuration, it is possible to easily upgrade the part 13 of the sensor necessary for the automatic driving and the automatic driving control device 4B that controls the automatic driving.
With this configuration, the cabin 3 can be easily upgraded.
With such a configuration, it is possible to easily upgrade the part 13 of the sensor required for the automatic driving, the automatic driving control device 4B that controls the automatic driving, and the cabin 3.
With this configuration, the vehicle control device that controls the driving force, the change in the traveling direction, and the braking force of the vehicle and the chassis 2 can be used for a long period of time.

FIG. 3 shows a specific example of the operating device.
The automatic driving control device 4B is configured to be replaceable with respect to the cabin 3.
A part 13 of various sensors is configured to be replaceable with respect to the cabin 3.
The removable operating device 8INOUT is configured to be replaceable with respect to the cabin 3.
With this configuration, it is possible to easily upgrade the part 13 of the sensor required for automatic operation.
With this configuration, it is possible to easily upgrade the automatic driving control device 4B that controls the automatic driving.
With such a configuration, it is possible to easily upgrade the part 13 of the sensor necessary for the automatic driving and the automatic driving control device 4B that controls the automatic driving.
With this configuration, the cabin 3 can be easily upgraded.
With such a configuration, it is possible to easily upgrade the part 13 of the sensor required for the automatic driving, the automatic driving control device 4B that controls the automatic driving, and the cabin 3.
With this configuration, the vehicle control device that controls the driving force, the change in the traveling direction, and the braking force of the vehicle and the chassis 2 can be used for a long period of time.

FIG. 4 shows a specific example of the operating device.
The removable operating device 8INOUT has an antenna 8INOUT1 (see FIG. 1).
The removable operating device 8INOUT can be electrically connected to the vehicle control device 4A of the small personal wheeled vehicle 1 (see FIG. 1).
The detachable operating device 8INOUT is, for example, a steering handle 8INOUTA that can rotate 360 degrees or more, a steering handlebar 8INOUTB that rotates in a range of less than 180 degrees, a controller 8INOUTC that uses a switch as used in a game machine, a smartphone / tablet. -It can be configured to have a contact input device 8INOUTD for touching and inputting like a mouse pad, a joystick controller 8INOUTE, or a non-contact input device 8INOUTF for recognizing and inputting a gesture of a driver.

1 Small personal wheel de vehicle (vehicle)
2 chassis (lower structure)
3 cabins (upper structure)
4A Vehicle control device 4B Automatic driving control device 5 Drive mechanism (drive source)
9FL, 9FRi, 9ReL, 9ReRi Wheel 13 sensor (outside world sensor)

Claims

A vehicle,
Wheels and
A vehicle control device that controls driving, steering, and braking of the wheels, and an external sensor that detects the external state of the vehicle,
An automatic driving control device for instructing a traveling degree target of the vehicle based on a result of detection by the external sensor,
In a vehicle equipped with
A lower structure provided with the wheels and the vehicle control device that controls driving, steering, and braking of the wheels based on an instruction from the automatic driving control device;
An upper part that is removably physically connected to the lower structure, and that is provided with the external world sensor and the automatic driving control device that indicates a traveling degree target of the vehicle based on a detection result of the external world sensor. And a structure,
The upper structure is detachably physically connected to the lower structure supporting the vehicle control device while supporting the automatic driving control device, and is supported by the upper structure. The automatic driving control device is connected to the vehicle control device so as to be electrically separated from the vehicle control device in a state where the upper structure is separated from the lower structure.
The vehicle according to claim 1,
The upper structure is physically connected so as to be separated from the lower structure supporting the vehicle control device while supporting the automatic driving control device,
The automatic driving control device may be physically and electrically separated from the vehicle control device while being supported by the upper structure, in a state where the upper structure is separated from the lower structure. It is connected to the controller.
The vehicle according to claim 1 or 2, wherein
The upper structure includes an operating device for instructing the vehicle control device of a degree target of travel of the vehicle in response to an operation of a driver boarding the vehicle.
The vehicle according to any one of claims 1 to 3,
The vehicle is a small personal wheeled vehicle.