vehicle

Abstract

The present invention provides a vehicle capable of accurately detecting the road surface conditions through which the wheels pass. The vehicle (1) of the present invention includes: a body (1h) for passenger use; front wheels (2r, 2l) and rear wheels (3r, 3l) for moving the body (1h); and a road surface condition detection mechanism (5, 6) for sensing the road surface conditions in front of the body (1h), wherein the road surface condition detection mechanism (5, 6) has a front wheel road surface condition detection mechanism (5) for detecting the road surface conditions in front of the front wheels (2r, 2l) and a rear wheel road surface condition detection mechanism (6) for detecting the road surface conditions in front of the rear wheels (3r, 3l), and the rear wheel road surface condition detection mechanism (6) detects the outer side (6s2) in the vehicle width direction compared with the end of the detection range (5s) in the vehicle width direction of the front wheel road surface condition detection mechanism (5).

Description

Technical Field

[0001] This invention relates to vehicles. Background Technology

[0002] In existing four-wheeled vehicles, road conditions are monitored to ensure good passenger comfort.

[0003] The vehicle described in Patent Document 1 has a projection device near the headlights and a camera on the front bumper.

[0004] Furthermore, projection devices and cameras are used to estimate the road conditions in front of the vehicle.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2013-205196 (Figures 1 and 3, paragraphs 0014 to 0016, etc.) Summary of the Invention

[0008] The problem that the invention aims to solve

[0009] However, Patent Document 1 does not include a dedicated sensor for the rear wheels. Conventionally, a preview sensor for road surface detection is mounted on the upper surface of the windshield within the front bumper of the vehicle.

[0010] In Patent Document 1, since a dedicated sensor for the rear wheels is not installed and information measured at the front of the vehicle is used, the accuracy of estimating the road surface condition at the rear wheel's position may be reduced when the vehicle turns and a difference in the inner wheel position between the front and rear wheels occurs.

[0011] The present invention is made in view of the above circumstances, and its purpose is to provide a vehicle capable of accurately detecting the road surface conditions through which the wheels pass.

[0012] Methods for solving problems

[0013] To address the aforementioned issues, technical solution 1 provides a vehicle comprising: a body for passenger seating; front and rear wheels for moving the body; and a road surface condition detection mechanism for sensing the road surface condition in front of the front and rear wheels. The road surface condition detection mechanism includes a front wheel road surface condition detection mechanism for detecting the road surface condition in front of the front wheels and a rear wheel road surface condition detection mechanism for detecting the road surface condition in front of the rear wheels. The rear wheel road surface condition detection mechanism detects the outer side of the vehicle width direction relative to the end of the detection range of the front wheel road surface condition detection mechanism in the vehicle width direction.

[0014] Invention Effects

[0015] According to the present invention, a vehicle capable of accurately detecting the road surface conditions through which the wheels pass can be provided. Attached Figure Description

[0016] Figure 1A This is a side view of the vehicle according to an embodiment of the present invention.

[0017] Figure 1B This is a three-dimensional conceptual diagram illustrating the control elements of a vehicle according to an embodiment.

[0018] Figure 2A This is a top-view conceptual diagram showing the tracks of the front wheels and rear wheels on the road surface when a vehicle is traveling straight.

[0019] Figure 2B This is a top-view conceptual diagram showing the tracks the front and rear wheels follow on the road surface when a vehicle turns.

[0020] Figure 3A yes Figure 1A Enlarged view of part I.

[0021] Figure 3B Viewed from the diagonal front Figure 3A A 3D view showing the installation status of the rear-view sensor.

[0022] Figure 4A yes Figure 1A A magnified view from direction II.

[0023] Figure 4B yes Figure 1A A magnified view from direction II.

[0024] Explanation of reference numerals in the attached figures

[0025] 1 vehicle

[0026] 1D Rudder Angle Sensor

[0027] 1e Control device

[0028] 1h vehicle body

[0029] 1y yaw rate sensor

[0030] Wheel speed sensors 1s1, 1s2, 1s3, 1s4

[0031] 2L Left front wheel (front wheel)

[0032] 2r Right front wheel (front wheel)

[0033] 3L Left Rear Wheel (Rear Wheel)

[0034] 3r Right rear wheel (rear wheel)

[0035] 5. Front preview sensor (front wheel road condition detection mechanism, road condition detection mechanism)

[0036] 6. Rear Preview Sensor (Rear Wheel Road Condition Detection Mechanism, Road Condition Detection Mechanism)

[0037] 7l Left Push Point (Push Point)

[0038] 8. Rear strake (strake, aerodynamic kit) Detailed Implementation

[0039] This invention proposes the installation location and sensing method of a road surface condition detection mechanism on the rear wheel side for detecting road surface conditions in four-wheeled vehicles.

[0040] Figure 1A A side view of vehicle 1 according to an embodiment of the present invention is shown. Figure 1B A three-dimensional concept diagram showing the control elements of vehicle 1 as an embodiment is shown.

[0041] The vehicle 1 of the embodiment has a right front wheel 2r and a left front wheel 2l at the front, which serve as steering wheels to change the direction of travel of the vehicle 1. At the rear of the vehicle 1, there is a right rear wheel 3r and a left rear wheel 3l, which serve as driven wheels or driving wheels.

[0042] The occupants sit on the body 1h of vehicle 1, which is supported by wheels (2r, 2l, 3r, 3l).

[0043] Vehicle 1 is equipped with headlights 3h at the front to illuminate the road surface R ahead, and taillights 3a at the rear to illuminate the road surface R behind. Furthermore, vehicle 1 is equipped with a front bumper 4f and a rear bumper 4r at the front and rear respectively to absorb impacts from collisions at the front and rear.

[0044] Figure 1B The vehicle 1 shown is controlled by a control unit (ECU) 1e. The control unit 1e is configured to include a microcomputer, circuits, etc. The rotation of the vehicle body 1h is detected by a yaw rate sensor 1y. The steering angle of the vehicle body 1h is detected by a steering angle sensor 1d.

[0045] Wheel speed sensors 1s1 and 1s2 are installed at the axles of the right front wheel 2r and the left front wheel 2l, respectively, to detect the rotational speed of each wheel. Wheel speed sensors 1s3 and 1s4 are installed at the axles of the right and left rear wheels 3r and 3l, respectively, to detect the rotational speed of each wheel.

[0046] The detection information from the yaw rate sensor 1y, the rudder angle sensor 1d, and the wheel speed sensors 1s1, 1s2, 1s3, and 1s4 is input into the control device 1e.

[0047] The control device 1e controls the vehicle 1 based on the detection information from sensors such as yaw rate sensor 1y, rudder angle sensor 1d, and wheel speed sensors 1s1, 1s2, 1s3, and 1s4.

[0048] like Figure 1A As shown, front preview sensors 5 are respectively installed in front of the right and left front wheels 2r and 2l of vehicle 1 to detect the state of the road surface R on the right and left front wheels 2r and 2l. The left and right front preview sensors 5 respectively irradiate lasers onto the road surface R below, and identify the coefficient of friction, water, snow, ice, etc. on the road surface R based on the shape and roughness of the road surface R by the reflected light from the road surface R.

[0049] like Figure 1A As shown, rear preview sensors 6 are respectively installed in front of the right and left rear wheels 3r and 3l of vehicle 1 to detect the state of the road surface R on the right and left rear wheels 3r and 3l. The left and right rear preview sensors 6 respectively irradiate lasers onto the road surface R below (see reference). Figure 3B , Figure 4A , Figure 4B It uses reflected light from the road surface R to identify the coefficient of friction, water, snow, ice, etc. on the road surface R based on the shape and roughness of the road surface R.

[0050] The front preview sensor 5 and rear preview sensor 6, which serve as the road condition detection mechanism, use sensors such as radar, cameras, laser sensors, or other sensors. In this embodiment, the use of a laser sensor will be used as an example to illustrate the front and rear preview sensors 5 and 6.

[0051] Based on the road surface conditions detected by the front preview sensor 5, the control device 1e is used to prevent a decrease in passenger comfort by utilizing electromagnetic shock absorbers on the wheels (2r, 2l, 3r, 3l).

[0052] Based on the state of the road surface R detected by the rear preview sensor 6, the control device 1e is used to prevent a decrease in the riding comfort of the occupants by utilizing the electromagnetic shock absorbers of the wheels (2r, 2l, 3r, 3l).

[0053] The electromagnetic shock absorbers independently control the damping force of each wheel (2r, 2l, 3r, 3l). In other words, by controlling the amount of current flowing in the coil inside the electromagnetic shock absorber, the pressure at which the valve opens is adjusted, thereby controlling the viscous damping force based on hydraulic pressure or similar mechanisms.

[0054] Here, we take electromagnetic shock absorbers as an example, but other types of shock absorbers are also possible, and are not limited to electromagnetic shock absorbers.

[0055] <Front preview sensor 5 and rear preview sensor 6>

[0056] like Figure 1A As shown, vehicle 1 is equipped with a front preview sensor 5 for the front wheels (2r, 2l) and a rear preview sensor 6 for the rear wheels (3r, 3l) as a road condition detection mechanism (5, 6) for sensing the road surface condition in front of the wheels (2r, 2l, 3r, 3l).

[0057] <The track 2k for the front wheels (2r, 2l) and the track 3k for the rear wheels (3r, 3l) of vehicle 1>

[0058] Figure 2A The diagram shows a top-view concept drawing depicting the tracks 2k of the front wheels (2r, 2l) and the rear wheels (3r, 3l) on the road surface R when the vehicle 1 is traveling straight. Figure 2A The track 2k and 3k are shown as the vehicle 1 travels straight and crosses the level difference d.

[0059] Figure 2B The diagram shows a top-view concept drawing depicting the tracks 2k of the front wheels (2r, 2l) and rear wheels (3r, 3l) on the road surface R as the vehicle 1 turns. Figure 2B The track 2k and 3k are shown as vehicle 1 turns and moves forward across the level difference d.

[0060] Unlike when vehicle 1 is traveling straight, when turning, the right and left front wheels 2r and 2l follow a different path 2k on the road surface R than the right and left rear wheels 3r and 3l follow a different path 3k on the road surface R.

[0061] exist Figure 2A When the vehicle 1 shown is traveling straight, the front wheels (2r, 2l) and the rear wheels (3r, 3l) pass through the same position and the tracks 2k and 3k overlap. Therefore, it is sufficient to install the front preview sensor 5 in front of the front wheels (2r, 2l).

[0062] exist Figure 2B When the vehicle 1 shown is turning, the track 3k of the rear wheels (3r, 3l) exceeds the measurement range of the track 2k of the front preview sensor 5. Therefore, in vehicle 1, the rear preview sensor 6 is used to measure the track 3k of the rear wheels (3r, 3l).

[0063] The rear preview sensor 6 of the road condition detection mechanism for the rear wheels (3r, 3l) only senses areas that cannot be covered by the front preview sensor 5 of the road condition detection mechanism for the front wheels (2r, 2l) (see details below).

[0064] <Preview of Sensor 6>

[0065] Figure 3A This shows an enlarged view of part I in Figure 1. Figure 3B Showing the view from the oblique front Figure 3A A 3D view showing the installation status of sensor 6.

[0066] When it is necessary to crawl under vehicle 1 for maintenance to change the tires of vehicle 1, a jacking method is used to push vehicle 1 upward.

[0067] like Figure 3A As shown, during the jacking operation, the left jacking point 7l is fixed in front of the left rear wheel 3l at the center of the lower part of the vehicle body 1h. Similarly, during the jacking operation of the vehicle body 1h, the right jacking point is fixed in front of the right rear wheel 3r at the center of the lower part of the vehicle body 1h (refer to...). Figure 1A (in front of)

[0068] The left-side rear preview sensor 6 is positioned between the left push point 7l and the left rear wheel 3l. The left-side rear preview sensor 6 is positioned at a position that overlaps with the left rear wheel 3l when the vehicle 1 is viewed from the front.

[0069] Similarly, the right-side rear preview sensor 6 is positioned between the right push point and the right rear wheel 3r. The right-side rear preview sensor 6 is positioned at a position that overlaps with the right rear wheel 3r when the vehicle 1 is viewed from the front.

[0070] By positioning the left and right rear preview sensors 6 to overlap with the rear wheels (3l, 3r) in the longitudinal direction, lateral offset can be suppressed in the detected information. Therefore, the positional accuracy error between the rear preview sensors 6 and the rear wheels (3l, 3r) is reduced, and the sensing performance is improved.

[0071] Here, the rear preview sensor 6 on the left and the rear preview sensor 6 on the right are installed symmetrically. Therefore, the configuration of the rear preview sensor 6 on the left will be described, while the configuration of the rear preview sensor 6 on the right will be omitted.

[0072] The left-side rear preview sensor 6 is positioned in front of the left rear wheel 3l, and the left push point 7l relative to the vehicle body 1h is positioned in a layout free from interference.

[0073] The vehicle body 1h is equipped with a rear wheel cover 1hl to accommodate the left rear wheel 3l (see reference). Figure 3A ).

[0074] like Figure 3A , Figure 3B As shown, a rear strip 8 is provided in front of the left rear wheel 3l to expel excess airflow introduced into the rear wheel cover 1hl. The rear strip 8 is used to reduce the air resistance of the left rear wheel 3l.

[0075] The rear strip 8 is made of, for example, resin, such as... Figure 3B As shown, the mounting part 8a and the tire protective wall 8b form a roughly L-shaped plate.

[0076] A pair of bolt holes 8a1 are formed in the mounting portion 8a of the rear side strip 8 for fixing the rear side strip 8 to the vehicle body 1h. The fixing bolts are inserted into the bolt holes 8a1 and screwed into the vehicle body 1h.

[0077] Figure 3B The tire guard wall 8b of the rear strip 8 shown is formed in a shape with a gentle curvature around the vertical axis in such a way that it surrounds the left rear wheel 3l in front.

[0078] The left-side rear preview sensor 6 is positioned between the left jacking point 7l and the left rear wheel 3l, used when jacking the vehicle body for 1 hour. Specifically, the left-side rear preview sensor 6 has its sensor frame 6k fixed to the root 8c of the rear side strip 8 in front of the left rear wheel 3l.

[0079] The left-side rear preview sensor 6 is positioned near the left rear wheel 3l, compared to the left jacking point 7l. By positioning the rear preview sensor 6 near the rear wheel 3l, the condition of the road surface R traversed by the rear wheel 3l can be detected more accurately.

[0080] Furthermore, by placing the rear preview sensor 6 on the rear strip 8 of the aerodynamic kit that regulates the airflow encountering the rear wheels (3l, 3r) during driving, air can always be exposed to the rear preview sensor 6 and cooled. Therefore, the cooling efficiency of the rear preview sensor 6 is improved.

[0081] Furthermore, the rear preview sensor 6 is positioned at a point overlapping the front of the rear wheels 3l and 3r when viewed from the front. This allows for accurate measurement of the road surface conditions traversed by the rear wheels 3l and 3r, suppressing lateral deviations.

[0082] like Figure 3B As shown, the rear preview sensor 6 is configured to irradiate the road surface R downwards with a laser rb.

[0083] The rear preview sensor 6 is mounted on the rear wheel (3l, 3r) side in such a way that the rear side strips 8 located in front of the rear wheels (3l, 3r) are integrated with the rear preview sensor 6. Therefore, the rear preview sensor 6 can be mounted on the vehicle body 1h without significantly altering the appearance of existing vehicles that do not have sensors mounted on the rear wheel side.

[0084] Furthermore, the space for the rear preview sensor 6 in front of the rear wheels (3l, 3r) is configured to avoid the push point since the push point of vehicle 1 is located in front of the left and right rear side strips 8. As a result, vehicle 1 can be used without changing its previous service characteristics.

[0085] <Preview of sensor 6 measurement>

[0086] As mentioned above Figure 2BAs shown, the phenomenon occurs where the track 3k of the rear wheel (3r, 3l) deviates from the track 2k of the front wheel (2r, 2l) in the sensor measurement range 5s of the front preview sensor 5 (refer to Figure 4) (track 2k of the front wheel (2r, 2l)). Figure 4A , Figure 4B The enlarged view of Figure 1 from direction II is shown.

[0087] Figure 1B The control device 1e shown can acquire the turning information of vehicle 1 based on the detection information provided by either the yaw rate sensor 1y or the rudder angle sensor 1d. Additionally, the control device 1e can acquire the vehicle speed information of vehicle 1 based on information from wheel speed sensors 1s1 to 1s4.

[0088] The control device 1e can determine whether the vehicle 1 is traveling straight based on information such as the vehicle 1's turning speed.

[0089] The control device 1e can determine whether the vehicle 1 is turning based on the acquired turning information, speed information, etc. of the vehicle 1.

[0090] Therefore, the control device 1e can grasp the turning information of the vehicle 1 and the vehicle speed information from the wheel speed sensors 1s1 to 1s4. Figure 2B The inner wheel difference between the track 3k of the rear wheels (3r, 3l) and the track 2k of the front wheels (2r, 2l) during a turn is shown. The relationship between at least one of the turning information and the vehicle speed information of vehicle 1 and the inner wheel difference during a turn can be stored in advance in the storage unit of the control device 1e in the form of a mapping diagram.

[0091] As a sensing method of the rear preview sensor 6, the control device 1e detects when the vehicle 1 is traveling straight (refer to...). Figure 2A Control is performed using information from the front preview sensor 5 on the front wheel (2r, 2l) side.

[0092] When vehicle 1 turns (refer to...) Figure 2B This creates an inner wheel difference between the front wheels (2r, 2l) and the rear wheels (3r, 3l). Therefore, as... Figure 4A , Figure 4B As shown, the rear preview sensor 6 detects areas that cannot be measured by the front preview sensor 5 on the front wheel side (the sensor measurement range of the rear preview sensor 6 is 6s1, 6s2 (see when vehicle 1 is turning right)). Figure 4A When vehicle 1 makes a left turn Figure 4B The sensor measurement ranges 6s1 and 6s2 of the rear preview sensor 6 are configured to detect the outer side of the vehicle 1 in the width direction compared to the end of the detection range 5s of the front preview sensor 5. The range of the outer side of the vehicle 1 in the width direction compared to the end of the detection range 5s of the front preview sensor 5 in the sensor measurement ranges 6s1 and 6s2 of the rear preview sensor 6 can be calculated based on the calculated inner wheel difference.

[0093] The sensing method of the rear preview sensor 6 is to interpolate the insufficient sensing amount of the front preview sensor 5.

[0094] Based on the above configuration, since the rear preview sensor 6 is positioned near the rear wheels (3r, 3l), the detection accuracy is improved when there is an inner wheel difference between the front wheels (2r, 2l) and the rear wheels (3r, 3l) during cornering or other situations. Furthermore, the rear preview sensor 6 can be used to sense areas that cannot be measured by the front preview sensor 5.

[0095] The rear preview sensor 6 can only sense areas that cannot be measured by the front preview sensor 5 on the front wheel (2r, 2l) side, thereby enabling miniaturization and cost reduction.

[0096] The rear preview sensor 6 is positioned so that it overlaps with the rear wheels (3r, 3l) when viewed from the front. Therefore, when the vehicle 1 turns, creating an inner wheel difference between the front wheels (2r, 2l) and the rear wheels (3r, 3l), as... Figure 2B As shown, the areas 6s1 and 6s2 that the rear wheel passes through, which cannot be measured by the front preview sensor 5, can be detected by the rear preview sensor 6 (refer to...). Figure 4A , Figure 4B This improves the accuracy of estimating the position of the rear wheels (3r, 3l).

[0097] In addition, the rear preview sensor 6 for the rear wheels is mounted between the push point 7l and the rear wheels (3l, 3r), thus making full use of the empty space in the vehicle 1.

[0098] <<Other Implementation Methods>>

[0099] 1. The present invention is not limited to the aforementioned embodiments and modifications, and various modifications and specific methods can be adopted within the scope of the claim.

Claims

1. A vehicle characterized by comprising: including: a vehicle body for a person to ride on; front and rear wheels that move the vehicle body; and a road surface state detecting mechanism that senses a road surface state in front of the front and rear wheels, the road surface state detecting mechanism has a front wheel road surface state detecting mechanism that detects a road surface state in front of the front wheels and a rear wheel road surface state detecting mechanism that detects a road surface state in front of the rear wheels, the rear wheel road surface state detecting mechanism detects an outer side in a vehicle width direction compared to an end of a detection range of the front wheel road surface state detecting mechanism in the vehicle width direction, the rear wheel road surface state detecting mechanism is provided to an aerodynamic kit for the rear wheels that is located in front of the rear wheels compared to the rear wheels.

2. The vehicle according to claim 1, wherein when the rear wheels are viewed from the front, the rear wheel road surface state detecting mechanism is provided at a position that overlaps in front of the rear wheels.

3. The vehicle according to claim 1, wherein the aerodynamic kit is a fender.

4. The vehicle according to claim 1, wherein the rear wheel road surface state detecting mechanism detects a portion outside a detection range of the front wheel road surface state detecting mechanism.

5. A vehicle characterized by comprising: including: a vehicle body for a person to ride on; front and rear wheels that move the vehicle body; and a road surface state detecting mechanism that senses a road surface state in front of the front and rear wheels, the road surface state detecting mechanism has a front wheel road surface state detecting mechanism that detects a road surface state in front of the front wheels and a rear wheel road surface state detecting mechanism that detects a road surface state in front of the rear wheels, the rear wheel road surface state detecting mechanism detects an outer side in a vehicle width direction compared to an end of a detection range of the front wheel road surface state detecting mechanism in the vehicle width direction, the rear wheel road surface state detecting mechanism is provided between a jacking point used when jacking the vehicle body and the rear wheels.

6. The vehicle according to claim 5, wherein the rear wheel road surface state detecting mechanism is provided in the vicinity of the rear wheels compared to the jacking point.

7. A vehicle characterized by comprising: including: a yaw rate sensor that detects a rotation of a vehicle body; a rudder angle sensor that detects a steering angle of the vehicle body; a wheel speed sensor that detects a rotation speed of each of the front and rear wheels; a front wheel road surface state detecting mechanism that detects a road surface state in front of the front wheels; a rear wheel road surface state detecting mechanism that detects a road surface state in front of the rear wheels; and a control device that controls the vehicle, the control device calculates a difference in wheel inside between the front and rear wheels using detection information of one of the yaw rate sensor, the rudder angle sensor, and the wheel speed sensor, when the vehicle body is straight, a road surface state is detected using detection information of the front wheel road surface state detecting mechanism, when the vehicle body is turning, a road surface state is detected using detection information of the front wheel road surface state detecting mechanism and detection information of the rear wheel road surface state detecting mechanism.

Images