WO2012153596A1 - Compact vehicle - Google Patents

Compact vehicle Download PDF

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Publication number
WO2012153596A1
WO2012153596A1 PCT/JP2012/060019 JP2012060019W WO2012153596A1 WO 2012153596 A1 WO2012153596 A1 WO 2012153596A1 JP 2012060019 W JP2012060019 W JP 2012060019W WO 2012153596 A1 WO2012153596 A1 WO 2012153596A1
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WO
WIPO (PCT)
Prior art keywords
program
lateral movement
vehicle body
small vehicle
steering
Prior art date
Application number
PCT/JP2012/060019
Other languages
French (fr)
Japanese (ja)
Inventor
山本　哲也
知美 後藤
香織 友田
Original Assignee
Ntn株式会社
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Publication of WO2012153596A1 publication Critical patent/WO2012153596A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/1509—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0038—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the wheel axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction

Definitions

  • the present invention relates to a small vehicle, for example, a one- or two-seater near / medium distance moving vehicle generally called a commuter.
  • Communicators are required to enter narrow spaces and improve turning performance. Moreover, in a commuter equipped with an in-wheel motor, in-situ rotation and lateral movement are possible by independently controlling the four wheels (Patent Document 1).
  • the body weight of light vehicles and ordinary vehicles is generally 900 kg or more, the proportion of the weight of the occupant in the total weight of the vehicle is relatively small.
  • the body weight is 500 kg or less, and the proportion of the occupant's body weight relative to the total weight of the commuter is relatively large. growing.
  • the commuter may have a narrow tread or wheelbase, and may fall over depending on the slope of the road surface when rotating or moving in place.
  • an object of the present invention is to enable safe on-site rotation and lateral movement in a small vehicle such as a commuter.
  • the present invention provides a steering actuator provided on all wheels, a drive motor provided on a drive wheel thereof, and the steering actuator according to a program of a controller mounted on a vehicle body.
  • a vehicle body inclination sensor is provided on the vehicle body, and the program includes on-site rotation or lateral movement control means.
  • the program for executing the above is also configured to include determination means for determining whether or not the vehicle can be driven based on the inclination angle information obtained by the vehicle body inclination sensor.
  • the small vehicle having the above-described configuration automatically determines that there is a possibility of overturning when the inclination angle of the vehicle body is equal to or greater than a certain value, and stops the in-situ rotation and lateral movement control.
  • the control means for feedback-controlling each of the turning actuators based on the detected value by the turning angle sensor, with the in-situ rotation turning angle input from the outside as a target value. May be provided.
  • control means for feedback-controlling each drive motor based on the value detected by the rotation angle sensor with the in-situ rotation angle input from the outside as a target value. is there.
  • the program for executing the lateral movement control the lateral movement turning angle input from the outside is set as a target value, and control means for performing feedback control of each turning actuator based on a detection value by the turning angle sensor is provided.
  • the program for executing the lateral movement control may include a control unit that uses the lateral movement amount input from the outside as a target value and feedback-controls each drive motor based on a detection value by the lateral movement amount sensor. .
  • These controls can automatically turn and drive in the case of lateral movement.
  • the small vehicle of the present invention has an effect that can be safely rotated and moved on the spot.
  • FIG. 1 is a schematic transverse plan view of the first embodiment.
  • FIG. 2 is a block diagram of the control relationship described above.
  • FIG. 3 is a schematic transverse plan view in the case of the in-situ rotation.
  • FIG. 4 is a schematic plan view in the case of the lateral movement described above.
  • FIG. 5 is a flowchart in the case of the in-situ rotation.
  • FIG. 6 is a flowchart in the case of the horizontal movement as described above.
  • the commuter 11 is a small vehicle having a cylindrical outer periphery of a vehicle body 12 and includes four wheels, a left and right front wheel 13 and a left and right rear wheel 14.
  • the rear wheel 14 is a driving wheel, and includes an in-wheel motor 15 as a driving motor.
  • Each rear wheel 14 can be driven independently from the controller 16 by each wheel.
  • a steering actuator 17 is provided for each of the wheels 13 and 14 so that the wheels 13 and 14 can be independently steered from the controller 16 by a steer-by-wire system.
  • a mechanism combining a ball screw and an angle sensor, a mechanism combining a worm gear and an angle sensor, or the like is used as the steering actuator 17, a mechanism combining a ball screw and an angle sensor, a mechanism combining a worm gear and an angle sensor, or the like is used.
  • an accelerator pedal 18 (see FIG. 2), a brake pedal 19, a steering device 20, a handle 21, an in-situ rotation command switch 22, an in-situ rotation steering switch 23, a lateral movement command switch 24, a lateral movement rolling A rudder switch 25 and a rotation angle setting switch 26 are provided.
  • a reaction force actuator 27 and a vehicle body tilt sensor 28 are provided at appropriate positions of the vehicle body 12.
  • an acceleration sensor, a gyro sensor, or a combination of both can be used.
  • a load sensor 29 is attached to the wheel hub of each wheel 13, 14.
  • Objective sensors 31 are provided at four locations on the outer peripheral surface of the vehicle body 12, and cameras 32 for grasping the outer periphery of the vehicle body are mounted at four locations on the outer peripheral surface.
  • the reaction force actuator 27 is used to give a steering feeling to the operator when the handle 21 is operated.
  • a steering angle detection sensor 33 a rotation angle detection sensor 34, a lateral movement amount detection sensor 35, and a movement amount setting switch 30 for feedback control are provided, and predetermined signals are input to the controller 16, respectively. Yes.
  • step 1 (hereinafter referred to as S1.
  • S2 the spot rotation command switch 22
  • the spot rotation control starts.
  • step 2 the inclination of the vehicle body 12 and the obstacle presence / absence information are acquired by signals from the vehicle body inclination sensor 28 and the objective sensor 31.
  • S2 it is determined whether or not the spot rotation is possible.
  • a predetermined turning angle is input by the above operation, and the turning actuators 17 of the wheels 13 and 14 are driven (S6). Whether or not each has reached a predetermined turning angle is detected by the turning angle detection sensor 33, and it is determined whether or not a predetermined turning angle has been reached by comparing the detected turning value with the previously input turning angle. (S7). If not reached (NO), the process returns to S6, and the steering actuator 17 is continuously driven by feedback control. If it is determined in S7 that the predetermined steering angle has been reached (YES), a steering completion display is performed (S8). The wheels 13 and 14 are respectively steered in a predetermined direction (see FIG. 3). An arrow A in FIG. 3 indicates the rotation direction of the vehicle body 12.
  • the rotation angle of the vehicle body 12 is detected by the rotation angle detection sensor 34, and the detection value is compared with the predetermined rotation angle inputted previously. It is determined whether or not a predetermined rotation angle has been reached (S12). If not reached (NO), the process returns to S10 and the in-wheel motor 15 is continuously driven by feedback control. If it is determined in S12 that the predetermined rotation angle has been reached (YES), the in-wheel motor 15 is stopped (S13), and the program is terminated.
  • operation of the spot rotation steering switch 23 is abbreviate
  • the operation of the rotation angle setting switch 26 is omitted, and the operator operates the accelerator pedal 18 and the brake pedal 19 and rotates them by an arbitrary angle visually.
  • the state of the outer periphery of the vehicle body 12 is confirmed by visual observation of information from the camera 32.
  • a signal is sent to the display device to display lateral movement possible (S4). Based on the display, the driver operates the lateral movement turning switch 25 (S5).
  • the lateral movement turning angle is input by the above operation, and the turning actuators 17 of the wheels 13 and 14 are driven (S6). Whether or not each has reached a predetermined turning angle is determined by comparing the detected value of the turning angle detection sensor 33 with the previously inputted turning angle (S7).
  • Whether or not the lateral movement amount of the vehicle body 12 has reached a predetermined set amount is determined by comparing the detection value of the horizontal movement amount detection sensor 35 with the predetermined set value previously input (S12). If not reached (NO), the process returns to S10 and continues to drive the in-wheel motor 15 by feedback control. If it is determined in S12 that the predetermined set amount has been reached (YES), the in-wheel motor 15 is stopped (S13), and the program is terminated.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

Provided is a compact vehicle such as a commuter vehicle, which addresses the problem of making it possible to safely rotate on the spot and to move laterally. A compact vehicle in which a steering actuator (17) is provided in all wheels (13, 14), an in-wheel motor (15) is provided in a drive wheel (14) from among the wheels (13, 14), and the steering actuator (17) and in-wheel motor (15) are controlled in accordance with a program of a controller (16) mounted in a vehicle (12), wherein a vehicle inclination sensor is provided in the vehicle (12), the program is provided with means for controlling on-the-spot rotation or lateral movement, and the program which executes either of the control means is provided with judgement means for judging whether operation is possible, based on the inclination angle information obtained by the vehicle inclination sensor.

Description

小型車両Small vehicle
　この発明は、小型車両、例えば一般的にコミュータといわれる1人又は２人乗りの近・中距離移動用車両に関するものである。 The present invention relates to a small vehicle, for example, a one- or two-seater near / medium distance moving vehicle generally called a commuter.
　コミュータにおいては、狭い場所への乗り入れや、小回り性の向上が求められている。また、インホイールモータを搭載したコミュータにおいては、４輪を独立に制御することで、その場回転や横移動が可能となる（特許文献１）。 Communicators are required to enter narrow spaces and improve turning performance. Moreover, in a commuter equipped with an in-wheel motor, in-situ rotation and lateral movement are possible by independently controlling the four wheels (Patent Document 1).
特許第２７１３５８１号公報Japanese Patent No. 2713581
　軽自動車や普通自動車の車体重量は、一般的に９００ｋｇ以上あるため、乗車員の体重が自動車全体の重量に占める割合は比較的少ない。これに対して、コミュータの場合は、車体重量は５００ｋｇ以下であり、乗車員の体重がコミュータ全体の重量に占める割合が相対的に大きくなるため、乗車員の体重や人数による車体のバランス変化が大きくなる。さらに、コミュータは、トレッドやホイールベースが狭いこともあって、その場回転や横移動する際に、路面の傾斜状態によっては転倒する可能性がある。 Since the body weight of light vehicles and ordinary vehicles is generally 900 kg or more, the proportion of the weight of the occupant in the total weight of the vehicle is relatively small. On the other hand, in the case of a commuter, the body weight is 500 kg or less, and the proportion of the occupant's body weight relative to the total weight of the commuter is relatively large. growing. Further, the commuter may have a narrow tread or wheelbase, and may fall over depending on the slope of the road surface when rotating or moving in place.
　そこで、この発明においては、コミュータ等の小型車両において、安全にその場回転や横移動ができるようにすることを課題とする。 Therefore, an object of the present invention is to enable safe on-site rotation and lateral movement in a small vehicle such as a commuter.
　前記の課題を解決するために、この発明は、全車輪に転舵アクチュエータが設けられ、その内の駆動車輪には駆動モータが設けられ、車体に搭載されたコントローラのプログラムに従い前記転舵アクチュエータ及び駆動モータがそれぞれ独立して制御されるようにしたコミュータ等の小型車両において、前記車体に車体傾斜センサーが設けられ、前記プログラムにその場回転又は横移動の制御手段を備え、前記いずれの制御手段を実行するプログラムにおいても、前記車体傾斜センサーによって得られる傾斜角度情報に基づき運転の可否を判断する判断手段を備えた構成とした。 In order to solve the above-described problems, the present invention provides a steering actuator provided on all wheels, a drive motor provided on a drive wheel thereof, and the steering actuator according to a program of a controller mounted on a vehicle body. In a small vehicle such as a commuter in which drive motors are controlled independently, a vehicle body inclination sensor is provided on the vehicle body, and the program includes on-site rotation or lateral movement control means. The program for executing the above is also configured to include determination means for determining whether or not the vehicle can be driven based on the inclination angle information obtained by the vehicle body inclination sensor.
　前記構成の小型車両は、車体の傾斜角度が一定以上の場合は、転倒の可能性があると自動的に判断してその場回転、横移動制御を中止する。
　また、前記その場回転の制御を実行するプログラムにおいて、外部から入力されたその場回転転舵角度を目標値とし、前記転舵角度センサーによる検出値に基づき各転舵アクチュエータをフィードバック制御する制御手段を備える場合がある。さらに、前記その場回転の制御を実行するプログラムにおいて、外部から入力されたその場回転角度を目標値とし、前記回転角度センサーによる検出値に基づき各駆動モータをフィードバック制御する制御手段を備える場合がある。 The small vehicle having the above-described configuration automatically determines that there is a possibility of overturning when the inclination angle of the vehicle body is equal to or greater than a certain value, and stops the in-situ rotation and lateral movement control.
Further, in the program for executing the control of the in-situ rotation, the control means for feedback-controlling each of the turning actuators based on the detected value by the turning angle sensor, with the in-situ rotation turning angle input from the outside as a target value. May be provided. Further, in the program for executing the control of the in-situ rotation, there may be provided control means for feedback-controlling each drive motor based on the value detected by the rotation angle sensor with the in-situ rotation angle input from the outside as a target value. is there.
　これらの制御により、その場回転の場合の転舵及び駆動を自動的に行うことができる。 These controls enable automatic steering and driving in the case of in-situ rotation.
　また、前記横移動の制御を実行するプログラムにおいて、外部から入力された横移動転舵角度を目標値とし、前記転舵角度センサーによる検出値に基づき各転舵アクチュエータをフィードバック制御する制御手段を備える場合がある。さらに、前記横移動の制御を実行するプログラムにおいて、外部から入力された横移動量を目標値とし、前記横移動量センサーによる検出値に基づき各駆動モータをフィードバック制御する制御手段を備える場合がある。 In the program for executing the lateral movement control, the lateral movement turning angle input from the outside is set as a target value, and control means for performing feedback control of each turning actuator based on a detection value by the turning angle sensor is provided. There is a case. Further, the program for executing the lateral movement control may include a control unit that uses the lateral movement amount input from the outside as a target value and feedback-controls each drive motor based on a detection value by the lateral movement amount sensor. .
　これらの制御により、横移動の場合の転舵及び駆動を自動的に行うことができる。 These controls can automatically turn and drive in the case of lateral movement.
　以上のように、この発明の小型車両は、安全にその場回転や横移動ができる効果がある。 As described above, the small vehicle of the present invention has an effect that can be safely rotated and moved on the spot.
図１は、実施形態１の概略横断平面図である。FIG. 1 is a schematic transverse plan view of the first embodiment. 図２は、同上の制御関係のブロック図である。FIG. 2 is a block diagram of the control relationship described above. 図３は、同上のその場回転の場合の概略横断平面図である。FIG. 3 is a schematic transverse plan view in the case of the in-situ rotation. 図４は、同上の横移動の場合の概略平面図である。FIG. 4 is a schematic plan view in the case of the lateral movement described above. 図５は、同上のその場回転の場合のフローチャートである。FIG. 5 is a flowchart in the case of the in-situ rotation. 図６は、同上の横移動の場合のフローチャートである。FIG. 6 is a flowchart in the case of the horizontal movement as described above.
　以下、この発明の実施形態を添付図面に基づいて説明する。
[実施形態１] Embodiments of the present invention will be described below with reference to the accompanying drawings.
[Embodiment 1]
　図１に示したように、実施形態１に係るコミュータ１１は、車体１２の外周が円筒形の小型車両であり、左右の前輪１３及び左右の後輪１４の４輪を備える。後輪１４は駆動輪であり、それぞれ駆動モータとしてインホイールモータ１５を備えている。各後輪１４はコントローラ１６から各輪独立に駆動できるようにしている。 As shown in FIG. 1, the commuter 11 according to the first embodiment is a small vehicle having a cylindrical outer periphery of a vehicle body 12 and includes four wheels, a left and right front wheel 13 and a left and right rear wheel 14. The rear wheel 14 is a driving wheel, and includes an in-wheel motor 15 as a driving motor. Each rear wheel 14 can be driven independently from the controller 16 by each wheel.
　また、全車輪１３、１４には、それぞれ転舵アクチュエータ１７が設けられ、コントローラ１６からステアバイワイヤ方式によって各車輪１３、１４を独立に転舵できるようにしている。転舵アクチュエータ１７は、ボールネジと角度センサーを組み合わせた機構、又はウォームギヤと角度センサーを組み合わせた機構等が用いられる。 Further, a steering actuator 17 is provided for each of the wheels 13 and 14 so that the wheels 13 and 14 can be independently steered from the controller 16 by a steer-by-wire system. As the steering actuator 17, a mechanism combining a ball screw and an angle sensor, a mechanism combining a worm gear and an angle sensor, or the like is used.
　車体１２の運転席にアクセルペダル１８（図２参照）、ブレーキペダル１９、操舵装置２０、ハンドル２１、その場回転指令スイッチ２２、その場回転転舵スイッチ２３、横移動指令スイッチ２４、横移動転舵スイッチ２５、回転角度設定スイッチ２６が設けられる。 In the driver's seat of the vehicle body 12, an accelerator pedal 18 (see FIG. 2), a brake pedal 19, a steering device 20, a handle 21, an in-situ rotation command switch 22, an in-situ rotation steering switch 23, a lateral movement command switch 24, a lateral movement rolling A rudder switch 25 and a rotation angle setting switch 26 are provided.
　また車体１２の適宜位置に反力アクチュエータ２７、車体傾斜センサー２８を備える。車体傾斜センサー２８としては、加速度センサー、ジャイロセンサー又はその両者を組み合わせたものを用いることができる。また、各車輪１３、１４の車輪ハブに荷重センサー２９が取付けられる。車体１２の外周面の４個所に対物センサー３１が設けられ、また、外周面の４個所に車体外周把握のためのカメラ３２が搭載される。 Further, a reaction force actuator 27 and a vehicle body tilt sensor 28 are provided at appropriate positions of the vehicle body 12. As the vehicle body tilt sensor 28, an acceleration sensor, a gyro sensor, or a combination of both can be used. A load sensor 29 is attached to the wheel hub of each wheel 13, 14. Objective sensors 31 are provided at four locations on the outer peripheral surface of the vehicle body 12, and cameras 32 for grasping the outer periphery of the vehicle body are mounted at four locations on the outer peripheral surface.
　なお、前記の反力アクチュエータ２７は、ハンドル２１の操作の際に操縦者に操舵感を付与するために用いられる。 The reaction force actuator 27 is used to give a steering feeling to the operator when the handle 21 is operated.
　また、フィードバック制御のための転舵角度検知センサー３３、回転角度検知センサー３４、横移動量検知センサー３５及び移動量設定スイッチ３０が設けられ、それぞれコントローラ１６に所定の信号を入力するようになっている。 Further, a steering angle detection sensor 33, a rotation angle detection sensor 34, a lateral movement amount detection sensor 35, and a movement amount setting switch 30 for feedback control are provided, and predetermined signals are input to the controller 16, respectively. Yes.
　前記のコミュータ１１のコントローラ１６に内蔵された「その場回転」の制御プログラムを図５に示したフローチャートによって示し、また「横移動」の制御プログラムを図６に示したフローチャートによって示す。 The “in-situ rotation” control program built in the controller 16 of the commuter 11 is shown by the flowchart shown in FIG. 5, and the “lateral movement” control program is shown by the flowchart shown in FIG.
　図５に示したその場回転のフローチャートは、以下のようなものである。即ち、操縦者がその場回転指令スイッチ２２を操作することにより、その場回転制御がスタートする。ステップ１（以下、Ｓ１と記す。他も同様）において、車体傾斜センサー２８、対物センサー３１からの信号によって、車体１２の傾き及び障害物有無情報を取得する。次にその場回転の可否判断を行う（Ｓ２）。 The in-situ rotation flowchart shown in FIG. 5 is as follows. That is, when the operator operates the spot rotation command switch 22, the spot rotation control starts. In step 1 (hereinafter referred to as S1. The same applies to others), the inclination of the vehicle body 12 and the obstacle presence / absence information are acquired by signals from the vehicle body inclination sensor 28 and the objective sensor 31. Next, it is determined whether or not the spot rotation is possible (S2).
　車体１２が一定以上に傾斜している場合は、回転時の遠心力の影響によって転倒する危険性があり、また障害物がある場合はこれとの接触・衝突を避けるため、回転不可能と判断し（ＮＯ）、表示装置にシグナルを送ってその場回転不可能表示行い（Ｓ３）、プログラムを終了する。 If the vehicle body 12 is tilted more than a certain level, there is a risk of falling due to the centrifugal force during rotation, and if there is an obstacle, it will be judged as impossible to rotate to avoid contact and collision with it. (NO), a signal is sent to the display device to perform in-situ non-rotatable display (S3), and the program ends.
　一方、その場回転可能と判断した場合は（ＹＥＳ）、表示装置にシグナルを送ってその場回転可能表示を行う（Ｓ４）。前記表示に基づき操縦者がその場回転転舵スイッチ２３を操作する（Ｓ５）。 On the other hand, if it is determined that the spot can be rotated (YES), a signal is sent to the display device to perform the spot rotatable display (S4). On the basis of the display, the operator operates the spot turn steering switch 23 (S5).
　前記の操作により所定の転舵角度が入力されるとともに、各車輪１３、１４の転舵アクチュエータ１７が駆動される（Ｓ６）。それぞれ所定の転舵角度に達したかどうかが転舵角度検知センサー３３により検知され、先に入力された転舵角度と検知値を比較して所定の転舵角度に達したか否かが判断される（Ｓ７）。達していない場合（ＮＯ）は、Ｓ６に戻り、引き続き転舵アクチュエータ１７をフィードバック制御により駆動する。Ｓ７において所定の転舵角度に達したと判断された場合（ＹＥＳ）は、転舵完了表示を行う（Ｓ８）。各車輪１３、１４がそれぞれ所定の向きに転舵される（図３参照）。図３の矢印Ａは車体１２の回転方向を示す。 A predetermined turning angle is input by the above operation, and the turning actuators 17 of the wheels 13 and 14 are driven (S6). Whether or not each has reached a predetermined turning angle is detected by the turning angle detection sensor 33, and it is determined whether or not a predetermined turning angle has been reached by comparing the detected turning value with the previously input turning angle. (S7). If not reached (NO), the process returns to S6, and the steering actuator 17 is continuously driven by feedback control. If it is determined in S7 that the predetermined steering angle has been reached (YES), a steering completion display is performed (S8). The wheels 13 and 14 are respectively steered in a predetermined direction (see FIG. 3). An arrow A in FIG. 3 indicates the rotation direction of the vehicle body 12.
　転舵完了表示が行われると（Ｓ８）、操縦者が車体１２の回転角度設定スイッチ２６の操作を行う（Ｓ９）。これによって所定の回転角度が入力されるとともに、インホイールモータ１５が駆動され（Ｓ１０）、車体１２が回転する（Ｓ１１）。 When the steering completion display is performed (S8), the operator operates the rotation angle setting switch 26 of the vehicle body 12 (S9). As a result, a predetermined rotation angle is input, the in-wheel motor 15 is driven (S10), and the vehicle body 12 rotates (S11).
　車体１２の回転角度が回転角度検知センサー３４によって検知され、先に入力されている所定の回転角度と検知値を比較される。所定の回転角度に達しているか否かが判断され（Ｓ１２）、達していない場合（ＮＯ）は、Ｓ１０に戻り引き続きインホイールモータ１５をフィードバック制御により駆動する。Ｓ１２おいてに所定の回転角度に達していると判断された場合（ＹＥＳ）は、インホイールモータ１５を停止し（Ｓ１３）、プログラムを終了する。 The rotation angle of the vehicle body 12 is detected by the rotation angle detection sensor 34, and the detection value is compared with the predetermined rotation angle inputted previously. It is determined whether or not a predetermined rotation angle has been reached (S12). If not reached (NO), the process returns to S10 and the in-wheel motor 15 is continuously driven by feedback control. If it is determined in S12 that the predetermined rotation angle has been reached (YES), the in-wheel motor 15 is stopped (S13), and the program is terminated.
　なお、各車輪１３、１４の転舵操作を手動で行う場合は、Ｓ５においてその場回転転舵スイッチ２３の操作を省略し、操縦者がハンドル２１を操作し転舵を行う。また、車体１２の回転操作を手動で行う場合は、回転角度設定スイッチ２６の操作を省略し、操縦者がアクセルペダル１８、ブレーキペダル１９を操作し、目視により任意の角度だけ回転させる。このとき、車体１２の外周の状況はカメラ３２からの情報を目視により確認する。 In addition, when performing steering operation of each wheel 13 and 14 manually, operation of the spot rotation steering switch 23 is abbreviate | omitted in S5, and a pilot operates the steering wheel 21 and performs steering. When the rotation operation of the vehicle body 12 is performed manually, the operation of the rotation angle setting switch 26 is omitted, and the operator operates the accelerator pedal 18 and the brake pedal 19 and rotates them by an arbitrary angle visually. At this time, the state of the outer periphery of the vehicle body 12 is confirmed by visual observation of information from the camera 32.
　次に、図６に示した横移動の場合のフローチャートは次のようなものである。即ち、操縦者が横移動指令スイッチ２４を操作することにより、横移動制御がスタートする。Ｓ１において、車体傾斜センサー２８、対物センサー３１からの信号によって、車体１２の傾き及び障害物有無情報を取得する。 Next, the flowchart in the case of lateral movement shown in FIG. 6 is as follows. That is, when the operator operates the lateral movement command switch 24, the lateral movement control starts. In S <b> 1, the inclination of the vehicle body 12 and the obstacle presence / absence information are acquired by signals from the vehicle body inclination sensor 28 and the objective sensor 31.
　次に横移動の可否を判断する（Ｓ２）。車体１２が一定以上に傾斜している場合は、発車、停車時の慣性力の影響によって転倒する危険性があり、また障害物がある場合はこれとの接触・衝突を避けるため、横移動不可能と判断し（ＮＯ）、表示装置にシグナルを送って横移動不可能表示行い（Ｓ３）、プログラムを終了する。 Next, it is determined whether or not lateral movement is possible (S2). If the vehicle body 12 is tilted more than a certain level, there is a risk of falling due to the influence of inertial force when starting and stopping, and if there is an obstacle, contact with and collision with this is avoided. It is determined that it is possible (NO), a signal is sent to the display device to display that the lateral movement is impossible (S3), and the program is terminated.
　一方、横移動可能と判断した場合は（ＹＥＳ）、表示装置にシグナルを送って横移動可能表示を行う（Ｓ４）。前記表示に基づき操縦者が横移動転舵スイッチ２５を操作する（Ｓ５）。 On the other hand, if it is determined that lateral movement is possible (YES), a signal is sent to the display device to display lateral movement possible (S4). Based on the display, the driver operates the lateral movement turning switch 25 (S5).
　前記の操作により横移動転舵角度が入力されるとともに、各車輪１３、１４の転舵アクチュエータ１７が駆動される（Ｓ６）。それぞれ所定の転舵角度に達したかどうかが転舵角度検知センサー３３の検知値と、先に入力された転舵角度とを比較することにより判断される（Ｓ７）。 The lateral movement turning angle is input by the above operation, and the turning actuators 17 of the wheels 13 and 14 are driven (S6). Whether or not each has reached a predetermined turning angle is determined by comparing the detected value of the turning angle detection sensor 33 with the previously inputted turning angle (S7).
　達していない場合（ＮＯ）は、Ｓ６に戻り引き続き転舵アクチュエータ１７をフィードバック制御により駆動する。Ｓ７において所定の転舵角度に達したと判断された場合（ＹＥＳ）は、転舵完了表示行う（Ｓ８）。各車輪１３、１４がそれぞれ所定の向きに転舵される（図４参照）。図４の矢印Ｂは車体１２の横移動方向を示す。 If not reached (NO), the process returns to S6 and continues to drive the steering actuator 17 by feedback control. When it is determined in S7 that the predetermined steering angle has been reached (YES), a steering completion display is performed (S8). The wheels 13 and 14 are respectively steered in a predetermined direction (see FIG. 4). An arrow B in FIG. 4 indicates the lateral movement direction of the vehicle body 12.
　転舵完了表示が行われると（Ｓ８）、操縦者が車体１２の横移動量設定スイッチ３０の操作を行う（Ｓ９）。これによってインホイールモータ１５が駆動され（Ｓ１０）、車体１２が横移動する（Ｓ１１）。 When the steering completion display is performed (S8), the operator operates the lateral movement amount setting switch 30 of the vehicle body 12 (S9). As a result, the in-wheel motor 15 is driven (S10), and the vehicle body 12 moves laterally (S11).
　車体１２の横移動量が所定の設定量に達したかどうかが横移動量検知センサー３５の検知値と、先に入力された所定の設定値とが比較され判断される（Ｓ１２）。達していない場合（ＮＯ）は、Ｓ１０に戻り引き続きインホイールモータ１５をフィードバック制御により駆動する。Ｓ１２おいてに所定の設定量に達していると判断された場合（ＹＥＳ）は、インホイールモータ１５を停止し（Ｓ１３）、プログラムを終了する。 Whether or not the lateral movement amount of the vehicle body 12 has reached a predetermined set amount is determined by comparing the detection value of the horizontal movement amount detection sensor 35 with the predetermined set value previously input (S12). If not reached (NO), the process returns to S10 and continues to drive the in-wheel motor 15 by feedback control. If it is determined in S12 that the predetermined set amount has been reached (YES), the in-wheel motor 15 is stopped (S13), and the program is terminated.
　なお、各車輪１３、１４の転舵操作を手動で行う場合は、Ｓ５において横移動転舵スイッチ２５の操作を省略し、操縦者がハンドル２１を操作し転舵を行う。また、車体１２の横移動を手動で行う場合は、Ｓ９において横移動量設定スイッチ３０の操作を省略し、操縦者がアクセルペダル１８、ブレーキペダル１９を操作し、目視により任意の量だけ横移動させる。この場合も、車体１２の外周の状況はカメラ３２からの情報を目視により確認する。 In addition, when steering operation of each wheel 13 and 14 is performed manually, operation of the lateral movement steering switch 25 is abbreviate | omitted in S5, and a pilot operates the steering wheel 21 and performs steering. Further, when the vehicle body 12 is manually moved laterally, the operation of the lateral movement amount setting switch 30 is omitted in S9, and the driver operates the accelerator pedal 18 and the brake pedal 19 to visually move the vehicle by an arbitrary amount. Let Also in this case, the information on the outer periphery of the vehicle body 12 is confirmed visually by the information from the camera 32.
　１１　コミュータ
　１２　車体
　１３　前輪
　１４　後輪
　１５　インホイールモータ
　１６　コントローラ
　１７　転舵アクチュエータ
　１８　アクセルペダル
　１９　ブレーキペダル
　２０　操舵装置
　２１　ハンドル
　２２　その場回転指令スイッチ
　２３　その場回転転舵スイッチ
　２４　横移動指令スイッチ
　２５　横移動転舵スイッチ
　２６　回転角度設定スイッチ
　２７　反力アクチュエータ
　２８　車体傾斜センサー
　２９　荷重センサー
　３０　横移動量設定スイッチ
　３１　対物センサー
　３２　カメラ
　３３　転舵角度検知センサー
　３４　回転角度検知センサー
　３５　横移動量検知センサー DESCRIPTION OF SYMBOLS 11 Commuter 12 Car body 13 Front wheel 14 Rear wheel 15 In-wheel motor 16 Controller 17 Steering actuator 18 Accelerator pedal 19 Brake pedal 20 Steering device 21 Steering wheel 22 In-situ rotation command switch 23 In-situ rotation steering switch 24 Lateral movement command switch 25 Horizontal Moving steering switch 26 Rotation angle setting switch 27 Reaction force actuator 28 Car body tilt sensor 29 Load sensor 30 Lateral movement amount setting switch 31 Objective sensor 32 Camera 33 Steering angle detection sensor 34 Rotation angle detection sensor 35 Lateral movement amount detection sensor

Claims (12)

  1. 　全車輪に転舵アクチュエータが設けられ、その内の駆動車輪には駆動モータが設けられ、車体に搭載されたコントローラのプログラムに従い前記転舵アクチュエータ及び駆動モータがそれぞれ独立して制御されるようにしたコミュータ等の小型車両において、前記車体に車体傾斜センサーが設けられ、前記プログラムにその場回転又は横移動の制御手段を備え、前記いずれの制御手段を実行するプログラムにおいても、前記車体傾斜センサーによって得られる傾斜角度情報に基づき運転の可否を判断する判断手段を備えたことを特徴とする小型車両。 Steering actuators are provided on all the wheels, and driving motors are provided on the driving wheels, and the steering actuators and the driving motors are controlled independently according to the program of the controller mounted on the vehicle body. In a small vehicle such as a commuter, the vehicle body is provided with a vehicle body tilt sensor, and the program includes control means for in-situ rotation or lateral movement, and the program for executing any of the control means can be obtained by the vehicle body tilt sensor. A small vehicle comprising a judging means for judging whether or not driving is possible based on the tilt angle information.
  2. 　前記車体の外周面の４個所以上に対物センサーを備え、前記その場回転又は横移動のいずれの制御手段を実行するプログラムにおいても、前記対物センサーによって得られる障害物の有無情報と前記の傾斜角度情報の両者に基づき運転の可否を判断する判断手段を備えたことを特徴とする請求項１に記載の小型車両。 In the program that includes objective sensors at four or more locations on the outer peripheral surface of the vehicle body and executes either the in-situ rotation or lateral movement control means, the obstacle presence / absence information obtained by the objective sensor and the inclination angle The small vehicle according to claim 1, further comprising a determination unit that determines whether or not driving is possible based on both of the information.
  3. 　前記車体の外周面の適宜位置に外周確認のためのカメラが設置され、前記車体の外周の状況を操縦者が目視によって確認しつつ所要の手動操作を行うことを特徴とする請求項１に記載の小型車両。 2. The camera according to claim 1, wherein a camera for confirming the outer periphery is installed at an appropriate position on the outer peripheral surface of the vehicle body, and a driver performs a required manual operation while visually confirming a state of the outer periphery of the vehicle body. Small vehicle.
  4. 　前記その場回転の制御を実行するプログラムにおいて、外部から入力されたその場回転転舵角度を目標値とし、前記転舵角度センサーによる検知値に基づき各転舵アクチュエータをフィードバック制御する制御手段を備えたことを特徴とする請求項１から３のいずれかに記載の小型車両。 The program for controlling the in-situ rotation includes a control unit that feedback-controls each of the turning actuators based on a value detected by the turning angle sensor, with an in-situ rotation turning angle input from outside as a target value. The small vehicle according to any one of claims 1 to 3, wherein
  5. 　前記その場回転の制御を実行するプログラムにおいて、前記転舵アクチュエータの制御を操縦者によるハンドル操作によって行うことを特徴とする請求項１から３のいずれかに記載の小型車両。 The small vehicle according to any one of claims 1 to 3, wherein the steering actuator is controlled by a steering operation by a driver in the program for executing the on-site rotation control.
  6. 　前記その場回転の制御を実行するプログラムにおいて、外部から入力されたその場回転角度を目標値とし、前記回転角度センサーによる検知値に基づき各駆動モータをフィードバック制御する制御手段を備えたことを特徴とする請求項１から５のいずれかに記載の小型車両。 The program for controlling the in-situ rotation includes a control unit that controls an in-situ rotation angle input from the outside as a target value and feedback-controls each drive motor based on a value detected by the rotation angle sensor. A small vehicle according to any one of claims 1 to 5.
  7. 　前記横移動の制御を実行するプログラムにおいて、外部から入力された横移動転舵角度を目標値とし、前記転舵角度検知センサーによる検出値に基づき各転舵アクチュエータをフィードバック制御する制御手段を備えたことを特徴とする請求項１から６のいずれかに記載の小型車両。 In the program for executing the lateral movement control, the lateral movement turning angle input from the outside is set as a target value, and a control unit that feedback-controls each turning actuator based on a detection value by the turning angle detection sensor is provided. A small vehicle according to any one of claims 1 to 6.
  8. 　前記横移動の制御を実行するプログラムにおいて、前記転舵アクチュエータの制御を操縦者によるハンドル操作によって行うことを特徴とする請求項１から６のいずれかに記載の小型車両。 The small vehicle according to any one of claims 1 to 6, wherein the steering actuator is controlled by a steering wheel operation by a driver in the program for executing the lateral movement control.
  9. 　前記横移動の制御を実行するプログラムにおいて、外部から入力された横移動量を目標値とし、前記横移動量検知センサーによる検知値に基づき各駆動モータをフィードバック制御する制御手段を備えたことを特徴とする請求項１から８のいずれかに記載の小型車両。 The program for executing the lateral movement control includes a control unit that feedback-controls each drive motor based on a detection value obtained by the lateral movement amount detection sensor using a lateral movement amount input from the outside as a target value. A small vehicle according to any one of claims 1 to 8.
  10. 　前記転舵アクチュエータの制御がステアバイワイヤ方式であることを特徴とする請求項１から９のいずれかに記載の小型車両。 The small vehicle according to any one of claims 1 to 9, wherein the steering actuator is controlled by a steer-by-wire system.
  11. 　前記車体外周形状が円筒形状であることを特徴とする請求項１から１０に記載の小型車両。 The small vehicle according to claim 1, wherein the outer peripheral shape of the vehicle body is a cylindrical shape.
  12. 　前記駆動モータがインホイールモータであることを特徴とする請求項１から１１に記載の小型車両。 12. The small vehicle according to claim 1, wherein the drive motor is an in-wheel motor.
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CN106458258A (en) * 2014-05-22 2017-02-22 Ntn株式会社 Vehicle
EP3147181A4 (en) * 2014-05-22 2017-06-14 NTN Corporation Vehicle
CN111319674A (en) * 2018-12-17 2020-06-23 丰田自动车株式会社 Vehicle with a steering wheel
CN111319674B (en) * 2018-12-17 2022-05-10 丰田自动车株式会社 Vehicle with a steering wheel
GB2596185A (en) * 2020-04-15 2021-12-22 Benedex Ltd Drive system

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