Vehicle control device, vehicle control method, and vehicle control program

Abstract

To achieve a normal travel mode and a constant speed travel mode with a simple configuration in a vehicle in which travel control of the vehicle is performed by joystick operation.SOLUTION: A vehicle control device according to the present invention performs drive control of causing a vehicle to travel according to a direction and an inclination angle of an operation member. In the vehicle control device, a travel mode and a constant speed travel mode can be selected as a mode of travel control of the vehicle. When the constant speed travel mode is set, the vehicle control device performs control to make the vehicle speed of the vehicle at that time be an initial value of a set vehicle speed, and changes the set vehicle speed according to the direction of the operation member.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a vehicle in which driving control is performed by operating an operating member such as a joystick. [Background technology]

[0002] Small vehicles such as electric wheelchairs are widely known to assist people who have difficulty walking, including the elderly. Some of these small vehicles are known to be controlled by joystick operation.

[0003] The moving body disclosed in Patent Document 1 can switch between a normal driving mode, in which the vehicle speed and traveling direction are determined according to the amount and direction of tilting the stick, and a tracking driving mode, in which the vehicle tracks a tracking target object around the moving body. According to this disclosure, the passenger can control the moving body by switching between multiple modes depending on the situation.

[0004] Furthermore, Patent Document 2 discloses a vehicle that has a cruise control function for constant speed driving in addition to a normal driving mode. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2018-067183 A [Patent Document 2] JP 2002-178786 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, although the moving body disclosed in Patent Document 1 can switch between multiple driving modes, there is no disclosure of a constant speed driving mode in which constant speed driving is performed and a means for realizing the same. Also, in the pursuit driving mode, the occupant does not perform any operation, and the occupant's intention cannot be reflected in the control in real time. The vehicle disclosed in Patent Document 2 requires a dedicated member corresponding to constant speed driving, which increases the number of components and complicates the configuration.

[0007] The present invention aims to realize, in a vehicle in which the vehicle's driving control is performed by an operating member such as a joystick, both a driving mode in which the vehicle speed and direction are manually controlled, and a constant-speed driving mode in which the vehicle is driven at a constant speed at a set vehicle speed, with excellent operability and a simple structure. [Means for solving the problem]

[0008] In order to solve the above-mentioned problems, the vehicle control device of the present invention performs drive control to drive the vehicle based on the orientation and tilt angle of the operating member, and is capable of selecting a driving mode and a constant speed driving mode as the vehicle driving control mode.When the constant speed driving mode is selected, the vehicle speed of the vehicle at that time is controlled to become the initial value of a set vehicle speed, and the set vehicle speed is changed depending on the orientation of the operating member. Effect of the Invention

[0009] According to the present invention, vehicle control in constant speed traveling mode can be performed based on the operation of an operating member, just like in traveling mode, resulting in excellent operability, and since no dedicated members are required for the constant speed traveling mode, the configuration can be simplified. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a front view and a side view of a vehicle according to this embodiment. [Diagram 2] FIG. 2 is a schematic diagram of the operation unit according to the present embodiment. [Diagram 3] FIG. 3 is a functional block diagram of the driving control according to this embodiment. [Figure 4] FIG. 4 is a diagram showing an operation area of ​​the operation member according to the present embodiment. [Diagram 5] FIG. 5 is a flowchart of control in the driving mode of the vehicle according to this embodiment. [Figure 6] FIG. 6 is a flowchart of control in the constant speed driving mode of the vehicle according to this embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment of a vehicle control device disclosed in the present application will be described in detail with reference to the accompanying drawings. Note that the present invention is not limited to the embodiment described below.

[0012] First, a vehicle equipped with a vehicle control device according to an embodiment will be described with reference to Fig. 1 and Fig. 2. Fig. 1 is a front view and a side view of a vehicle equipped with a vehicle control device according to an embodiment. Fig. 2 is a view showing an operation unit equipped in the vehicle.

[0013] The electric wheelchair C is a one-seater electric vehicle used by people with walking disabilities, and travels by driving a motor according to the operation of the occupant. The electric wheelchair C can travel on roads where people walk, i.e., sidewalks. The road surface of the sidewalks here can be in various conditions, from flat roads such as asphalt to rough roads such as gravel. Note that the vehicle equipped with the vehicle control device of the present invention is not limited to electric wheelchairs, and can also be applied to vehicles whose travel is controlled by the direction and tilt angle of an operating member.

[0014] As shown in Fig. 1, the electric wheelchair C includes a vehicle control device 1, a body section 100, a pair of left and right front wheels 180, and a pair of left and right rear wheels 190. In the example shown in Fig. 1, the rear wheels 190 are drive wheels connected to a drive section 106 (not shown), and the front wheels 180 are driven wheels that are not connected to the drive section 106. Note that the front wheels 180 may be drive wheels instead of the rear wheels 190, or each of the front wheels 180 and the rear wheels 190 may be drive wheels (four-wheel drive).

[0015] The vehicle body 100 includes a vehicle body frame 110 , a seat 120 , an operating unit 130 , an armrest 140 , a footrest 150 , a switching unit 160 , and a distance sensor 170 .

[0016] The vehicle body frame 110 is a support member that supports each structural part including the seat part 120, the operating part 130, the armrest 140, the footrest 150, the front wheels 180, and the rear wheels 190. The vehicle body frame 110 is made of, for example, a metal pipe, and has the strength to support the weight of a passenger seated on the seat part 120.

[0017] The seat 120 is a seat on which a passenger sits. The seat 120 includes a seat surface that supports the buttocks of the seated passenger, and a backrest that supports the back of the seated passenger. The seat surface and backrest are provided with cushioning members that absorb vibrations generated in the electric wheelchair C, thereby reducing fatigue of the seated passenger.

[0018] The operating unit 130 is disposed to the side of the seat 120 (on the right side in FIG. 1) and receives operations for driving the electric wheelchair C. Specifically, the operating unit 130 is disposed at the front end of the armrest 140. By operating the operating unit 130, the occupant can steer the electric wheelchair C to move forward or backward, turn right or left, etc.

[0019] More specifically, the operation unit 130 is configured as a joystick, and drives the electric wheelchair C forward, backward, or turns at a target speed that is set for each direction and tilt angle of the joystick.

[0020] The armrests 140 are disposed on both sides of the seat 120 and are members on which an occupant seated on the seat 120 can place his or her elbows.

[0021] The footrest 150 is a structural part that protrudes forward from both sides of the body frame 110, and is a member that supports both feet of a passenger by placing both feet on a support surface at the tip. Specifically, the footrest 150 has two independent members (for the right foot and the left foot) on both sides of the body frame 110.

[0022] The footrest 150 is supported by the body frame 110 at a position below the seat 120 and not in contact with the road surface. That is, the footrest 150 is supported in a suspended state relative to the body frame 110.

[0023] The switching unit 160 is disposed to the side of the seat 120 (on the right side in FIG. 1) and receives operations for driving the electric wheelchair C. Specifically, the switching unit 160 is a push button, a changeover switch, or the like, and is disposed at the front end of the armrest 140. By operating the switching unit 160, the occupant can switch the vehicle control device 1 between a driving mode and a constant speed driving mode.

[0024] The distance sensor 170 is composed of an infrared sensor. The distance sensor 170 is not limited to an infrared sensor, and may be anything capable of measuring distance, such as millimeter wave radar, ultrasonic waves, LIDAR, or a distance measuring device using camera images. The distance sensor 170 is disposed in the armrest 140, and measures the distance between the electric wheelchair C and a vehicle, pedestrian, or obstacle ahead of the electric wheelchair C. In this embodiment, the measured distance between the vehicles is used for controlling the distance between the electric wheelchair C and a moving object (vehicle ahead and pedestrian) in the constant speed traveling mode.

[0025] The display unit 200 is a display. The display unit 200 displays the current remaining battery level of the electric wheelchair C, the maximum target vehicle speed in the travel mode, the set vehicle speed in the constant speed travel mode, etc. The occupant can check the information displayed on the display unit 200 by looking at the display unit 200. In this embodiment, the display unit 200 is disposed in the armrest 140.

[0026] 1 shows an example in which the distance sensor 170 is installed in the armrest 140, but the distance sensor 170 may be installed in a location other than the armrest 140. For example, the distance sensor 170 may be attached to the front of the body frame 110. In other words, the distance sensor 170 may be installed in any location where it can measure the distance to a moving object located in front of the electric wheelchair C.

[0027] Next, the configuration of the operation unit 130 will be described with reference to Fig. 2. In the coordinate system in this embodiment, the x-axis is the width direction of the electric wheelchair C, the y-axis is the travel direction, and the z-axis is the height direction, with the right side of the electric wheelchair C in the width direction being the positive x-axis direction, the front side in the travel direction being the positive y-axis direction, and the upper side in the height direction being the positive z-axis direction.

[0028] 2A is a schematic diagram of the operating unit 130. The stick 131 is a device that the occupant operates to control the electric wheelchair C. The stick 131 can be operated to tilt toward an xy plane consisting of the x-axis direction and the y-axis direction. The occupant operates the electric wheelchair C by tilting the stick 131. The stick 131 is an example of an operating member.

[0029] 2B is a schematic diagram of the operation unit 130 as viewed from the side. The stick sensor 136 is built into the operation unit 130, and outputs a signal to the vehicle control device 1 when the operating rod 133 connected to the stick 131 is tilted. The processing of the stick sensor 136 will be described later. When the occupant tilts the stick 131, the operating rod 133 tilts in conjunction with the tilt, and a signal is output to the vehicle control device 1.

[0030] FIG. 2C is a perspective view of the stick sensor 136. The stick sensor 136 is disposed inside the operation unit 130. The operating rod 133 is disposed so as to interlock with the stick 131, and when no external force is applied, it is elastically held in a predetermined posture as an origin position, for example, in an upright posture extending in the z direction perpendicular to the x and y directions in this embodiment. This operating rod 133 is operated by the housing 132 so as to be swingable in the x and y directions. As a result, the angle in the x direction when the operating rod 133 is swung, that is, the position information, is detected by the x direction variable resistor 134, and the angle in the y direction, that is, the position information, is detected by the y direction variable resistor 135. The stick sensor 136 outputs the position information in the x direction and the y direction as position coordinate information on the xy plane.

[0031] When the occupant operates the stick 131, the control stick 133 linked to the stick 131 is operated. The vehicle control device 1 detects the output of the stick sensor 136 at regular intervals, and detects angle information in the x and y directions, which is the amount of operation of the stick 131. The vehicle control device 1 receives a signal transmitted by the stick sensor 136 that detects that the control stick 133 has been operated, and thereby judges and determines the control content for the electric wheelchair C by the occupant.

[0032] Fig. 3 shows an example of the configuration of a driving control system for an electric wheelchair C including a vehicle control device according to this embodiment. The system in Fig. 3 includes a vehicle control device 1, a display unit 200, an operation unit 130, a switching unit 160, a vehicle speed sensor 104, a distance sensor 170, and a driving unit 106. The vehicle control device 1 includes a CPU 11, a storage unit 12, and an input / output IF (interface) 13. The driving unit 106 also includes a left wheel motor 107L and a right wheel motor 107R.

[0033] The CPU 11 is a central processing unit that controls the entire electric wheelchair C. The CPU 11 is also called a processor. However, the CPU 11 is not limited to a single processor, and may have a multi-processor configuration. Also, a single CPU 11 connected via a single socket may have a multi-core configuration. The CPU 11 deploys a program stored in the storage unit 12 in an executable manner in a work area, and provides functions that meet a predetermined purpose by controlling peripheral devices and the like through the execution of the program.

[0034] The storage unit 12 is a recording medium in which the CPU 11 stores programs and data, expands a working area, and stores operation setting information, etc. The storage unit 12 can store data of control programs, etc. The storage unit 12 is, for example, a flash memory, a random access memory (RAM), a read only memory (ROM), a hard-disk drive (HDD), a solid state drive (SSD), an erasable programmable ROM (EPROM), a USB memory, a secure digital (SD) memory card, etc. The storage unit 12 may be directly connected to the CPU 11.

[0035] The input / output IF 13 is an interface for inputting and outputting data between devices such as the display unit 200, the operation unit 130, and the switching unit 160. The input / output IF 13 is connected to the display unit 200 that outputs video images.

[0036] The display unit 200 is a display that outputs images. The display unit 200 presents the mode, remaining battery level, set vehicle speed, etc. of the electric wheelchair C to the occupant. The display unit 200 is disposed in a place visible to the occupant, such as the armrest 140.

[0037] The operation unit 130 is a device that allows the occupant to control the running of the electric wheelchair C, and as described above, outputs position information of the stick 131 to the vehicle control device 1. In the electric wheelchair C, the operation unit 130 is configured as a joystick.

[0038] The switching unit 160 is a device that allows the occupant to switch the driving mode of the electric wheelchair C. In the electric wheelchair C, the switching unit 160 is configured as a switch, and upon detecting that the switch has been pressed, outputs a detection signal to the vehicle control device 1. The vehicle control device 1 switches the mode in response to the detection signal.

[0039] The vehicle speed sensor 104 is a sensor for measuring the traveling speed of the electric wheelchair C. The vehicle speed sensor 104 is connected to the vehicle control device 1, the display unit 200, etc., and transmits the measured traveling speed.

[0040] The distance sensor 170 is a sensor for measuring the distance between the electric wheelchair C and a moving object located in front of the electric wheelchair C. The distance sensor 170 is connected to the vehicle control device 1, the display unit 200, etc., and transmits the measured distance between the vehicles.

[0041] The drive unit 106 is a device for driving the front and / or rear wheels of the electric wheelchair C. The drive unit 106 includes a left wheel motor 107L and a right wheel motor 107R. The left wheel motor 107L and the right wheel motor 107R are motors for driving the left and right wheels of the electric wheelchair C, respectively, and are driven by control signals from the vehicle control device 1.

[0042] It should be noted that if the vehicle control device 1 does not perform control that refers to the inter-vehicle distance, the electric wheelchair C does not need to be equipped with the distance sensor 170.

[0043] Next, the control of the operation area of ​​the operation unit 130 in the driving mode and the constant speed driving mode will be described with reference to FIG. 4. The vehicle control device 1 calculates the coordinates of the stick 131 from the direction and tilt angle of the stick 131, and determines which area the coordinates are located in, thereby determining the control of the electric wheelchair C. FIG. 4A is a diagram showing the operation area in the driving mode, and FIG. 4B is a diagram showing the operation area in the constant speed driving mode. In this embodiment, the minimum value of the x coordinate and the y coordinate is -1, and the maximum value is 1. For example, when the stick 131 is at the origin position, both the x coordinate and the y coordinate of the stick 131 are 0. Also, when the stick 131 is tilted to the left to the maximum, the x coordinate of the stick 131 is -1 and the y coordinate is 0, and when the stick 131 is tilted to the right to the maximum, the x coordinate of the stick 131 is 1 and the y coordinate is 0. In addition, when the stick 131 is tilted forward to its fullest extent, the x coordinate of the stick 131 is 0 and the y coordinate is 1, and when the stick 131 is tilted backward to its fullest extent, the x coordinate of the stick 131 is 0 and the y coordinate is -1.

[0044] First, the control by operation area in the driving mode will be described with reference to Fig. 4A. The operation area 410 in the driving mode is classified into a central area 411 which is an origin position located when the stick 131 is not being operated, and an operation area 412 which is a non-central area located when the stick 131 is being operated.

[0045] When the acquired coordinates are located in the center area 411, the vehicle control device 1 sets the target vehicle speed to 0 km / h and the turning speed to 0. When the coordinates are located in the operation area 412, the vehicle control device 1 determines the turning speed based on the x coordinate of the coordinates and determines the target vehicle speed based on the y coordinate.

[0046] Specifically, when the x coordinate is a negative number, i.e., when the stick 131 is operated to the left, the turning speed is set so that the vehicle turns left. Conversely, when the x coordinate is a positive number, i.e., when the stick 131 is operated to the right, the turning speed is set so that the vehicle turns right. The magnitude of the turning speed is set to be larger as the absolute value of the x coordinate is larger, i.e., the tilt angle of the stick 131 is larger.

[0047] Turning control is performed by setting the left wheel motor 107L and the right wheel motor 107R to different rotation speeds. For example, when the turning speed is set so that the vehicle turns to the right, the drive unit 106 sets the rotation speed so that the forward rotation speed of the left wheel motor 107L is higher than the forward rotation speed of the right wheel motor 107R. Conversely, when the turning speed is set so that the vehicle turns to the left, the drive unit 106 sets the rotation speed so that the forward rotation speed of the left wheel motor 107L is lower than the forward rotation speed of the right wheel motor 107R.

[0048] Furthermore, when the y coordinate is a negative number, i.e., when the stick 131 is operated backward, the target vehicle speed is set so that the vehicle moves backward. Conversely, when the y coordinate is a positive number, i.e., when the stick 131 is operated forward, the target vehicle speed is set so that the vehicle moves forward. The magnitude of the target vehicle speed is set to be larger as the absolute value of the y coordinate is larger, i.e., the tilt angle (operation amount) of the stick 131 is larger. For example, when the joystick is held at point A, where the coordinates are (0.5, 0.5), the electric wheelchair C moves forward while turning to the right at the speed and turning speed determined by the coordinates, i.e., it travels around a curve.

[0049] With the above configuration, the vehicle turns left and right while the stick 131 is tilted left and right, and moves forward and backward while the stick 131 is tilted forward and backward. Also, forward and backward movement and turning are combined while the stick 131 is tilted diagonally. For example, while the stick 131 is tilted forward and left, turning to the left and moving forward are combined, so the vehicle turns left while moving forward, i.e., the vehicle makes a curve.

[0050] Next, the control for each operation range in the constant speed driving mode will be described with reference to FIG. 4B.

[0051] The constant speed traveling mode includes inter-vehicle distance control. Inter-vehicle distance control is performed based on the inter-vehicle distance detected by the distance sensor 170. In the constant speed traveling mode, the vehicle control device 1 travels at a set vehicle speed when the inter-vehicle distance to the vehicle ahead is greater than a set inter-vehicle distance, and when the inter-vehicle distance is less than the set inter-vehicle distance, decelerates the electric wheelchair C so that the inter-vehicle distance increases until the inter-vehicle distance becomes equal to or greater than the set inter-vehicle distance.

[0052] The central region 427 is the origin position when the stick 131 is not being operated.

[0053] The forward region 421 is a region located when the stick 131 is tilted forward in the traveling direction of the electric wheelchair C. In this embodiment, when the stick 131 is tilted into the forward region 421, the vehicle control device 1 performs control to increase the set vehicle speed of the electric wheelchair C. The increase in the set vehicle speed is constant regardless of the coordinates in the forward region 421 where the stick 131 is located, and the vehicle control device 1 increases the set vehicle speed by a constant speed (e.g., 1 km / h) every time the position of the stick 131 is tilted from the center region 427 to the forward region 421. Thereafter, even if the position of the stick 131 is returned to the center region 427, the set vehicle speed immediately before is maintained.

[0054] The rear area 422 is an area located when the stick 131 is tilted backward in the traveling direction of the electric wheelchair C. In this embodiment, when the stick 131 is tilted into the rear area 422, the vehicle control device 1 performs control to decrease the set vehicle speed of the electric wheelchair C. The amount of decrease in the set vehicle speed is constant regardless of the coordinates in the rear area 422 where the stick 131 is located, and the vehicle control device 1 decreases the set vehicle speed by a constant speed (e.g., 1 km / h) every time the position of the stick 131 is tilted from the center area 427 to the rear area 422. In this case, even if the position of the stick 131 is returned to the center area 427, the set vehicle speed immediately before is maintained.

[0055] The left region 423L is the region located when the stick 131 is tilted leftward in the vehicle width direction of the electric wheelchair C. In this embodiment, when the stick 131 is tilted to the left region 423L, the vehicle control device 1 performs control to turn the electric wheelchair C to the left. The magnitude of the turning speed is set to be larger as the absolute value of the x coordinate in the travel mode is larger, that is, as the tilt angle of the stick 131 is larger.

[0056] The right region 423R is the region located when the stick 131 is tilted to the right in the traveling direction of the electric wheelchair C. In this embodiment, when the stick 131 is tilted to the right region 423R, the vehicle control device 1 performs control to turn the electric wheelchair C to the right. The magnitude of the turning speed is set to be larger as the absolute value of the x coordinate is larger, that is, as the tilt angle of the stick 131 is larger.

[0057] The left front region 424L is the region located when the stick 131 is tilted to the left front of the traveling direction of the electric wheelchair C. In this embodiment, when the stick 131 is tilted to the left front region 424L, the vehicle control device 1 performs control to decrease the set inter-vehicle distance. The amount of decrease in the set inter-vehicle distance is constant regardless of the coordinates at which the stick 131 is located within the left front region 424L, and the vehicle control device 1 decreases the set inter-vehicle distance by a constant distance (e.g., 1 m) each time the position of the stick 131 is tilted from the center region 427 to the left front region 424L.

[0058] The right front region 424R is a region located when the stick 131 is tilted to the right front in the traveling direction of the electric wheelchair C. In this embodiment, the control performed by the vehicle control device 1 when the stick 131 is tilted to the right front region 424R is the same as when the stick 131 is operated to the left front region 424L.

[0059] The left rear region 425L is the region located when the stick 131 is tilted to the left rear in the traveling direction of the electric wheelchair C. In this embodiment, when the stick 131 is tilted to the left rear region 425L, the vehicle control device 1 performs control to increase the set inter-vehicle distance. The amount of increase in the set inter-vehicle distance is constant regardless of the coordinates at which the stick 131 is located within the left rear region 425L, and the vehicle control device 1 increases the set inter-vehicle distance by a constant distance (e.g., 1 m) each time the position of the stick 131 is tilted from the center region 427 to the left rear region 425L.

[0060] The right rear area 425R is an area located when the stick 131 is tilted to the right rear in the traveling direction of the electric wheelchair C. In this embodiment, the control performed by the vehicle control device 1 when the stick 131 is tilted to the right rear area 425R is the same as when the stick is operated to the left rear area 425L.

[0061] The rear end region 426 is a region located when the stick 131 is tilted further backward in the traveling direction of the electric wheelchair C beyond the rear region 422. In this embodiment, when the stick 131 is tilted deeply into the rear end region 426, the vehicle control device 1 performs control to stop the electric wheelchair C.

[0062] In this way, in the constant speed traveling mode, the vehicle control device 1 changes the set vehicle speed when the stick 131 is tilted forward or backward relative to the traveling direction of the electric wheelchair C, and executes a function other than the function of changing the set vehicle speed when the stick 131 is tilted diagonally relative to the traveling direction of the electric wheelchair C. The other function is to change the set inter-vehicle distance.

[0063] With the above configuration, while the stick 131 is tilted left or right, the electric wheelchair C turns left or right, and while tilting it forward or backward increases or decreases the set vehicle speed of the electric wheelchair C. Also, while the stick 131 is tilted diagonally, the distance between the electric wheelchair C and a moving object such as a vehicle or pedestrian located in front of the electric wheelchair C increases or decreases.

[0064] Note that each operation area does not have to be strictly the same as the area shown in the figure, depending on the operation frequency and the operation characteristics of the occupant (left-handedness), etc. For example, the width in the x direction of the front area 421 and the rear area 422 may be widened, and the left front area 424L, the right front area 424R, the left rear area 425L, and the right rear area 425R may be narrowed. This makes it possible to prevent an occupant from operating in a different area by mistake when operating in the front area and the rear area, which is convenient when it is expected that the occupant will frequently operate in the front area and the rear area.

[0065] Also, a boundary area may be appropriately provided between each area. When the coordinates of the stick 131 are located in the boundary area, the control of the electric wheelchair C is prohibited from being changed and the previous control is maintained, as in the case where the coordinates are located in the central area 427. This makes it possible to prevent the occupant from accidentally tilting the stick 131 into an operation area different from the intended operation area.

[0066] The operation unit 130 may have a click sensation in the operation area, which can prevent the stick 131 from being unintentionally operated across non-center areas in the constant speed running mode.

[0067] Next, the control of the vehicle according to the embodiment will be described with reference to FIG. 5. FIG. 5 shows the process performed by the vehicle control device 1, which starts operation when the ignition switch is turned on and the power is turned on. First, when the ignition switch of the vehicle is pressed and the power of the vehicle is turned on, the vehicle control device 1 sets the mode variable M to 0 indicating the driving mode (step S501). Next, the vehicle control device 1 determines whether the mode variable M is 0 or not (step S502), and if it is 0 (step S502: Yes), starts the driving mode (step S503), and if it is not 0 (for example, if it is 1) (step S502: No), starts the constant speed driving mode (step S508). The mode variable M changes when the changeover switch is pressed in a step described later, but the mode variable M is automatically set to 0 when the vehicle is started. Therefore, the driving mode is automatically started when the vehicle is started.

[0068] After the driving mode is activated, the vehicle control device 1 performs vehicle control in the driving mode (step S504). That is, the vehicle control device 1 sets a target speed and a turning speed according to the position coordinates of the stick 131 continuously or at a predetermined cycle, and controls the number of rotations of the drive unit 106 so as to achieve the set target speed and turning speed. The vehicle control device 1 also determines whether the changeover switch has been pressed (step S505). If the changeover switch has not been pressed (step S505: No), the vehicle control device 1 returns to step S504 and continues to perform control in the driving mode.

[0069] When the changeover switch is pressed in the traveling mode (step S505: Yes), the vehicle control device 1 judges whether the electric wheelchair C is turning (step S506). If the turning speed of the electric wheelchair C is not 0, that is, when the electric wheelchair C is turning, if the vehicle control device 1 changes to the constant speed traveling mode, there is a possibility that the speed control will be performed unintended by the occupant. Therefore, when the turning speed of the electric wheelchair C is not 0 (step S506: No), the vehicle control device 1 displays an alert on the display unit 200 indicating that the constant speed traveling mode cannot be set because the electric wheelchair C is traveling around a curve (step S507), and continues control in the traveling mode (step S504). When the turning speed is 0, that is, when the vehicle is moving straight (step S506: Yes), the vehicle control device 1 sets the mode variable M to 1 indicating the constant speed traveling mode (step S508), sets the current target vehicle speed instructed based on the direction and tilt angle of the stick 131 or the vehicle traveling speed at that time as the initial value of the set vehicle speed for constant speed traveling (step S509), and returns to the determination of the mode variable (step S502). That is, the vehicle control device 1 determines that M is not 0 in the determination of the mode variable (step S502: No), and starts the constant speed traveling mode (step S510). In this embodiment, the vehicle control device 1 sets the current traveling speed as the initial value of the set vehicle speed for the constant speed traveling mode in step S509. Next, the vehicle control device 1 performs vehicle control in the constant speed traveling mode (step S511). That is, the vehicle control device 1 controls the electric wheelchair C so as to maintain the set vehicle speed set in step S509. Next, the vehicle control device 1 determines whether the changeover switch has been pressed (step S512). If the changeover switch has not been pressed (step S512, No), the vehicle control device 1 returns to step S511 and continues to perform control in the constant speed running mode. Details of the vehicle control in the constant speed running mode in step S511 will be described later with reference to FIG. 6.

[0070] If the changeover switch is pressed during vehicle control in the constant speed traveling mode (step S512: Yes), the vehicle control device 1 sets the mode variable M to 0 (step S513) and returns to the determination of the mode variable (step S502).

[0071] With the above configuration, the vehicle control device 1 according to this embodiment performs control in the driving mode at startup. Furthermore, it is possible to switch between the driving mode and the constant speed driving mode every time the changeover switch is pressed.

[0072] Here, the vehicle control device 1 determines whether the turning speed of the electric wheelchair C is 0 or not when the changeover switch is pressed (step S506), but at this time, the turning speed does not have to be strictly 0. That is, the vehicle control device 1 performs switching when the absolute value of the turning speed is smaller than a predetermined value close to 0, which indicates a gentle turn close to going straight. In this way, the vehicle control device 1 can permit turning if the electric wheelchair C is only turning slightly, and can accurately reflect the operation of the occupant.

[0073] Also, the vehicle control device 1 does not need to determine the turning speed when the changeover switch is pressed (step S506). In that case, the vehicle control device 1 performs mode switching regardless of whether the electric wheelchair C is turning or not. This also makes it possible to accurately reflect the operation of the occupant.

[0074] Next, details of vehicle control by the vehicle control device 1 in the constant speed driving mode will be described with reference to FIG. 6. The vehicle control device 1 first acquires the direction and tilt angle of the stick 131, i.e., the coordinates (step S521). Next, the vehicle control device 1 judges whether the acquired coordinates are within the neutral area 427 (step S522). If the acquired coordinates are within the neutral area 427 (step S522: Yes), the vehicle control device 1 does not update the set vehicle speed, and continues vehicle control to maintain the set vehicle speed (step S537). If the coordinates are not within the neutral area 427 (step S522: No), the vehicle control device 1 further judges in which operation area the coordinates of the stick 131 are located.

[0075] First, the vehicle control device 1 determines whether the coordinates are located in the forward region 421 (step S523). If it is determined that the coordinates are located in the forward region 421 (step S523: Yes), the vehicle control device 1 increases the set vehicle speed of the vehicle by 1 km / h (step S524). Note that an upper limit is set for the changeable set vehicle speed, and when the set vehicle speed reaches the upper limit vehicle speed, the vehicle control device 1 maintains the set vehicle speed at the upper limit vehicle speed. If the coordinates are not located in the forward region 421 (step S523: No), the vehicle control device 1 determines whether the coordinates are located in the rear region 422 (step S525). If the vehicle control device 1 determines that the coordinates are located in the rear region 422 (step S525: Yes), the vehicle control device 1 decreases the set vehicle speed of the vehicle by 1 km / h (step S526). If the coordinates are not in the rear area 422 (step S525: No) or if the set vehicle speed has been changed (step S524, step S526), ​​the vehicle control device 1 next determines whether the coordinates are in the left area 423L (step S527).

[0076] When the vehicle control device 1 determines that the coordinates are located in the left region 423L (step S527: Yes), it determines the turning speed, which is the turning amount, according to the tilt angle of the joystick in the x-axis direction (step S528). Specifically, the vehicle control device 1 sets the turning speed to be larger as the absolute value of the x-coordinate is larger. When the vehicle control device 1 determines that the coordinates are not located in the left region 423L (step S527: No), it determines whether the coordinates are located in the right region 423R (step S529). When the vehicle control device 1 determines that the coordinates are located in the right region 423R (step S529: Yes), it determines the turning speed, which is the turning amount, according to the tilt angle of the joystick in the x-axis direction (step S530). As in step S528, the vehicle control device 1 sets the turning speed to be larger as the absolute value of the x-coordinate is larger. If the coordinates are not in the right area 423R (step S529: No) or if the turning speed has been determined (step S528, step S530), the vehicle control device 1 next determines whether the coordinates are in either the right front area 424R or the left front area 424L (step S531).

[0077] When the vehicle control device 1 determines that the coordinates are located in the right front area 424R or the left front area 424L (step S531: Yes), it decreases the set inter-vehicle distance of the vehicle by 1 m (step S532). When the coordinates are not located in either the right front area 424R or the left front area 424L (step S531: No), it determines whether the coordinates are located in either the right rear area 425R or the left rear area 425L (step S533). When the vehicle control device 1 determines that the coordinates are located in the right rear area 425R or the left rear area 425L (step S533: Yes), it increases the set inter-vehicle distance of the vehicle by 1 m (step S534). If the coordinates are not in either the right rear area 425R or the left rear area 425L (step S533: No), or if the set inter-vehicle distance has been changed (steps S532, S534), the vehicle control device 1 then determines whether the coordinates are in the rear end area 426 (step S535).

[0078] When the vehicle control device 1 determines that the coordinates are located in the rear end region 426 (step S535: Yes), it instructs the vehicle to stop. That is, it sets the target vehicle speed to 0 km / h (step S536). When the vehicle control device 1 determines that the coordinates are not located in the rear end position 426 (step S535: No) or when the target vehicle speed has been changed (step S536), it instructs vehicle control according to the target vehicle speed, turning speed, and set inter-vehicle distance determined in each step above, and ends the process.

[0079] With the above-described configuration, the vehicle control device 1 according to this embodiment performs speed control when the stick 131 is tilted forward / backward in constant speed driving mode, performs turning control when the stick is tilted left / right, performs distance control when the stick is tilted diagonally, and performs stopping control when the stick is tilted far backward.

[0080] Here, the vehicle control device 1 has been described as performing inter-vehicle distance control when the stick 131 is tilted diagonally, but it may perform controls other than inter-vehicle distance control. For example, the vehicle control device 1 may temporarily accelerate the set vehicle speed without changing it only while the stick 131 is tilted diagonally forward, and temporarily decelerate the set vehicle speed without changing it only while the stick 131 is tilted diagonally backward. In this case, the occupant can temporarily change the traveling vehicle speed only while the stick 131 is being operated diagonally, and when the stick 131 is released, the stick 131 returns to the neutral region, and traveling at the original set vehicle speed is resumed.

[0081] Furthermore, if the electric wheelchair C does not have the distance sensor 170, it cannot control the distance between the vehicles. In that case, control other than the distance between the vehicles, such as temporarily increasing or decreasing the speed, is performed. [Explanation of symbols]

[0082] 1 Vehicle control device 100 Body 110 Body frame 120 Seat 130 Operation section 140 Armrest 150 Footrest 160 Switching section 170 Distance Sensor 180 Front wheel 190 Rear wheel 200 Display section 131 Stick 132 Housing 133 Operation rod 134 x-directional variable resistor 135 y-direction variable resistor 136 Stick Sensor 11 Body frame 12 Storage section 13 Input / Output Interface 104 Vehicle speed sensor 105 Vehicle distance sensor 106 Drive unit 107L Left wheel motor 107R Right wheel motor Operation area in the 410 traveling mode 411 Central area 412 Non - central area Operation area in the constant - speed traveling mode 421 Front area 422 Rear area 423L Left area 423R Right area 424L Left - front area 424R Right - front area 425L Left - rear area 425R Right - rear area 426 Rear - end area 427 Central area

Claims

1. A vehicle control device that controls a vehicle speed and a turning speed based on a direction and a tilt angle of an operating member, A driving mode and a constant speed driving mode can be selected as a driving control mode, When the constant speed traveling mode is entered, the vehicle speed at that time is controlled to become an initial value of a set vehicle speed, and the set vehicle speed is changed according to the orientation of the operating member. Vehicle control device.

2. In the constant speed traveling mode, when the operation member is tilted in a forward or backward direction, the set vehicle speed is changed, and when the operation member is tilted in an oblique direction, a first function different from the function of changing the set vehicle speed is executed. The vehicle control device according to claim 1.

3. The first function is a function of increasing or decreasing a distance between the vehicle and a vehicle ahead of the vehicle. The vehicle control device according to claim 2.

4. The vehicle control device includes: Prohibiting switching between the driving mode and the constant speed driving mode while the vehicle is turning The vehicle control device according to claim 1.

5. The vehicle control device includes: In the constant speed traveling mode, when the operation member is tilted backward only slightly, the set vehicle speed is decelerated, and when the operation member is tilted backward deeply, a second function different from the function of decelerating the set vehicle speed is executed. The vehicle control device according to claim 1.

6. The second function is a function for stopping the vehicle. The vehicle control device according to claim 5.

7. A vehicle control device that controls a vehicle speed and a turning speed based on a direction and a tilt angle of an operating member, A driving mode and a constant speed driving mode can be selected as a driving control mode, When the constant speed traveling mode is selected, the vehicle speed at that time is controlled to become an initial value of a set vehicle speed, and the set vehicle speed is changed according to the orientation of the operating member. A vehicle control method.

8. A vehicle control program for controlling a vehicle speed and a turning speed based on a direction and a tilt angle of an operating member, The driving control mode includes a driving mode and a constant speed driving mode, a vehicle control program that, when the constant speed traveling mode is selected, instructs the vehicle speed at that time to become an initial value of a set vehicle speed, and instructs the vehicle control program to change the set vehicle speed depending on the orientation of the operating member.

Images