Integrated control device for vehicle driving

Abstract

An integrated control device for driving a vehicle is disclosed. The device includes a lever housing installed in an interior space of the vehicle, a lever coupled to the lever housing and configured to be rotatable in a front-rear direction and a left-right direction, and a soft acceleration lever coupled to the lever and configured to be rotatable in the front-rear direction. When the soft acceleration lever is operated, a soft acceleration signal of the vehicle is generated, and when the lever is operated, one of a hard acceleration signal, a deceleration signal, a steering signal, and a brake signal of the vehicle is generated.

Description

Technical Field

[0001] This disclosure relates to an integrated control device for driving a vehicle, and more specifically, to an integrated control device for driving a vehicle that performs acceleration, deceleration, braking and steering of a vehicle by operating a joystick. Background Technology

[0002] An autonomous vehicle is an intelligent vehicle that drives itself. Specifically, it can drive itself to a set destination without the need for a driver to operate the steering wheel, accelerator pedal, brakes, etc.

[0003] When these autonomous vehicles are commercialized, drivers can choose between a manual driving mode where the driver directly drives the vehicle and an autonomous driving mode where the vehicle automatically travels to its destination without driver intervention.

[0004] However, in the event of an emergency while in autonomous driving mode, one of the vehicle's occupants needs to manually drive the vehicle. Therefore, the vehicle is equipped with a device that allows the user to operate a manual driving mode.

[0005] In traditional vehicles, the accelerator pedal, brake pedal, steering wheel, and gearshift lever (or button) are all independently constructed and located in separate positions. Therefore, in emergency situations where the driver needs to manually operate the vehicle in autonomous driving mode, these devices are difficult to control.

[0006] Furthermore, in traditional vehicles, the accelerator pedal, brake pedal, steering wheel, and gear shift lever occupy a large area of ​​the vehicle's interior space, significantly reducing the freedom of vehicle design. Therefore, a new integrated control device is needed for autonomous vehicles to maximize the use of the vehicle's interior space.

[0007] The information disclosed in this Background section is intended only to enhance the understanding of the general background of this disclosure and should not be construed as an admission or any form of implication that the information constitutes related technology known to those skilled in the art. Summary of the Invention

[0008] This disclosure provides an integrated control device for vehicle driving, which allows the user to accelerate, decelerate, brake, and steer the vehicle by operating a joystick when the user needs to manually drive the vehicle in autonomous driving mode.

[0009] This disclosure also provides an integrated control device for vehicle driving that is easy for users to operate, thereby improving user convenience.

[0010] In one form of this disclosure, the above and other objectives can be achieved by providing an integrated control device for driving a vehicle, the integrated control device comprising: a lever housing mounted in the interior space of the vehicle; a joystick coupled to the lever housing for rotatability in the longitudinal and lateral directions; and a deceleration lever coupled to the joystick for rotatability in the longitudinal direction. When the deceleration lever is operated, a deceleration signal for the vehicle is generated, and when the joystick is operated, one of a rapid acceleration signal, a deceleration signal, a steering signal, and a braking signal for the vehicle is generated.

[0011] The integrated control unit may further include a steering hinge coupled to the lever housing for rotatability in the left-right direction. The joystick may be connected to the steering hinge and may rotate relative to the lever housing in the left-right direction together with the steering hinge.

[0012] The integrated control unit may further include an acceleration hinge coupled to a steering hinge for rotatability in the fore-and-aft direction. A joystick may be connected to the acceleration hinge and may rotate relative to the joystick housing in the fore-and-aft direction together with the acceleration hinge.

[0013] The integrated control unit may further include a motor connected to the steering hinge via a reduction gear to provide operating force and reaction force when the joystick rotates in the left-right direction.

[0014] The integrated control unit may further include: a steering sensor permanent magnet, one of which is connected to one end of the steering hinge, and the other connected to one end of the motor shaft; and a steering sensor printed circuit board (PCB), fixedly mounted in the lever housing to face the steering sensor permanent magnet. When the lever rotates left or right, the steering sensor PCB can detect changes in magnetic flux based on the position of the steering sensor permanent magnet and can generate a steering-related signal.

[0015] The integrated control device may further include: a lever gear rotatably coupled to a joystick, the lever gear meshing with a deceleration lever in the form of a gear; a first acceleration sensor permanent magnet coupled to the lever gear; and an acceleration sensor PCB fixedly mounted to the joystick to face the first acceleration sensor permanent magnet. When the deceleration lever rotates, the acceleration sensor PCB can identify changes in magnetic flux based on changes in the position of the first acceleration sensor permanent magnet and can generate a deceleration-related signal.

[0016] The integrated control unit may further include a second accelerometer permanent magnet coupled to an accelerometer hinge, the second accelerometer permanent magnet being mounted facing the accelerometer PCB. When the joystick rotates in the forward / backward direction, the accelerometer PCB can detect changes in magnetic flux based on the positional change of the second accelerometer permanent magnet and can generate one of an acceleration-related signal, a deceleration-related signal, and a braking-related signal.

[0017] The integrated control unit may further include a main PCB, which is fixedly mounted in the rod housing. The main PCB can control the operation of the motor, receive signals from the steering sensor PCB and the acceleration sensor PCB, and send signals to the vehicle's actuators.

[0018] The integrated control device may further include: a lever pin connected to the lower end of the control lever in a left-right direction; a carrier member, one end of which is rotatably connected to the steering hinge and has a wave-shaped groove formed in its lower surface, the groove contacting the lever pin; and a carrier spring, the two opposite ends of which are supported by the steering hinge and the carrier member, and which provides elastic force to the carrier member to maintain contact between the lever pin and the groove.

[0019] The joystick can be mounted on the driver's left or right side. When the joystick is on the driver's left, pulling and rotating it towards the driver's body generates a right-direction signal. When the joystick is on the driver's right, pulling and rotating it towards the driver's body generates a left-direction signal.

[0020] The control lever may include a control lever mounted on the driver's left side and a control lever mounted on the driver's right side, and the control lever mounted on the driver's left side and the control lever mounted on the driver's right side can move in conjunction with each other.

[0021] The integrated control unit may further include a shift button housed within the lever housing. When the driver presses and operates the shift button, the main PCB mounted in the lever housing can generate a shift signal corresponding to the pressed shift button.

[0022] Pushing and rotating the joystick forward from the neutral position accelerates the vehicle. Releasing the force of pushing the joystick forward returns it to the neutral position and decelerates the vehicle. Pulling and rotating the joystick backward from the neutral position brakes the vehicle.

[0023] Pushing and rotating the joystick forward from the neutral position accelerates the movement forward. Releasing the force of pushing the joystick forward returns it to the neutral position and decelerates the movement forward. Pulling and rotating the joystick backward from the neutral position accelerates the movement backward. Releasing the force of pulling the joystick backward returns it to the neutral position and decelerates the movement backward.

[0024] When performing rearward acceleration by pulling and rotating the control lever from the neutral position, an emergency brake button configured for driver operation to brake the vehicle can be separately housed in the lever housing. When the driver presses and operates the emergency brake button, the main PCB mounted in the lever housing can generate a braking-related signal. Attached Figure Description

[0025] The above and other objects, features and other advantages of this disclosure will become clearer from the following detailed description taken in conjunction with the accompanying drawings, wherein:

[0026] Figure 1 This is a perspective view of an integrated control device for vehicle driving, as disclosed herein;

[0027] Figure 2 yes Figure 1 The view showing the integrated control unit has the rod housing removed from its state.

[0028] Figure 3 yes Figure 2 Side view of the integrated control device shown;

[0029] Figure 4 This is a view used to illustrate one form of steering sensor permanent magnet and steering sensor PCB of this disclosure;

[0030] Figure 5 This is a view used to illustrate one form of the first accelerometer permanent magnet, the second accelerometer permanent magnet, and the accelerometer PCB of this disclosure;

[0031] Figure 6 This is a partial sectional perspective view showing the lower end of a joystick of one form of the present disclosure;

[0032] Figure 7 This is a schematic diagram illustrating the first form of operation of acceleration, deceleration, and braking when a joystick of one form of the present disclosure is operated; and

[0033] Figure 8 The diagram schematically illustrates the second form of operation, which involves forward acceleration, backward acceleration, forward deceleration, and backward deceleration, when the joystick of one form of the present disclosure is operated. Detailed Implementation

[0034] Various exemplary forms will now be described more fully with reference to the accompanying drawings, which illustrate only a few exemplary forms. The specific structural and functional details disclosed herein are for the purpose of describing exemplary forms only. However, this disclosure may be implemented in many alternative forms and should not be construed as limited to the exemplary forms set forth herein.

[0035] Therefore, while the exemplary form of this disclosure is capable of various modifications and alternative forms, its form is shown by way of example in the accompanying drawings and will be described in detail herein. However, it should be understood that this disclosure is not intended to be limited to the specific exemplary form disclosed. Rather, the exemplary form will encompass all modifications, equivalents, and alternative forms falling within the scope of this disclosure.

[0036] It will be understood that although the terms “first,” “second,” etc., may be used herein to describe various elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from another. For example, without departing from the scope of the exemplary form of this disclosure, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element.

[0037] It should be understood that when an element is described as "connected" or "linked" to another element, it can be directly connected or linked to the other element, or there may be intermediate elements. Conversely, when an element is described as "directly connected" or "directly linked" to another element, there are no intermediate elements. Other words used to describe the relationship between elements should be interpreted in a similar way (e.g., "between" versus "directly between," "adjacent" versus "directly adjacent," etc.).

[0038] The terminology used herein is for descriptive purposes only and is not intended to limit the exemplary forms of this disclosure. As used herein, the singular forms “a,” “an,” and “the” are also intended to include the plural forms unless the context clearly indicates otherwise. It will be further understood that, when used herein, the terms “comprising,” “including,” “including,” and / or “comprising” specify the presence of the stated feature, integer, step, operation, element, component, or combination thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

[0039] Unless otherwise defined, all terms used herein, including technical and scientific terms, shall have the same meaning as commonly understood by those skilled in the art. Terms such as those defined in general dictionaries shall be interpreted as having the same meaning as the term in the context of the relevant art, and shall not be interpreted as having an ideal or overly formal meaning unless expressly defined in this specification.

[0040] Some forms of control units (controllers) disclosed herein can be implemented using a processor (not shown) configured to utilize non-volatile memory (not shown) and data stored in the corresponding memory to perform the operations described below. This non-volatile memory is configured to store algorithms for controlling the operation of various vehicle components or data associated with software commands for executing those algorithms. Here, the memory and processor can be implemented as separate chips. Alternatively, the memory and processor can be implemented as a single integrated chip. The processor can optionally take the form of one or more processors.

[0041] In the following description, some forms of integrated control devices for vehicle driving will be described with reference to the accompanying drawings.

[0042] Some forms of integrated control devices for vehicle driving disclosed herein are applied to autonomous vehicles and are directly operated and used by the driver when the driver is driving the vehicle in manual driving mode.

[0043] like Figures 1 to 8 As shown, some forms of integrated control devices for vehicle driving disclosed herein include: a lever housing 100, mounted to be located in the interior space of the vehicle; a joystick 200, coupled to the lever housing 100, rotatable in the forward and backward and left and right directions; and a deceleration lever 300, coupled to the joystick 200, rotatable in the forward and backward direction.

[0044] When the driver operates the accelerator lever 300, a accelerator signal is generated for the vehicle. When the driver operates the control lever 200, one of the following signals is generated: a rapid acceleration signal, a deceleration signal, a steering signal, or a braking signal.

[0045] For the vehicle's slow acceleration signal, the acceleration sensor PCB, which will be described later, identifies the change in magnetic flux based on the change in the position of the permanent magnet of the first acceleration sensor, and generates a slow acceleration related signal based on this.

[0046] The acceleration sensor PCB, which will be described later, identifies changes in magnetic flux based on changes in the position of the permanent magnet of the second acceleration sensor, and generates vehicle acceleration, deceleration, steering, and braking signals accordingly.

[0047] Gradual acceleration refers to a vehicle accelerating slowly and gradually. In gradual acceleration, the vehicle accelerates at approximately 25% to 30% of its full acceleration. This allows for precise control of the vehicle's acceleration.

[0048] The integrated control device may be equipped with control logic that generates not only a rapid acceleration signal but also an intermediate acceleration signal as needed when the joystick 200 is operated.

[0049] The user holds the joystick 200 with one hand and rotates it in the forward / backward or left / right direction to operate it.

[0050] exist Figure 2 In the figure, reference numeral C1 indicates the central axis of the joystick 200 in the forward and backward direction, and reference numeral C2 indicates the central axis of the joystick 200 in the left and right direction.

[0051] The deceleration lever 300 is integrally provided with a lever hinge 310. The lever hinge 310 is connected to the control lever 200 so as to be rotatable in the front-rear direction. Therefore, the driver pushes and operates the deceleration lever 300 using the fingers (index finger) of the hand holding the control lever 200. When the deceleration lever 300 is operated, the deceleration lever 300 rotates relative to the control lever 200 in the front-rear direction about the lever hinge 310.

[0052] The lever hinge 310 is equipped with a lever spring. The two opposite ends of the lever spring are supported by the deceleration lever 300 and the operating lever 200. Therefore, when the force applied to the deceleration lever 300 is released, the deceleration lever 300 returns to its original position by the elastic force of the lever spring.

[0053] Some forms of integrated control devices disclosed herein further include: a steering hinge 400 coupled to the rod housing 100 for rotation in the left-right direction; and an acceleration hinge 500 coupled to the steering hinge 400 for rotation in the front-back direction.

[0054] The steering hinge 400 is positioned along the longitudinal direction, and its two opposite ends are connected to the lever housing 100 to allow rotation in the left-right direction. The acceleration hinge 500 is connected to the upper front end of the steering hinge 400, extending through the steering hinge 400 in the left-right direction and allowing rotation in the longitudinal direction. The acceleration hinge 500 is connected to the joystick 200 to form an integral part thereof.

[0055] Furthermore, the lower side of the portion of the lever 200 to which the acceleration hinge 500 is connected is formed as a recess with a downward opening and a rearward opening. The main body of the steering hinge 400 is inserted into this recess, and the front end of the steering hinge 400 passes through the front surface of the lever 200.

[0056] Therefore, the joystick 200 is connected to the steering hinge 400 via the acceleration hinge 500. When the driver holds the joystick 200 with one hand and operates it in the left-right direction, the joystick 200 rotates in the left-right direction together with the acceleration hinge 500 and the steering hinge 400 relative to the joystick housing 100.

[0057] Furthermore, since the acceleration hinge 500 is connected to the control lever 200 to form an integral part thereto, when the driver holds the control lever 200 with one hand and operates the control lever 200 in the forward and backward direction, the control lever 200 rotates together with the acceleration hinge 500 relative to the steering hinge 400 in the forward and backward direction.

[0058] The upper side of the portion of the lever 200 connected to the acceleration hinge 500 is formed such that the lever hinge 310 provided in the deceleration lever 300 is inserted into and rotatably mounted in the internal space of the lever 200, and the lever gear, which will be described later, is rotatably mounted between the lever hinge 310 and the acceleration hinge 500.

[0059] Some forms of integrated control devices disclosed herein further include a motor 600 connected to a steering hinge 400 via a reduction gear 610 to provide operating force and reaction force when the joystick 200 rotates in the left-right direction.

[0060] The motor is a brushless direct current (BLDC) motor and is used to provide a reaction force to the joystick 200 so as to accurately operate the joystick 200 when it rotates in the left and right directions, and to provide operating force to the joystick 200 while maintaining appropriate tension on the joystick 200.

[0061] When the driver operates the control lever 200 in the left or right direction, appropriate operating force is required. This operating force is provided by the motor 600.

[0062] The position of the joystick 200 needs to be controlled proportionally to the steering angle of the vehicle's tires. Additionally, the joystick 200 needs to return to its original position proportionally to the degree of tire rotation to enable the vehicle to travel in a straight line. The operating angle and return angle of the joystick 200 are controlled by the motor 600.

[0063] To enhance the operability of the joystick 200 and provide a clear sense of its neutral position, elastic members and other separate components may be additionally provided.

[0064] Some forms of integrated control devices disclosed herein further include: a steering sensor permanent magnet 710, one of which is coupled to one end of a steering hinge 400 and the other to one end of a motor shaft 620; and a steering sensor printed circuit board (PCB) 720, which is fixedly mounted in a rod housing 100 to face the steering sensor permanent magnet 710.

[0065] When the joystick 200 is rotated in the left and right directions, the steering sensor PCB 720 identifies the change in magnetic flux based on the position change of the steering sensor permanent magnet 710 and generates a steering-related signal.

[0066] In some forms of this disclosure, two steering sensor permanent magnets 710 are provided to implement fail-safe functions for safety and to ensure robustness.

[0067] Furthermore, some forms of the integrated control device of the present invention further include: a lever gear 730 rotatably coupled to the joystick 200 and meshing with the deceleration lever 300 in the form of an external gear; a first acceleration sensor permanent magnet 740 coupled to the lever gear 730; and an acceleration sensor PCB 750 fixedly mounted to the joystick 200 to face the first acceleration sensor permanent magnet 740.

[0068] When the deceleration lever 300 rotates, the acceleration sensor PCB 750 identifies the change in magnetic flux based on the position change of the first acceleration sensor permanent magnet 740 and generates a deceleration-related signal.

[0069] Because the rotation angle of the accelering rod 300 rotating around the rod hinge 310 is small, if the first accelerometer permanent magnet 740 is mounted on the rod hinge 310, the accelerometer PCB 750 may not easily detect the positional change of the first accelerometer permanent magnet 740.

[0070] Therefore, in some forms of this disclosure, in order to increase the rotation angle of the deceleration lever 300, the lever gear 730 is rotatably connected to the control lever 200 and meshes with the deceleration lever 300 in the form of an external gear, and the first acceleration sensor permanent magnet 740 is connected to the lever gear 730. Thus, the acceleration sensor PCB 750 can easily detect changes in the position of the first acceleration sensor permanent magnet 740.

[0071] Additionally, some forms of integrated control devices disclosed herein further include a second accelerometer permanent magnet 760, which is coupled to the accelerometer hinge 500 and mounted facing the accelerometer PCB 750. When the joystick 200 rotates in the forward and backward direction, the accelerometer PCB 750 identifies changes in magnetic flux based on changes in the position of the second accelerometer permanent magnet 760 and generates one of an acceleration-related signal, a deceleration-related signal, and a braking-related signal.

[0072] In addition, some forms of integrated control devices disclosed herein further include a main PCB 770, which is fixedly mounted in the rod housing 100 and controls the operation of the motor 600.

[0073] The main PCB 770 receives steering-related signals from the steering sensor PCB 720, and also receives acceleration-related signals, deceleration-related signals, and braking-related signals from the acceleration sensor PCB 750. Based on this, the main PCB 770 sends CAN signals to the vehicle's actuators via wiring, and the vehicle's actuators operate in response to the signals sent from the main PCB 770.

[0074] Additionally, some forms of integrated control devices disclosed herein further include: a lever pin 810 connected in a left-right direction to the lower end of the lever 200; a carrier 820, one end of which is rotatably connected to the steering hinge 400 and has a wavy groove 821 formed in its lower surface that contacts the lever pin 810; and a carrier spring 830, mounted such that its two opposite ends are supported by the steering hinge 400 and the carrier 820, and provides elasticity to the carrier 820 to maintain contact between the lever pin 810 and the groove 821.

[0075] The lever pin 810 passes through the lower end of the lever 200 in the left-right direction and is connected to the lever 200 to form an integral part therewith.

[0076] The steering hinge 400 has an empty space formed therein, and the internal space of the steering hinge 400 opens downward. The carrier 820 and the carrier spring 830 are mounted in the internal space of the steering hinge 400.

[0077] The rear end of the carrier 820 is connected to the steering hinge 400 via a carrier shaft 822, allowing it to rotate vertically relative to the steering hinge 400. A wave-shaped groove 821 is formed in the lower surface of the carrier 820 to contact the rod pin 810. The carrier spring 830 is implemented as a compression coil spring and is used to provide elastic force to the carrier 820 such that the groove 821 in the carrier 820 is always in contact with the rod pin 810.

[0078] When the joystick 200 rotates in the forward and backward direction, a sense of operation and comfort is generated by the contacting rod pin 810 and the groove 821 in the carrier 820, as well as the elasticity of the carrier spring 830. In particular, the elasticity of the carrier spring 830 serves as a return force to return the joystick 200 to the neutral position.

[0079] In some forms of this disclosure, the joystick 200 can be mounted to the driver's left or right.

[0080] When the joystick 200 is mounted on the driver's left side, a right-turn signal (right turn signal) is generated when the driver holds the joystick 200 with his left hand and pulls and rotates the joystick 200 toward the driver's body, and a left-turn signal (left turn signal) is generated when the driver pushes and rotates the joystick 200 in the opposite direction (away from the driver's body).

[0081] When the joystick 200 is rotated in the left or right direction, the steering sensor PCB 720 identifies the change in magnetic flux based on the position change of the steering sensor permanent magnet 710 and generates a right-hand signal or a left-hand signal.

[0082] Conversely, when the joystick 200 is mounted on the driver's right side, a left-turn signal (left turn signal) is generated when the driver grips the joystick 200 with his right hand and pulls and rotates it toward the driver's body, and a right-turn signal (right turn signal) is generated when the driver pushes and rotates the joystick 200 in the opposite direction (away from the driver's body).

[0083] As another example, the number of joysticks 200 can be two, and the two joysticks 200 can be mounted on the driver's left and right sides. In this case, the driver can operate only the joystick 200 on the left, or only the joystick 200 on the right. The two joysticks 200 can be configured such that the joystick 200 not operated by the driver moves in conjunction with the joystick 200 being operated by the driver.

[0084] Some forms of integrated control devices disclosed herein further include a shift button 910 disposed in the lever housing 100. The shift button 910 may be implemented as a push-button switch or tact switch operated by the driver's finger, and may include an R (reverse) button, a N (neutral) button, and a D (drive) button.

[0085] When the driver presses and operates one of the shift buttons 910, the main PCB 770 mounted in the lever housing 100 generates a shift signal corresponding to the selected shift button.

[0086] like Figure 7 As shown, the first form of this disclosure can be configured such that when the driver pushes and rotates the joystick 200 forward from the neutral position, acceleration is performed; when the force pushing the joystick 200 forward is released, the joystick 200 returns to the neutral position and deceleration is performed; and when the driver pulls and rotates the joystick 200 backward from the neutral position, braking is performed.

[0087] When the driver rotates the control lever 200 to the right from the neutral position, the vehicle turns right, and when the driver rotates the control lever 200 to the left from the neutral position, the vehicle turns left.

[0088] like Figure 8 As shown, the second form of this disclosure can be configured such that when the driver pushes and rotates the joystick 200 forward from the neutral position, forward acceleration is performed; when the force of pushing the joystick 200 forward is released, the joystick 200 returns to the neutral position and forward deceleration is performed; when the driver pulls and rotates the joystick 200 backward from the neutral position, backward acceleration is performed; and when the force of pulling the joystick 200 backward is released, the joystick 200 returns to the neutral position and backward deceleration is performed.

[0089] When the driver rotates the control lever 200 to the right from the neutral position, the vehicle turns right, and when the driver rotates the control lever 200 to the left from the neutral position, the vehicle turns left.

[0090] In such Figure 8 When the driver pulls and rotates the control lever 200 from the neutral position to accelerate backward, the emergency brake button 920, operated by the driver to brake the vehicle, can be separately installed in the lever housing 100. When the driver presses and operates the emergency brake button 920, the main PCB 770 installed in the lever housing 100 generates a braking-related signal.

[0091] A brake pedal can be installed in the vehicle to replace the emergency brake button 920.

[0092] As can be clearly seen from the above description, some forms of integrated control devices for vehicle driving disclosed herein are applied to autonomous vehicles and are directly operated and used by the driver when driving the vehicle in manual driving mode. Furthermore, the integrated control device enables vehicle acceleration, deceleration, braking, and steering through simple operation of the joystick by the driver. Additionally, the driver can easily and conveniently operate the integrated control device.

[0093] Although exemplary forms of this disclosure have been disclosed for illustrative purposes, those skilled in the art will understand that various modifications, additions, and substitutions may be made without departing from the scope and spirit of this disclosure as disclosed in the appended claims.

Claims

1. An integrated control device for vehicle driving, comprising: The rod housing is installed inside the vehicle. A joystick is connected to the joystick housing and is rotatable in the forward and backward and left and right directions; as well as A deceleration lever, connected to the control joystick, is rotatable in the forward and backward direction. A steering hinge, connected to the rod housing, is rotatable in the left-right direction. Multiple steering sensor permanent magnets, wherein a first steering sensor permanent magnet is connected to one end of the steering hinge, and a second steering sensor permanent magnet is connected to one end of the motor shaft; and The steering sensor printed circuit board (PCB) is fixedly mounted in the rod housing, and the steering sensor PCB is configured as follows: Facing the permanent magnets of the multiple steering sensors; When the joystick is rotated in the left and right direction, the change in magnetic flux is identified based on the position change of the permanent magnets of the plurality of steering sensors; as well as Generate steering-related signals, Specifically, when the deceleration lever is operated, a deceleration signal is generated for the vehicle. When the joystick is operated, one of the following signals is generated: a rapid acceleration signal, a deceleration signal, a steering signal, and a braking signal for the vehicle. The joystick is connected to the steering hinge and rotates together with the steering hinge relative to the joystick housing in the left-right direction.

2. The integrated control device according to claim 1, further comprising: An acceleration hinge, connected to the steering hinge, is rotatable in the forward and backward direction. The joystick is connected to the acceleration hinge and rotates together with the acceleration hinge relative to the joystick housing in the front-back direction.

3. The integrated control device according to claim 2, further comprising: The motor is connected to the steering hinge via a reduction gear and provides operating force and reaction force when the joystick rotates in the left-right direction.

4. The integrated control device according to claim 2, further comprising: A lever gear is rotatably connected to the control lever and meshes with the deceleration lever in the form of an external gear; The first acceleration sensor permanent magnet is connected to the lever gear; as well as An accelerometer PCB is fixedly mounted to the joystick and faces the first accelerometer permanent magnet. The accelerometer PCB is configured as follows: As the deceleration lever rotates, the change in magnetic flux is identified based on the position change of the permanent magnet of the first acceleration sensor; and Generates a slow acceleration-related signal.

5. The integrated control device according to claim 4, further comprising: A second accelerometer permanent magnet is connected to the accelerometer hinge, and the second accelerometer permanent magnet is mounted facing the accelerometer PCB. The acceleration sensor PCB is configured as follows: When the joystick is rotated in the forward / backward direction, the change in magnetic flux is identified based on the position change of the permanent magnet of the second acceleration sensor; and It generates one of the acceleration-related signal, deceleration-related signal, and braking-related signal.

6. The integrated control device according to claim 5, further comprising: The main PCB is fixedly mounted in the rod housing. The main PCB is configured as follows: Control the operation of the motor; Receive signals from the steering sensor printed circuit board and the accelerometer PCB; and A signal is sent to the actuator of the vehicle.

7. The integrated control device according to claim 1, further comprising: A lever pin is connected to the lower end of the control lever in the left-right direction; A support member, one end of which is connected to the steering hinge, and has a wavy groove formed in the lower surface of the support member, the groove contacting the rod pin; as well as A carrier spring, whose two opposite ends are supported by the steering hinge and the carrier, provides elastic force to the carrier to maintain contact between the rod pin and the groove.

8. The integrated control device according to claim 1, further comprising: The shift button is located in the rod housing. When the driver presses and operates the shift button, the main PCB installed in the lever housing generates a shift signal corresponding to the pressed shift button.

9. The integrated control device according to claim 1, wherein, When the joystick is pushed forward and rotated from the neutral position, acceleration is performed. When the force pushing the joystick forward is released, the joystick returns to the neutral position and decelerates. When the joystick is pulled back and rotated from the neutral position, braking is performed.

10. The integrated control device according to claim 1, wherein, When the joystick is pushed forward and rotated from the neutral position, forward acceleration is performed. When the force pushing the joystick forward is released, the joystick returns to the neutral position and performs forward deceleration. When the joystick is pulled back and rotated from the neutral position, a backward acceleration is performed, and When the force pulling the joystick backward is released, the joystick returns to the neutral position and performs backward deceleration.

11. The integrated control device according to claim 10, wherein, When performing rearward acceleration by pulling and rotating the control lever from the neutral position, an emergency brake button operated by the driver to brake the vehicle is separately located in the lever housing, and When the driver presses and operates the emergency brake button, the main PCB mounted on the pole housing generates a brake-related signal.

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