TWI727685B - Golf cart drive-by-wire system - Google Patents

Golf cart drive-by-wire system Download PDF

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TWI727685B
TWI727685B TW109106907A TW109106907A TWI727685B TW I727685 B TWI727685 B TW I727685B TW 109106907 A TW109106907 A TW 109106907A TW 109106907 A TW109106907 A TW 109106907A TW I727685 B TWI727685 B TW I727685B
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golf cart
steering
control device
electronic control
brake
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TW109106907A
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TW202134097A (en
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吳建勳
林韋辰
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國立虎尾科技大學
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Abstract

A golf cart drive-by-wire system is provided. The golf cart includes a steering wheel, a steering rack, and a throttle controller. The golf cart drive-by-wire system includes an electronic control device, a power steering device, an electronically controlled braking device, and a driving mode switch. The electronic control device is coupled to the throttle controller to output a throttle control signal to the throttle controller to control the traveling speed of the golf cart. The power steering device is coupled to the electronic control device to generate a left and right steering torque to control the traveling direction of the golf cart according to a steering control signal output by the electronic control device. The driving mode switch is coupled to the electronic control device to activate or deactivate the semi-automatic driving mode of the golf cart.

Description

高爾夫球車線控驅動系統Golf cart wire control drive system

本發明是有關於一種高爾夫球車，且特別是一種具有手動駕駛模式與半自動駕駛模式功能的高爾夫球車線控驅動系統。The present invention relates to a golf cart, and in particular to a golf cart wire-controlled driving system with functions of manual driving mode and semi-automatic driving mode.

高爾夫球車是專為高爾夫球場設計開發的環保型乘用車輛，可用於承載球員與球包的交通工具，然而傳統的高爾夫球車僅提供手動駕駛的功能，並沒有提供無人駕駛的功能。因此在使用時必須有一位駕駛來手動駕駛車輛。然而，對於已經擁有傳統高爾夫球車的企業主來說，額外購買數台無人駕駛的高爾夫球車，將會大幅提高企業經營的成本，且造成不必要的浪費。因此，如何在保留高爾夫球車既有的手動駕駛設備的基礎下，另外提供半自動駕駛的功能，將是本案所要著重的問題與解決的重點。Golf carts are environmentally friendly passenger vehicles designed and developed specifically for golf courses. They can be used to carry players and golf bags. However, traditional golf carts only provide manual driving functions and do not provide unmanned driving functions. Therefore, there must be a driver to manually drive the vehicle when in use. However, for business owners who already own traditional golf carts, purchasing several additional driverless golf carts will greatly increase the cost of business operations and cause unnecessary waste. Therefore, how to provide the semi-automatic driving function while retaining the existing manual driving equipment of the golf cart will be the focus of this case and the focus of the solution.

有鑑於此，本發明實施例提供一種高爾夫球車線控驅動系統，高爾夫球車包含方向盤、方向機及油門控制器。高爾夫球車線控驅動系統包括電子控制裝置、動力轉向裝置、電控剎車裝置及駕駛模式開關。電子控制裝置耦接於油門控制器，用以輸出油門控制訊號至油門控制器，以控制高爾夫球車的行進速度。動力轉向裝置耦接於電子控制裝置，動力轉向裝置包括電控轉向機柱、扭力感測器及動力轉向馬達。電控轉向機柱配置於方向盤與方向機之間。扭力感測器配置於電控轉向機柱，用以感測方向盤所受到的扭力，並產生方向盤扭力值。動力轉向馬達配置於電控轉向機柱，用以根據電子控制裝置所輸出的轉向控制訊號，來產生左右轉的轉向扭力以控制高爾夫球車的行進方向。電控剎車裝置耦接於電子控制裝置，用以根據電子控制裝置所輸出的剎車控制訊號，來產生剎車制動力以減緩或停止高爾夫球車的運動。駕駛模式開關耦接於電子控制裝置，用以啟動或解除高爾夫球車的半自動駕駛模式。其中電子控制裝置判斷方向盤扭力值是否大於或等於預定扭力值，若是，則解除高爾夫球車的半自動駕駛模式。In view of this, an embodiment of the present invention provides a golf cart wire-controlled drive system. The golf cart includes a steering wheel, a steering gear, and a throttle controller. The wire-controlled drive system of the golf cart includes an electronic control device, a power steering device, an electronic control brake device and a driving mode switch. The electronic control device is coupled to the throttle controller for outputting a throttle control signal to the throttle controller to control the traveling speed of the golf cart. The power steering device is coupled to the electronic control device. The power steering device includes an electronically controlled steering column, a torque sensor, and a power steering motor. The electronically controlled steering column is arranged between the steering wheel and the steering wheel. The torque sensor is arranged on the electronically controlled steering column to sense the torque received by the steering wheel and generate the torque value of the steering wheel. The power steering motor is arranged on the electronically controlled steering column, and is used to generate left-right steering torque according to the steering control signal output by the electronic control device to control the traveling direction of the golf cart. The electronically controlled braking device is coupled to the electronic control device, and is used for generating a braking force to slow down or stop the movement of the golf cart according to the braking control signal output by the electronic control device. The driving mode switch is coupled to the electronic control device to activate or deactivate the semi-automatic driving mode of the golf cart. The electronic control device determines whether the steering wheel torque value is greater than or equal to the predetermined torque value, and if so, the semi-automatic driving mode of the golf cart is cancelled.

在本發明的一實施例中，其中高爾夫球車更包含機械式制動器，其中電控剎車裝置耦接於機械式制動器，當電控剎車裝置作動時，帶動機械式制動器而產生剎車制動力，以減緩或停止高爾夫球車的運動。In an embodiment of the present invention, the golf cart further includes a mechanical brake, wherein the electronically controlled brake device is coupled to the mechanical brake, and when the electronically controlled brake device is activated, the mechanical brake is driven to generate a braking force. Slow down or stop the movement of the golf cart.

在本發明的一實施例中，其中電控剎車裝置為電動伸縮拉桿。In an embodiment of the present invention, the electronically controlled brake device is an electric telescopic rod.

在本發明的一實施例中，其中高爾夫球車線控驅動系統更包括轉向角度感測裝置。轉向角度感測裝置配置於方向機上且耦接於電子控制裝置，用以感測方向機的轉向角度，並產生轉向角度值，其中電子控制裝置根據轉向角度值，以動態調整動力轉向馬達的左右轉的轉向扭力。In an embodiment of the present invention, the wire-controlled driving system of the golf cart further includes a steering angle sensing device. The steering angle sensing device is configured on the steering wheel and coupled to the electronic control device to sense the steering angle of the steering wheel and generate a steering angle value. The electronic control device dynamically adjusts the power steering motor according to the steering angle value. Steering torque for turning left and right.

在本發明的一實施例中，其中轉向角度感測裝置為橫拉桿電位計。In an embodiment of the present invention, the steering angle sensing device is a tie rod potentiometer.

在本發明的一實施例中，其中高爾夫球車更包含油門踏板，高爾夫球車線控驅動系統更包括油門踏板感測裝置。油門踏板感測裝置配置於油門踏板周圍且耦接於電子控制裝置，用以偵測油門踏板是否被踩下，以決定是否產生油門觸發訊號。In an embodiment of the present invention, the golf cart further includes an accelerator pedal, and the wire-controlled driving system of the golf cart further includes an accelerator pedal sensing device. The accelerator pedal sensing device is arranged around the accelerator pedal and is coupled to the electronic control device for detecting whether the accelerator pedal is depressed to determine whether to generate an accelerator trigger signal.

在本發明的一實施例中，其中當電子控制裝置收到油門觸發訊號時，解除高爾夫球車的半自動駕駛模式。In an embodiment of the present invention, when the electronic control device receives the accelerator trigger signal, the semi-automatic driving mode of the golf cart is cancelled.

在本發明的一實施例中，其中高爾夫球車更包含剎車踏板，高爾夫球車線控驅動系統更包括剎車踏板感測裝置。剎車踏板感測裝置配置於剎車踏板周圍且耦接於電子控制裝置，用以偵測高爾夫球車的剎車踏板是否被踩下，以決定是否產生剎車觸發訊號。In an embodiment of the present invention, the golf cart further includes a brake pedal, and the wire-controlled driving system of the golf cart further includes a brake pedal sensing device. The brake pedal sensing device is arranged around the brake pedal and is coupled to the electronic control device to detect whether the brake pedal of the golf cart is depressed to determine whether to generate a brake trigger signal.

在本發明的一實施例中，其中當電子控制裝置收到剎車觸發訊號時，解除高爾夫球車的半自動駕駛模式。In an embodiment of the present invention, when the electronic control device receives the brake trigger signal, the semi-automatic driving mode of the golf cart is released.

在本發明的一實施例中，高爾夫球車線控驅動系統更包括無線控制裝置。無線控制裝置耦接於電子控制裝置，用以收發無線控制訊號，以控制高爾夫球車。In an embodiment of the present invention, the golf cart drive-by-wire system further includes a wireless control device. The wireless control device is coupled to the electronic control device for receiving and sending wireless control signals to control the golf cart.

本發明實施例所提供的高爾夫球車線控驅動系統，在保留高爾夫球車提供手動駕駛模式所需要的設備或裝置的基礎下，藉由轉向模組與動力轉向裝置來自動控制高爾夫球車的轉向及扭力；藉由安全模組與駕駛模式開關連同相關的踏板感測裝置來自動控制或切換高爾夫球車的駕駛模式；藉由動力模組與油門控制器來自動控制高爾夫球車的速度以及藉由制動模組與電控剎車裝置來自動控制高爾夫球車的剎車制動力。從而實現具有手動駕駛模式與半自動駕駛模式的雙駕駛模式的高爾夫球車，同時替企業主省去了採購新車的費用，並且大幅減少企業經營的成本以及避免不必要的浪費。The golf cart drive-by-wire system provided by the embodiment of the present invention automatically controls the steering of the golf cart by means of a steering module and a power steering device on the basis of retaining the equipment or devices required by the golf cart to provide manual driving mode. And torque; through the safety module and driving mode switch and related pedal sensing device to automatically control or switch the driving mode of the golf cart; through the power module and throttle controller to automatically control the speed and borrowing of the golf cart The braking force of the golf cart is automatically controlled by the braking module and the electronically controlled braking device. In this way, a dual-driving golf cart with a manual driving mode and a semi-automatic driving mode is realized, and at the same time, it saves the business owner the cost of purchasing a new car, and greatly reduces the cost of business operations and avoids unnecessary waste.

上述說明僅是本發明技術方案的概述，為了能夠更清楚瞭解本發明的技術手段，而可依照說明書的內容予以實施，並且為了讓本發明的上述和其他目的、特徵和優點能夠更明顯易懂，以下特舉較佳實施例，並配合附圖，詳細說明如下。為讓本發明之上述和其他目的、特徵和優點能更明顯易懂，下文特舉實施例，並配合所附圖式，作詳細說明如下。The above description is only an overview of the technical solution of the present invention. In order to understand the technical means of the present invention more clearly, it can be implemented in accordance with the content of the specification, and in order to make the above and other objectives, features and advantages of the present invention more obvious and understandable. In the following, the preferred embodiments are cited in conjunction with the drawings, and the detailed description is as follows. In order to make the above and other objects, features and advantages of the present invention more comprehensible, the following specific examples are given in conjunction with the accompanying drawings, which are described in detail as follows.

本發明實施例所提供的高爾夫球車線控驅動系統，可應用於高爾夫球車、接駁車或是搬運車，以提供駕駛選擇手動駕駛模式或半自動駕駛模式。請同時參閱圖1與圖2，圖1是依照本發明實施例所繪示之高爾夫球車線控驅動系統的系統架構示意圖。圖2是依照本發明實施例所繪示之高爾夫球車線控驅動系統的動力轉向裝置配置的示意圖。一種高爾夫球車線控驅動系統包括電子控制裝置20、動力轉向裝置21、電控剎車裝置22以及駕駛模式開關23。其中高爾夫球車包含方向盤10、方向機11及油門控制器14，電子控制裝置20包括轉向模組201、安全模組202、動力模組203及制動模組204。附加說明的是，上述這些模組之間的通訊可通過控制器區域網路（CAN bus）來實現。The golf cart wire-controlled driving system provided by the embodiment of the present invention can be applied to a golf cart, a shuttle car, or a pallet truck to provide a manual driving mode or a semi-automatic driving mode for driving. Please refer to FIG. 1 and FIG. 2 at the same time. FIG. 1 is a schematic diagram of the system architecture of a golf cart drive-by-wire system according to an embodiment of the present invention. Fig. 2 is a schematic diagram of a power steering device configuration of a golf cart wire-controlled drive system according to an embodiment of the present invention. A wire-controlled driving system for a golf cart includes an electronic control device 20, a power steering device 21, an electronic control brake device 22, and a driving mode switch 23. The golf cart includes a steering wheel 10, a steering wheel 11, and a throttle controller 14. The electronic control device 20 includes a steering module 201, a safety module 202, a power module 203, and a brake module 204. It is additionally noted that the communication between the above-mentioned modules can be realized through the controller area network (CAN bus).

駕駛模式開關23耦接於電子控制裝置20的安全模組202，用以啟動或解除高爾夫球車的半自動駕駛模式。當駕駛模式開關23開啟時，代表啟動半自動駕駛模式；反之，當駕駛模式開關23關閉時，代表關閉半自動駕駛模式並且為恢復手動駕駛模式。The driving mode switch 23 is coupled to the safety module 202 of the electronic control device 20 to activate or deactivate the semi-automatic driving mode of the golf cart. When the driving mode switch 23 is turned on, it means that the semi-automatic driving mode is started; on the contrary, when the driving mode switch 23 is turned off, it means that the semi-automatic driving mode is turned off and the manual driving mode is restored.

電子控制裝置20的動力模組203耦接於油門控制器14，動力模組203可輸出油門控制訊號至油門控制器14，以控制高爾夫球車的動力源的驅動能力，從而控制高爾夫球車的行進速度。更進一步來說，油門控制器14乃是根據油門踏板被踩下的深度，透過導磁係數高的導體切割霍爾磁感應元件，從而產生0～5V的油門電壓訊號，並根據油門電壓訊號來提供動力源（例如動力馬達）產生0～100%的驅動能力，使高爾夫球車前進。舉例來說，假設0.25V的油門電壓訊號為油門的初始狀態，代表油門踏板未被踩下。5V的油門電壓訊號為油門全開的狀態，代表油門踏板被踩到底。以此類推，可進一步推算出油門電壓訊號與油門踏板深度之間的關係，以及油門電壓訊號與動力馬達的驅動能力之間的關係。在本發明實例中，油門控制訊號較佳為0.25V～5V。因此，藉由電子控制裝置20之動力模組203的油門控制訊號可控制動力馬達產生0～100%的驅動能力。電子控制裝置20例如是汽車控制單元（Vehicle Control Unit）、電子控制單元（Electronic Control Unit）或其組合。此外，動力模組203更包括檔位切換控制電路（圖未繪），檔位切換控制電路提供電控的方式來切換高爾夫球車的變速箱檔位。在本發明實例中，使用繼電器來實現變速箱的檔位切換。The power module 203 of the electronic control device 20 is coupled to the throttle controller 14. The power module 203 can output a throttle control signal to the throttle controller 14 to control the driving ability of the power source of the golf cart, thereby controlling the golf cart Speed of travel. Furthermore, the accelerator controller 14 cuts the Hall magnetic induction element through a conductor with high permeability according to the depth of the accelerator pedal being stepped on, thereby generating a 0-5V accelerator voltage signal and providing it according to the accelerator voltage signal. The power source (such as a power motor) produces a driving capacity of 0-100% to make the golf cart move forward. For example, assuming that the 0.25V accelerator voltage signal is the initial state of the accelerator, it means that the accelerator pedal is not depressed. The 5V throttle voltage signal is the state of full throttle, which means that the accelerator pedal is fully depressed. By analogy, the relationship between the accelerator voltage signal and the depth of the accelerator pedal, and the relationship between the accelerator voltage signal and the driving capability of the power motor can be further calculated. In the example of the present invention, the throttle control signal is preferably 0.25V-5V. Therefore, the accelerator control signal of the power module 203 of the electronic control device 20 can control the power motor to generate a driving capacity of 0-100%. The electronic control device 20 is, for example, a vehicle control unit (Vehicle Control Unit), an electronic control unit (Electronic Control Unit), or a combination thereof. In addition, the power module 203 further includes a gear switching control circuit (not shown in the figure). The gear switching control circuit provides an electronic control method to switch gears of the golf cart. In the example of the present invention, a relay is used to switch gears of the gearbox.

動力轉向裝置21耦接於電子控制裝置20的轉向模組201，動力轉向裝置21包括電控轉向機柱211、扭力感測器212及動力轉向馬達213。電控轉向機柱211可配置於方向盤10與方向機11之間。扭力感測器212可配置於電控轉向機柱211上，扭力感測器212可用來感測方向盤10上所受到外力介入的扭力，並產生方向盤扭力值來代表外力介入的扭力大小。例如當駕駛用手握住方向盤10時，扭力感測器212便會感測出方向盤10上因駕駛介入的扭力，同時產生方向盤扭力值。轉向模組201便可根據方向盤扭力值來監控駕駛是否有握住方向盤10的行為，例如當方向盤扭力值大於或等於預定扭力值時，代表駕駛有握住方向盤10，此時電子控制裝置20的轉向模組201將立刻解除高爾夫球車的半自動駕駛模式，而恢復為手動駕駛模式；反之，當方向盤扭力值小於預定扭力值時，代表駕駛並沒有握住方向盤10，此時電子控制裝置20的轉向模組201不會解除高爾夫球車的半自動駕駛模式，而維持為半自動駕駛模式。The power steering device 21 is coupled to the steering module 201 of the electronic control device 20. The power steering device 21 includes an electronically controlled steering column 211, a torque sensor 212 and a power steering motor 213. The electronically controlled steering column 211 may be arranged between the steering wheel 10 and the steering wheel 11. The torque sensor 212 may be configured on the electronically controlled steering column 211. The torque sensor 212 may be used to sense the torque of the steering wheel 10 received by the external force, and generate a steering wheel torque value to represent the torque of the external force. For example, when the driver holds the steering wheel 10 by hand, the torque sensor 212 will sense the torque on the steering wheel 10 due to the driver's intervention, and at the same time generate the steering wheel torque value. The steering module 201 can monitor whether the driver is holding the steering wheel 10 according to the steering wheel torque value. For example, when the steering wheel torque value is greater than or equal to the predetermined torque value, it means that the driver is holding the steering wheel 10. The steering module 201 will immediately cancel the semi-automatic driving mode of the golf cart and return to the manual driving mode; on the contrary, when the steering wheel torque value is less than the predetermined torque value, it means that the driver does not hold the steering wheel 10, and the electronic control device 20 The steering module 201 does not cancel the semi-automatic driving mode of the golf cart, but maintains the semi-automatic driving mode.

此外，動力轉向馬達213配置於電控轉向機柱211上，用以根據電子控制裝置20的轉向模組201所輸出的轉向控制訊號，來產生左右轉的轉向扭力以控制電控轉向機柱211的轉動角度，從而控制高爾夫球車的行進方向，例如是向左轉動或是向右轉動。值得注意的是，動力轉向裝置21可以是替換的方式或是改裝的方式來實現。舉例來說，可直接用新的動力轉向裝置取代既有的方向機柱。或者是從高爾夫球車既有的方向機柱上，加裝一個具有扭力感知器的動力轉向機構，而此動力轉向機構並不會取代高爾夫球車上既有的方向盤功能。In addition, the power steering motor 213 is arranged on the electronically controlled steering column 211, and is used to generate left-right steering torque according to the steering control signal output by the steering module 201 of the electronic control device 20 to control the electronically controlled steering column 211 The angle of rotation to control the direction of travel of the golf cart, such as turning to the left or turning to the right. It is worth noting that the power steering device 21 can be implemented in an alternative way or a modified way. For example, you can directly replace the existing steering column with a new power steering device. Or add a power steering mechanism with a torque sensor to the existing steering column of the golf cart, and this power steering mechanism will not replace the existing steering wheel function on the golf cart.

請參閱圖3，圖3是依照本發明實施例所繪示之高爾夫球車線控驅動系統的電控剎車裝置與剎車踏板感測裝置配置的示意圖。電控剎車裝置22耦接於電子控制裝置20的制動模組204，用以根據制動模組204所輸出的剎車控制訊號，來產生0～100%的剎車制動力以減緩或停止高爾夫球車的運動。也就是說，藉由剎車制動力使高爾夫球車減速或使高爾夫球車減速至停止的狀態。更進一步來說，高爾夫球車更包含機械式制動器13例如是機械拉索式鼓式煞車。電控剎車裝置22耦接於機械式制動器13且在同一軸線上。當電控剎車裝置22作動時，帶動機械式制動器13產生0～100%的剎車制動力，以減緩或停止高爾夫球車的運動。電控剎車裝置22較佳為電動伸縮拉桿、電動推桿。Please refer to FIG. 3, which is a schematic diagram of the configuration of the electronically controlled brake device and the brake pedal sensing device of the golf cart wire-controlled drive system according to an embodiment of the present invention. The electronically controlled brake device 22 is coupled to the brake module 204 of the electronic control device 20, and is used to generate 0-100% braking force to slow down or stop the golf cart according to the brake control signal output by the brake module 204 movement. In other words, the braking force is used to decelerate the golf cart or decelerate the golf cart to a stopped state. Furthermore, the golf cart further includes a mechanical brake 13 such as a mechanical cable drum brake. The electronically controlled brake device 22 is coupled to the mechanical brake 13 and is on the same axis. When the electronically controlled brake device 22 is activated, the mechanical brake 13 is driven to generate a braking force of 0-100% to slow down or stop the movement of the golf cart. The electronically controlled braking device 22 is preferably an electric telescopic pull rod or an electric push rod.

此外，高爾夫球車更包含剎車踏板12，高爾夫球車線控驅動系統更包括剎車踏板感測裝置26。剎車踏板感測裝置26配置於剎車踏板12的周圍例如是剎車踏板12的下方，並且剎車踏板感測裝置26耦接於電子控制裝置20的安全模組202，用以偵測高爾夫球車的剎車踏板12是否有外力介入例如駕駛踩下剎車踏板12，以決定是否產生剎車觸發訊號。舉例來說，當剎車踏板12被駕駛踩下時，由於觸碰到剎車踏板感測裝置26，因而產生剎車觸發訊號。當安全模組202收到剎車觸發訊號時，便立刻解除高爾夫球車的半自動駕駛模式，並恢復為手動駕駛模式。剎車踏板感測裝置26較佳是配置於剎車踏板12的下方，而剎車踏板感測裝置26較佳是為接點式極限開關，但不以此為限。In addition, the golf cart further includes a brake pedal 12, and the wire-controlled driving system of the golf cart further includes a brake pedal sensing device 26. The brake pedal sensing device 26 is disposed around the brake pedal 12, for example, below the brake pedal 12, and the brake pedal sensing device 26 is coupled to the safety module 202 of the electronic control device 20 to detect the braking of the golf cart Whether external force is involved in the pedal 12, such as a driver stepping on the brake pedal 12, determines whether to generate a brake trigger signal. For example, when the brake pedal 12 is stepped on by a driver, the brake pedal sensing device 26 is touched, thereby generating a brake trigger signal. When the safety module 202 receives the brake trigger signal, it immediately releases the semi-automatic driving mode of the golf cart and returns to the manual driving mode. The brake pedal sensing device 26 is preferably arranged below the brake pedal 12, and the brake pedal sensing device 26 is preferably a contact limit switch, but it is not limited thereto.

請同時參閱圖4A與圖4B，圖4A是方向機配置的示意圖。圖4B是依照本發明實施例所繪示之高爾夫球車線控驅動系統的轉向角度感測裝置配置的示意圖。高爾夫球車線控驅動系統，更包括轉向角度感測裝置24。轉向角度感測裝置24配置於方向機11上並且耦接於電子控制裝置20的轉向模組201，用以感測方向機11的轉向角度，同時產生轉向角度值。轉向模組201可根據讀取的轉向角度值，動態調整或動態補償動力轉向馬達213的左右轉的轉向扭力。舉例來說，當轉向模組201要求轉向角度為30度時，但實際上方向機11可能因為當下負載的不同，而使得轉向角度不會等於30度，而是大於或小於30度。因此轉向模組201便可藉由轉向角度感測裝置24來獲得方向機11實際的轉向角度，以動態補償動力轉向馬達213的左右轉的轉向扭力。假設轉向模組201獲得方向機11的轉向角度為35度，則轉向模組201求得補償值為負5度。因此，轉向模組201便可調整動力轉向馬達213的左右轉的轉向扭力，例如是25度的轉向角度，使方向機11在此負載下的轉向角度為30度。轉向角度感測裝置242較佳是橫拉桿電位計、拉桿型電位計。Please refer to FIG. 4A and FIG. 4B at the same time. FIG. 4A is a schematic diagram of the configuration of the steering machine. 4B is a schematic diagram showing the configuration of the steering angle sensing device of the golf cart wire-controlled drive system according to an embodiment of the present invention. The wire-controlled driving system of the golf cart further includes a steering angle sensing device 24. The steering angle sensing device 24 is disposed on the steering wheel 11 and coupled to the steering module 201 of the electronic control device 20 to sense the steering angle of the steering wheel 11 and generate a steering angle value at the same time. The steering module 201 can dynamically adjust or dynamically compensate the left and right steering torque of the power steering motor 213 according to the read steering angle value. For example, when the steering module 201 requires a steering angle of 30 degrees, but in fact, the steering wheel 11 may not be equal to 30 degrees, but greater or less than 30 degrees due to the current load. Therefore, the steering module 201 can obtain the actual steering angle of the steering wheel 11 through the steering angle sensing device 24 to dynamically compensate for the steering torque of the power steering motor 213 to turn left and right. Assuming that the steering module 201 obtains the steering angle of the steering wheel 11 to be 35 degrees, the steering module 201 obtains a compensation value of minus 5 degrees. Therefore, the steering module 201 can adjust the left and right steering torque of the power steering motor 213, for example, a steering angle of 25 degrees, so that the steering angle of the steering wheel 11 under this load is 30 degrees. The steering angle sensing device 242 is preferably a tie-rod potentiometer or tie-rod potentiometer.

附加說明的是，當高爾夫球車的轉向行為是置中時，代表方向盤10是置中，此時對應的方向盤10角度為720°、對應的方向機11的長度為8公分，而橫拉桿電位計對應的數值為512。當高爾夫球車的轉向行為是左轉時，代表方向盤10是左轉打到底，此時對應的方向盤10角度為0°、對應的方向機11的長度為0公分，而橫拉桿電位計對應的數值為0。當高爾夫球車的轉向行為是右轉時，代表方向盤10是右轉打到底，此時對應的方向盤10角度為1440°、對應的方向機11的長度為16公分，而橫拉桿電位計對應的數值為1023。以此類推，可進一步推算出高爾夫球車的所有轉向行為所對應的數值。In addition, when the steering behavior of the golf cart is centered, it means that the steering wheel 10 is centered. At this time, the angle of the corresponding steering wheel 10 is 720°, the length of the corresponding steering wheel 11 is 8 cm, and the tie rod potential The corresponding value is 512. When the steering behavior of the golf cart is turning left, it means that the steering wheel 10 is turning left and hitting the end. At this time, the angle of the corresponding steering wheel 10 is 0°, the length of the corresponding steering wheel 11 is 0 cm, and the tie-rod potentiometer corresponds to The value is 0. When the steering behavior of the golf cart is turning right, it means that the steering wheel 10 is turning right to the end. At this time, the angle of the corresponding steering wheel 10 is 1440°, the length of the corresponding steering wheel 11 is 16 cm, and the tie-rod potentiometer corresponds to The value is 1023. By analogy, the values corresponding to all the steering behaviors of the golf cart can be further calculated.

請參閱圖5，圖5是依照本發明實施例所繪示之高爾夫球車線控驅動系統的油門踏板感測裝置配置的示意圖。高爾夫球車更包含油門踏板15，高爾夫球車線控驅動系統更包括油門踏板感測裝置25。油門踏板感測裝置25配置於油門踏板15的周圍並且耦接於電子控制裝置20的安全模組202，用以偵測油門踏板15是否有外力介入例如駕駛踩下油門踏板15，以決定是否產生油門觸發訊號。舉例來說，當油門踏板15被駕駛踩下時，由於觸碰到油門踏板感測裝置25，因而產生油門觸發訊號。當安全模組202收到油門觸發訊號時，便立刻解除高爾夫球車的半自動駕駛模式並且恢復為手動駕駛模式。油門踏板感測裝置25較佳為接點式極限開關，但不以此為限。Please refer to FIG. 5. FIG. 5 is a schematic diagram illustrating the configuration of an accelerator pedal sensing device of a golf cart drive-by-wire system according to an embodiment of the present invention. The golf cart further includes an accelerator pedal 15, and the wire-controlled driving system of the golf cart further includes an accelerator pedal sensing device 25. The accelerator pedal sensing device 25 is disposed around the accelerator pedal 15 and is coupled to the safety module 202 of the electronic control device 20 to detect whether the accelerator pedal 15 has an external force, such as a driver stepping on the accelerator pedal 15 to determine whether to generate Throttle trigger signal. For example, when the accelerator pedal 15 is stepped on by the driver, the accelerator pedal sensing device 25 is touched, thereby generating an accelerator trigger signal. When the safety module 202 receives the throttle trigger signal, it immediately releases the semi-automatic driving mode of the golf cart and returns to the manual driving mode. The accelerator pedal sensing device 25 is preferably a contact limit switch, but it is not limited thereto.

高爾夫球車線控驅動系統更包括環境感測裝置27，而電子控制裝置20更包括環境模組206。環境感測裝置27耦接於電子控制裝置20的環境模組206。環境感測裝置27具有多個感測元件，例如是慣性導航系統（INS）、全球衛星定位系統（GPS）、鏡頭影像辨識器、循線感測器、超音波避障器、雷達（RADAR）、激光雷達（LiDAR）等，而這些感測元件可用以感測高爾夫球車的車輛狀況、周圍環境狀況或道路環境狀況，並且產生多個環境感測資料。更進一步來說，當駕駛模式開關23為啟動時，環境模組206便可根據這些環境感測資料，判斷是否滿足預定駕駛條件，若判斷為是（滿足預定駕駛條件），則執行半自動駕駛模式；反之，若判斷為否，則減緩或停止高爾夫球車的運動，同時解除高爾夫球車的半自動駕駛模式並恢復為手動駕駛模式。至於如何判斷是否滿足預定駕駛條件屬於習知技術的範疇，在此不再贅述。此外，環境模組206還可根據這些環境感測資料，產生高爾夫球車的行車軌跡資料，轉向模組201便可根據這些行車軌跡資料產生轉向控制訊號，接著動力轉向馬達213根據轉向控制訊號產生左右轉的轉向扭力以控制電控轉向機柱211的轉動角度，從而控制高爾夫球車的行進方向。附加說明的是，在本發明實例中的半自動駕駛模式包括無人駕駛、無人跟隨等功能，並可根據駕駛的需求來選擇。至於如何選擇屬於習知技術的範疇，在此不再贅述。The golf cart drive-by-wire system further includes an environment sensing device 27, and the electronic control device 20 further includes an environment module 206. The environment sensing device 27 is coupled to the environment module 206 of the electronic control device 20. The environmental sensing device 27 has multiple sensing elements, such as an inertial navigation system (INS), a global satellite positioning system (GPS), a lens image recognizer, a tracking sensor, an ultrasonic obstacle avoidance device, and a radar (RADAR) , LiDAR, etc., and these sensing elements can be used to sense the golf cart's vehicle conditions, surrounding environmental conditions or road environmental conditions, and generate multiple environmental sensing data. Furthermore, when the driving mode switch 23 is activated, the environment module 206 can determine whether the predetermined driving condition is satisfied according to the environmental sensing data, and if it is judged as yes (meet the predetermined driving condition), execute the semi-automatic driving mode ; On the contrary, if the judgment is no, slow down or stop the movement of the golf cart, and at the same time cancel the semi-automatic driving mode of the golf cart and return to the manual driving mode. As for how to determine whether the predetermined driving conditions are met, it belongs to the category of conventional technology, so I won't repeat it here. In addition, the environment module 206 can also generate golf cart driving trajectory data based on these environmental sensing data. The steering module 201 can generate steering control signals based on the driving trajectory data, and then the power steering motor 213 generates steering control signals based on the steering control signals. The left-right steering torque is used to control the rotation angle of the electronically controlled steering column 211, thereby controlling the traveling direction of the golf cart. It is additionally noted that the semi-autonomous driving mode in the example of the present invention includes functions such as unmanned driving and unmanned following, and can be selected according to driving requirements. As for how to choose the category of conventional technology, I will not repeat it here.

此外，在執行半自動駕駛模式後，環境模組206還可根據這些環境感測資料，判斷高爾夫球車的周圍是否有障礙物，若判斷為是（有障礙物）， 則減緩或停止高爾夫球車的運動，並解除高爾夫球車的半自動駕駛模式；若判斷為否，則持續判斷是否滿足預定駕駛條件。至於如何判斷高爾夫球車的周圍是否有障礙物屬於習知技術的範疇，在此不再贅述。In addition, after executing the semi-autonomous driving mode, the environment module 206 can also determine whether there are obstacles around the golf cart based on these environmental sensing data, and if the judgment is yes (there is an obstacle), it will slow down or stop the golf cart. If the judgment is no, continue to judge whether the predetermined driving conditions are met. As for how to judge whether there are obstacles around the golf cart, it belongs to the category of conventional technology, so I won't repeat it here.

高爾夫球車線控驅動系統更包括遙控模式開關(圖未繪)及無線控制裝置28，而電子控制裝置20更包括無線模組205。遙控模式開關耦接於該電子控制裝置20的無線模組205，用以啟動或解除該高爾夫球車的遙控模式。無線控制裝置28耦接於電子控制裝置20的無線模組205，用以收發無線控制訊號以控制高爾夫球車。當遙控模式開關開啟時，代表啟動遙控模式。駕駛便可藉由無線控制裝置28來實現動力轉向裝置21的無線控制。無線控制裝置28包括雙軸搖桿模組及支援Wi-Fi協定的無線模組。值得注意的是，遙控模式開關也可以軟體的方式實現。The wire control driving system of the golf cart further includes a remote control mode switch (not shown in the figure) and a wireless control device 28, and the electronic control device 20 further includes a wireless module 205. The remote control mode switch is coupled to the wireless module 205 of the electronic control device 20 to activate or deactivate the remote control mode of the golf cart. The wireless control device 28 is coupled to the wireless module 205 of the electronic control device 20 for transmitting and receiving wireless control signals to control the golf cart. When the remote control mode switch is turned on, it means the remote control mode is activated. During driving, the wireless control device 28 can realize the wireless control of the power steering device 21. The wireless control device 28 includes a dual-axis joystick module and a wireless module supporting the Wi-Fi protocol. It is worth noting that the remote control mode switch can also be implemented in software.

綜上所述，本發明實施例所提供的高爾夫球車線控驅動系統，在保留高爾夫球車提供人為駕駛模式所需要的設備或裝置的基礎下，電子控制裝置藉由轉向模組與動力轉向裝置來自動控制高爾夫球車的轉向、扭力；藉由安全模組與駕駛模式開關連同相關的踏板感測裝置來自動控制或切換高爾夫球車的駕駛模式；藉由動力模組與油門控制器來自動控制高爾夫球車的速度以及藉由制動模組與電控剎車裝置來自動控制高爾夫球車的剎車制動力。從而實現具有手動駕駛模式與半自動駕駛模式的雙駕駛模式的高爾夫球車，並且大幅減少企業經營的成本以及避免不必要的浪費。In summary, the golf cart drive-by-wire system provided by the embodiments of the present invention retains the equipment or devices required by the golf cart to provide a man-made driving mode. The electronic control device uses the steering module and the power steering device. To automatically control the steering and torque of the golf cart; to automatically control or switch the driving mode of the golf cart by the safety module and the driving mode switch and related pedal sensing device; to automatically control or switch the driving mode of the golf cart by the power module and the accelerator controller Control the speed of the golf cart and automatically control the braking force of the golf cart through the brake module and the electronically controlled brake device. In this way, a dual-driving mode golf cart with a manual driving mode and a semi-automatic driving mode is realized, and the cost of business operations is greatly reduced and unnecessary waste is avoided.

雖然本發明已以實施例揭露如上，然其並非用以限定本發明，本發明所屬技術領域中具有通常知識者，在不脫離本發明之精神和範圍內，當可作些許之更動與潤飾，因此本發明之保護範圍當視後附之申請專利範圍所界定者為準。Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention. Those with ordinary knowledge in the technical field of the present invention can make some changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be subject to those defined by the attached patent scope.

10:方向盤 11:方向機 12:剎車踏板 13:機械式制動器 14:油門控制器 15:油門踏板 20:電子控制裝置 201:轉向模組 202:安全模組 203:動力模組 204:制動模組 205:無線模組 206:環境模組 21:動力轉向裝置 211:電控轉向機柱 212:扭力感測器 213:動力轉向馬達 22:電控剎車裝置 23:駕駛模式開關 24:轉向角度感測裝置 25:油門踏板感測裝置 26:剎車踏板感測裝置 27:環境感測裝置 28:無線控制裝置 10: steering wheel 11: Steering machine 12: Brake pedal 13: Mechanical brake 14: Throttle controller 15: accelerator pedal 20: Electronic control device 201: Steering module 202: Security Module 203: Power Module 204: Brake module 205: wireless module 206: Environment Module 21: Power steering 211: Electronically controlled steering column 212: Torque Sensor 213: Power steering motor 22: Electronically controlled brake device 23: Driving mode switch 24: steering angle sensing device 25: Accelerator pedal sensing device 26: Brake pedal sensing device 27: Environmental sensing device 28: wireless control device

圖1是依照本發明實施例所繪示之高爾夫球車線控驅動系統的系統架構示意圖。 圖2是依照本發明實施例所繪示之高爾夫球車線控驅動系統的動力轉向裝置配置的示意圖。 圖3是依照本發明實施例所繪示之高爾夫球車線控驅動系統的電控剎車裝置與剎車踏板感測裝置配置的示意圖。 圖4A是方向機配置的示意圖。 圖4B是依照本發明實施例所繪示之高爾夫球車線控驅動系統的轉向角度感測裝置配置的示意圖。 圖5是依照本發明實施例所繪示之高爾夫球車線控驅動系統的油門踏板感測裝置配置的示意圖。 FIG. 1 is a schematic diagram of the system architecture of a golf cart drive-by-wire system according to an embodiment of the present invention. Fig. 2 is a schematic diagram of a power steering device configuration of a golf cart wire-controlled drive system according to an embodiment of the present invention. 3 is a schematic diagram showing the configuration of the electronically controlled brake device and the brake pedal sensing device of the golf cart wire-controlled drive system according to an embodiment of the present invention. Figure 4A is a schematic diagram of the steering machine configuration. 4B is a schematic diagram showing the configuration of the steering angle sensing device of the golf cart wire-controlled drive system according to an embodiment of the present invention. Fig. 5 is a schematic diagram showing the configuration of an accelerator pedal sensing device of a golf cart wire-controlled drive system according to an embodiment of the present invention.

14:油門控制器 14: Throttle controller

20:電子控制裝置 20: Electronic control device

201:轉向模組 201: Steering module

202:安全模組 202: Security Module

203:動力模組 203: Power Module

204:制動模組 204: Brake module

205:無線模組 205: wireless module

206:環境模組 206: Environment Module

21:動力轉向裝置 21: Power steering

211:電控轉向機柱 211: Electronically controlled steering column

212:扭力感測器 212: Torque Sensor

213:動力轉向馬達 213: Power steering motor

22:電控剎車裝置 22: Electronically controlled brake device

23:駕駛模式開關 23: Driving mode switch

24:轉向角度感測裝置 24: steering angle sensing device

25:油門踏板感測裝置 25: Accelerator pedal sensing device

26:剎車踏板感測裝置 26: Brake pedal sensing device

27:環境感測裝置 27: Environmental sensing device

28:無線控制裝置 28: wireless control device

Claims (9)

一種高爾夫球車線控驅動系統，該高爾夫球車包含一方向盤、一方向機、一機械式制動器及一油門控制器，該高爾夫球車線控驅動系統，包括：一電子控制裝置，耦接於該油門控制器，用以輸出一油門控制訊號至該油門控制器，以控制該高爾夫球車的行進速度；一動力轉向裝置，耦接於該電子控制裝置，該動力轉向裝置包括：一電控轉向機柱，配置於該方向盤與該方向機之間；一扭力感測器，配置於該電控轉向機柱，用以感測該方向盤所受到的扭力，並產生一方向盤扭力值；以及一動力轉向馬達，配置於該電控轉向機柱，用以根據該電子控制裝置所輸出的一轉向控制訊號，來產生一左右轉的轉向扭力以控制該高爾夫球車的行進方向；一電控剎車裝置，耦接於該電子控制裝置，用以根據該電子控制裝置所輸出的一剎車控制訊號，來產生一剎車制動力以減緩或停止該高爾夫球車的運動；一駕駛模式開關，耦接於該電子控制裝置，用以啟動或解除該高爾夫球車的一半自動駕駛模式；以及一環境感測裝置，耦接於該電子控制裝置，用以感測該高爾夫球車的車輛狀況、周圍環境狀況或道路環境狀況，並據以產生多個環境感測資料；其中該電子控制裝置判斷該方向盤扭力值是否大於或等於一預定扭力值，若是，則解除該高爾夫球車的該半自動駕駛模式； 其中該電控剎車裝置耦接於該機械式制動器且在同一軸線上，當該電控剎車裝置作動時，帶動該機械式制動器而產生該剎車制動力，以減緩或停止該高爾夫球車的運動；其中當該駕駛模式開關為啟動時，該電子控制裝置根據該些環境感測資料，判斷是否滿足預定駕駛條件，若判斷為是，則執行該半自動駕駛模式，若判斷為否，則減緩或停止該高爾夫球車的運動，同時解除該高爾夫球車的該半自動駕駛模式。 A golf cart wire-controlled drive system, the golf cart includes a steering wheel, a steering gear, a mechanical brake, and a throttle controller. The golf cart wire-controlled drive system includes: an electronic control device coupled to the throttle The controller is used to output a throttle control signal to the throttle controller to control the traveling speed of the golf cart; a power steering device coupled to the electronic control device, the power steering device includes: an electronically controlled steering gear A column is arranged between the steering wheel and the steering wheel; a torque sensor is arranged on the electronically controlled steering column to sense the torque received by the steering wheel and generate a steering wheel torque value; and a power steering The motor is arranged on the electronically controlled steering column to generate a left-right steering torque according to a steering control signal output by the electronic control device to control the traveling direction of the golf cart; an electronically controlled brake device, Coupled to the electronic control device for generating a braking force to slow down or stop the golf cart according to a brake control signal output by the electronic control device; a driving mode switch coupled to the electronic control device A control device for activating or disabling the semi-automatic driving mode of the golf cart; and an environment sensing device, coupled to the electronic control device, for sensing the golf cart's vehicle condition, surrounding environment condition or road Environmental conditions, and generate a plurality of environmental sensing data accordingly; wherein the electronic control device determines whether the steering wheel torque value is greater than or equal to a predetermined torque value, and if so, the semi-automatic driving mode of the golf cart is cancelled; The electronically controlled brake device is coupled to the mechanical brake and is on the same axis. When the electronically controlled brake device is activated, the mechanical brake is driven to generate the braking force to slow down or stop the golf cart. ; Wherein when the driving mode switch is activated, the electronic control device judges whether the predetermined driving conditions are met according to the environmental sensing data, if the judgment is yes, then execute the semi-automatic driving mode, if the judgment is no, slow down or The movement of the golf cart is stopped, and the semi-automatic driving mode of the golf cart is cancelled at the same time. 如請求項1所述之高爾夫球車線控驅動系統，其中該電控剎車裝置為電動伸縮拉桿。 The golf cart drive-by-wire system according to claim 1, wherein the electronically controlled brake device is an electric telescopic rod. 如請求項1所述之高爾夫球車線控驅動系統，更包括：一轉向角度感測裝置，配置於該方向機上且耦接於該電子控制裝置，用以感測該方向機的轉向角度，並產生一轉向角度值，其中該電子控制裝置根據該轉向角度值，以動態調整該動力轉向馬達的該左右轉的轉向扭力。 The golf cart drive-by-wire system according to claim 1, further comprising: a steering angle sensing device, which is disposed on the steering wheel and coupled to the electronic control device, for sensing the steering angle of the steering wheel, And generate a steering angle value, wherein the electronic control device dynamically adjusts the left and right steering torque of the power steering motor according to the steering angle value. 如請求項3所述之高爾夫球車線控驅動系統，其中該轉向角度感測裝置為橫拉桿電位計。 The golf cart drive-by-wire system according to claim 3, wherein the steering angle sensing device is a tie rod potentiometer. 如請求項1所述之高爾夫球車線控驅動系統，其中該高爾夫球車更包含一油門踏板，該高爾夫球車線控驅動系統，更包括：一油門踏板感測裝置，配置於該油門踏板周圍且耦接於該電子控制裝置，用以偵測該油門踏板是否被踩下，以決定是否產生一油門觸發訊號。 The golf cart wire-controlled drive system according to claim 1, wherein the golf cart further includes an accelerator pedal, and the golf cart wire-controlled drive system further includes: an accelerator pedal sensing device disposed around the accelerator pedal and It is coupled to the electronic control device for detecting whether the accelerator pedal is depressed to determine whether to generate an accelerator trigger signal. 如請求項5所述之高爾夫球車線控驅動系統，其中當該電子控制裝置收到該油門觸發訊號時，解除該高爾夫球車的該半自動駕駛模式。 The golf cart drive-by-wire system according to claim 5, wherein when the electronic control device receives the throttle trigger signal, the semi-automatic driving mode of the golf cart is cancelled. 如請求項1所述之高爾夫球車線控驅動系統，其中該高爾夫球車更包含一剎車踏板，該高爾夫球車線控驅動系統，更包括：一剎車踏板感測裝置，配置於該剎車踏板周圍且耦接於該電子控制裝置，用以偵測該高爾夫球車的剎車踏板是否被踩下，以決定是否產生一剎車觸發訊號。 The golf cart wire-controlled drive system according to claim 1, wherein the golf cart further includes a brake pedal, and the golf cart wire-controlled drive system further includes: a brake pedal sensing device disposed around the brake pedal and It is coupled to the electronic control device for detecting whether the brake pedal of the golf cart is stepped on, so as to determine whether to generate a brake trigger signal. 如請求項7所述之高爾夫球車線控驅動系統，其中當該電子控制裝置收到該剎車觸發訊號時，解除該高爾夫球車的該半自動駕駛模式。 The golf cart drive-by-wire system according to claim 7, wherein when the electronic control device receives the brake trigger signal, the semi-automatic driving mode of the golf cart is released. 如請求項1所述之高爾夫球車線控驅動系統，更包括：一無線控制裝置，耦接於該電子控制裝置，用以收發一無線控制訊號，以控制該高爾夫球車。 The golf cart drive-by-wire system according to claim 1, further comprising: a wireless control device coupled to the electronic control device for transmitting and receiving a wireless control signal to control the golf cart.
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