Control device for small-sized electric vehicle

Abstract

To contribute to improvement in convenience and safety of a small-sized electric vehicle.SOLUTION: A small-sized electric vehicle V that is so constituted to travel through switching between an automatic drive mode and a manual drive mode comprises: a control panel 313 which receives a user's manual operation during a travel in the manual operation mode; a movable display 315 which is arranged at a first position (spread position P1) and a second position (standby position P2) alternately, and so constituted to display information related to a travel state of the vehicle V when at the spread position P1; and a controller 10 which is so constituted to selectively set a drive mode of the vehicle V. The controller 101 detects the position where the movable display 315 is arranged, and then sets the automatic drive mode when the movable display 315 is at the spread position P1 or the manual drive mode when the movable display 315 is at the standby position P2.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a control device for a small electric vehicle.

Background Art

[0002] There is known a small electric vehicle that can automatically travel along a preset route.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Against the background of use by a variety of users including the elderly, there is a demand for further improvement in the convenience and safety of small electric vehicles. For example, when driving automatically, it is preferable to arrange a display so that it is visible to the user (i.e., the passenger) sitting on the seat, and display the route on which the vehicle is traveling and the current position of the vehicle on the display, so that the user can recognize the position and traveling direction of the vehicle on the route and feel at ease. Further, when it is possible to switch between automatic driving and normal manual operation driving, it is preferable that not only the switching between the settings of automatic driving and manual driving is easy, but also the user can clearly and easily determine whether the vehicle is in automatic driving or manual driving.

[0005] In view of such a situation, an object of the present invention is to provide a control device for a small electric vehicle that contributes to improving the convenience and safety of the small electric vehicle.

Means for Solving the Problems

[0006] To solve the above problems, a control device for a small electric vehicle according to an embodiment of the present invention is a control device for a small electric vehicle configured to be able to switch between a manual driving mode in which the vehicle travels by a user's manual operation and an automatic driving mode in which the vehicle automatically travels along a preset route. When traveling in the manual driving mode, an operation panel configured to be able to receive the user's request regarding the traveling state of the vehicle, a movable display that is switched and arranged at a first position and a second position different from the first position, and when in the first position, is configured to be able to display information regarding the traveling state of the vehicle, and a controller configured to be able to selectively set the driving mode of the vehicle. The controller includes a display position detection unit that detects the position where the movable display is arranged, and when the position of the movable display detected by the display position detection unit is at the first position, sets the automatic driving mode as the driving mode, while when the position of the movable display is at the second position, a driving mode setting unit that sets the manual driving mode as the driving mode.

Effect of the Invention

[0007] According to the present invention, the movable display can be switched and arranged at a first position and a second position different from this. When the movable display is at the first position, the automatic driving mode is set, and when the movable display is at the second position, the manual driving mode is set. Thus, the switching between the automatic driving mode and the manual driving mode can be easily performed by changing the position of the movable display. And it becomes possible to clearly and easily determine whether the actually set driving mode is the automatic driving mode or the manual driving mode from the position of the movable display, and it becomes possible to suppress incorrect operations caused by misrecognition of the driving mode through a clear recognition regarding the setting of the driving mode.

Brief Description of the Drawings

[0008] [Figure 1] It is a side view of a small electric vehicle according to an embodiment of the present invention. [Diagram 2]FIG. 2 is a side view of a handle unit provided in the electric vehicle. [Diagram 3] FIG. [Figure 4] FIG. 2 is a schematic diagram showing the configuration of a control system. [Figure 5] FIG. 2 is a schematic diagram showing the internal configuration of a controller. [Figure 6] 4 is a flowchart showing a basic flow of control (operation mode switching control) executed by a controller. [Figure 7] FIG. 10 is a side view of a handle unit according to a first modified example. [Figure 8] FIG. 10 is a side view of a handle unit according to a second modified example. [Figure 9] FIG. 10 is a side view of a handle unit according to another embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0010] (Overall configuration of a small electric vehicle) Fig. 1 is a side view showing a small electric vehicle V (hereinafter simply referred to as "electric vehicle") according to one embodiment of the present invention as viewed from the right. In Fig. 1, left and right arrows L with respect to the plane of the paper indicate the front-to-rear direction of the electric vehicle V, and up and down arrows H indicate the up and down direction of the electric vehicle V. The left and right arrows L shown in Fig. 1, i.e., the front-to-rear direction, coincide with the traveling direction of the electric vehicle V when moving forward or backward.

[0011] In this embodiment, the electric vehicle V can be used as a means of transportation for the elderly, the sick, and other people who have difficulty walking. The electric vehicle V is, for example, an electric wheelchair that can travel on sidewalks or a so-called senior car. In other words, the electric vehicle V is equipped with an electric motor as a drive source and travels at a speed equal to or lower than the legally permitted upper speed limit for traveling on sidewalks. The maximum travel speed of the electric vehicle V when traveling is set to, for example, 6 km / h. The electric vehicle V can also be used to transport able-bodied people, including children.

[0012] The electric vehicle V can be driven by manual operation by the user or passenger on the operation panel 313 described later, and can also be driven by autonomous driving. That is, the electric vehicle V is set with a manual driving mode and an autonomous driving mode as driving modes. The manual driving mode and the autonomous driving mode can be switched as appropriate according to the user's selection. The switching of the driving mode is basically by changing the position of the movable display 315. As will be described in detail later, the driving mode of the electric vehicle V is set to the autonomous driving mode when the movable display 315 is in the first position relatively close to the operation panel 313, and is set to the manual driving mode when the movable display 315 is in the second position farther from the operation panel 313 than the first position. The user can switch the driving mode by changing the position of the movable display 315 between the first position and the second position. In driving in the autonomous driving mode, the user can set the destination position. The electric vehicle V automatically travels along the route from the current position to the destination position without the user's operation. Instead of this, the electric vehicle V can also preset the departure point and the arrival point. In this case, the electric vehicle V automatically travels along a predetermined route from the departure point to the arrival point. The driving in the autonomous driving mode can be carried out not only when the user (i.e., the passenger) is seated on the seat 41, but also when the seat 41 is empty, that is, in a driverless state.

[0013] The main components of the electric vehicle V according to the present embodiment include a chassis (not shown), wheels 11, a body cover 21, a handle unit 31, and a seat 41. In the present embodiment, the electric vehicle V is a four-wheeled vehicle and includes a pair of left and right front wheels 11f and a pair of left and right rear wheels 11r.

[0014] The chassis is the underframe of the electric vehicle V, forms the skeletal structure of the electric vehicle V, and supports various components that make up the electric vehicle V. Specifically, the chassis supports drive system electrical components including the battery BAT and the drive actuator ACT1, steering system electrical components including the steering actuator ACT2, and also supports the vehicle body cover 21 described later. In the present embodiment, the battery BAT is a secondary battery that can be charged and discharged, and both the drive actuator ACT1 and the steering actuator ACT2 are electric motors. The battery BAT constitutes the power source for the drive actuator ACT1 and the steering actuator ACT2. The drive actuator ACT1 and the steering actuator ACT2 can be driven by receiving power supply from the battery BAT.

[0015] The front wheels 11f are provided on the left and right respectively at the front part of the electric vehicle V, and support the chassis via the front suspension device 12f with respect to the road surface on which the electric vehicle V travels. In the present embodiment, the front wheels 11f are both steering wheels and driven wheels. The front wheels 11f rotate about an axis perpendicular to the road surface, and are configured to be steerable. The front wheels 11f are rotationally driven by the power transmitted from the electric motor which is the steering actuator ACT2, and their direction is changed. The electric vehicle V can change its traveling direction according to the direction of the front wheels 11f.

[0016] The rear wheels 11r are provided on the left and right respectively at the rear part of the electric vehicle V, and support the chassis via the rear suspension device 12r with respect to the road surface. In the present embodiment, the rear wheels 11r are drive wheels, and their direction is fixed. The left and right rear wheels 11r, 11r are connected via a wheel drive shaft extending in the left - right direction perpendicular to the front - rear direction L with respect to the electric vehicle V. An electric motor which is the drive actuator ACT1 is interposed in the wheel drive shaft, and the rear wheels 11r are rotationally driven by the power transmitted from the drive actuator ACT1, and can propel the electric vehicle V.

[0017] Furthermore, a braking device BRK is provided to be able to suppress the rotation of the rear wheel 11r. The braking device BRK, for example, suppresses the rotation of the rear wheel 11r by frictional force, decelerates the electric vehicle V through the frictional force acting on the rear wheel 11r, and furthermore, can maintain the decelerated electric vehicle V in a stopped state.

[0018] The body cover 21 is attached to cover the entire chassis, surrounds various elements supported by the chassis, and forms the exterior of the electric vehicle V. The body cover 21 includes a cover main body 211, a front fender 212, and a rear fender 213. The cover main body 211 is located near the central portion in the front-rear direction L of the electric vehicle V and surrounds the battery BAT. The front fender 212 is located at the front portion of the electric vehicle V and surrounds the front wheel 11f from above and behind. The rear fender 213 extends rearward from the cover main body 211 and surrounds the rear wheel 11r from above and in front. The front fender 212 and the rear fender 213 prevent contact with the outside of the front and rear wheels 11f, 11r and prevent mud splashing onto the user sitting on the seat 41 during traveling. A night lighting device (hereinafter referred to as "headlight") 22 capable of irradiating the front of the electric vehicle V is provided on the front fender 212, and a direction indicator (hereinafter referred to as "winker") 23 is provided on the rear fender 213. In the body cover 21, a floor step 214 is formed between the cover main body 211 and the front fender 212. The floor step 214 is located at the user's feet during traveling.

[0019] The handle unit 31 is attached to the upper end of a steering shaft (not shown) extending vertically between the left and right front wheels 11f and is supported by the steering shaft. In other words, in this embodiment, the handle unit 31 is mechanically connected to a tie rod attached to the front wheels 11f via the steering shaft. Alternatively, the handle unit 31 may be disconnected from the front wheels 11f. In other words, the force applied to the handle unit 31 by the user during steering (i.e., the steering force) can be mechanically transmitted to the front wheels 11f and converted into output torque of the steering actuator ACT2, which can then be applied to the front wheels 11f. An alternative configuration in which the handle unit 31 is disconnected from the front wheels 11f is advantageous in that it allows the orientation of the handle unit 31 to be maintained constant during autonomous driving, in which the user does not steer the vehicle using the handle unit 31 but merely grips it to stabilize posture. Here, the configuration of the handle unit 31 according to this embodiment will be described with reference to FIGS. 2 and 3.

[0020] (Handle unit configuration) FIG. 2 is a side view of the handle unit 31, and FIG. 3 is a plan view of the handle unit 31. For convenience of illustration, FIG. 2 shows the handle unit 31 with the rearview mirror 314 on the right side removed. FIGS. 2(a) and 3(a) show the movable display 315 provided on the handle unit 31 in a state where it is in the deployed position P1, and FIGS. 2(b) and 3(b) show the movable display 315 in a state where it is in the retracted position P2. The deployed position P1 is the position where the movable display 315 is positioned when traveling in the autonomous driving mode, and the retracted position P2 is the position where the movable display 315 is positioned when driving in the manual driving mode. The deployed position P1 corresponds to the "first position" according to this embodiment, and the retracted position P2 corresponds to the "second position" according to this embodiment.

[0021] The handle unit 31 includes a main body portion 311, handlebars 312 (312a, 312b), an operation panel 313, and a rearview mirror 314, and also includes a movable display 315.

[0022] The main body portion 311 constitutes the housing of the handle unit 31 and is located in front of the user sitting on the seat 41 facing forward during travel.

[0023] The handlebars 312 are provided on the outer sides of the main body portion 311 on the left and right sides thereof. As shown in FIG. 3, the handlebars 312 include a right half portion 312a extending to the right of the main body portion 311 and a left half portion 312b extending to the left of the main body portion 311, and the right half portion 312a and the left half portion 312b form a horizontal U-shaped or C-shaped configuration. The user can grip the handlebars 312 during travel in each of the automatic driving mode and the manual driving mode to maintain and stabilize the posture. In the manual driving mode, the entire handle unit 31 can be rotated left and right via the handlebars 312 to steer the electric vehicle V. At this time, the steering actuator ACT2 generates an output torque corresponding to the rotation angle of the handlebars 312 to assist the user's steering force.

[0024] Here, an accelerator lever 121 is provided at a position operable by four fingers (excluding the thumb) of a user who holds the handlebar 312. When the user is driving in the manual driving mode, the user can operate the accelerator lever 121 with the fingers of the hand holding the handlebar 312. When the user pulls the accelerator lever 121 in the direction of the handlebar 312, the electric vehicle V accelerates and runs by the power running operation of the drive actuator ACT1. When the user releases the accelerator lever 121 and returns it to the original position, the electric vehicle V decelerates by the regeneration operation of the drive actuator ACT1. After deceleration, the brake device BRK is activated, and the electric vehicle V maintains a stopped state until the accelerator lever 121 is operated again by the user. The electric vehicle V can be decelerated not only by the regeneration operation of the drive actuator ACT1 but also by the brake device BRK. For example, a brake lever is installed in the handle unit 31 so that the user can operate the brake device BRK via the brake lever.

[0025] The operation panel 313 is provided at a position near the center in the front-rear direction L on the upper surface of the main body 311. On the upper surface of the main body 311, in addition to the start switch 131 for turning on and off the power supply to the electric vehicle V, which is a switch manually operated by the user, there are various switches aggregated on the operation panel 313. The main switches provided on the operation panel 313 are a forward-reverse changeover switch 132 for switching the traveling direction of the electric vehicle V between the forward direction and the reverse direction, a speed adjustment dial 133 for stepwise switching the maximum moving speed during traveling, for example, when moving forward, within a range of 6 km / h or less, a turn signal switch 134 for operating the left and right turn signals 23, a horn switch 135 for sounding the siren, and a lighting switch (not shown) for turning on and off the night lighting device 22. In the present embodiment, among the switches provided on the operation panel 313, the settings made by the user via the forward-reverse changeover switch 132 and the speed adjustment dial 133 indicate the user's requirements regarding the traveling state of the electric vehicle V in the manual driving mode. In front of the various switches on the operation panel 313, there are indicator lights (not shown), and these indicator lights can display the remaining amount of the battery BAT, the traveling distance of the electric vehicle V, and various warnings such as slope warnings. In FIG. 3(b), since the movable display 315 in the retracted position P2 is interposed between the indicator lights on the upper surface of the main body 311 and the illustrated viewing point, the indicator lights are in a state of being hidden behind the movable display 315.

[0026] The rearview mirror 314 is attached to the handle unit 31 via a mirror arm 314a that stands up from the front edge of the upper surface of the main body 311. The rearview mirror 314 is arranged at a position slightly lower than the eye level of the user sitting on the seat 41. The user can visually recognize the rear of the electric vehicle V through the rearview mirror 314 while facing forward during traveling.

[0027] The movable display 315 is attached to the front edge of the upper surface of the main body 311 via a bracket 315a. The movable display 315 displays information regarding the traveling state of the electric vehicle V during traveling in the automatic driving mode. The configuration of the movable display 315 will be described in detail later.

[0028] The seat 41 is located above the cover body 211 and is supported with respect to the chassis via a bracket (not shown). The seat 41 has a seating portion 411, a backrest 412, and armrests 413, and is configured such that a user sitting on the seating portion 411 faces the forward direction of the electric vehicle V. In the present embodiment, a person sitting on the seat 41 is referred to as a "user" or a "passenger", and a person other than the user is referred to as a "third party".

[0029] The backrest 412 is in a state of standing up from the seating portion 411. The armrests 413 are attached near the middle portion thereof with respect to the backrest 412 and extend forward from the backrest 412. The armrests 413 are swingable up and down about the connection portion with the backrest 412, and can be switched between a standby state when flipped up upward and a use state when laid down downward. FIG. 1 shows the armrest 413 in the use state by a solid line and the armrest 413' in the standby state by a two-dot chain line, respectively.

[0030] In addition to the above, in the present embodiment, as an element for accommodating or holding luggage carried by the electric vehicle V, that is, a luggage storage portion, a front basket 81 provided in the front portion of the electric vehicle V is provided, and a luggage hanging portion (hereinafter referred to as a "luggage hook") 51 provided in the rear portion is provided. The front basket 81 is disposed above the front fender 212 and is integrally formed with the vehicle body cover 21. The luggage hook 51 is provided at a position out of the line of sight of the user facing forward during traveling, that is, behind the seating portion 411 of the seat 41, and in the present embodiment, is provided on the backrest 412.

[0031] The luggage hook 51 holds luggage carried during driving on the vehicle by hooking it. The objects to be carried by the luggage hook 51 are, for example, bags with handles or straps, backpacks, and further, long and thin luggage with handles such as walking sticks or umbrellas. The luggage hook 51 holds the bag by hooking it with a strap, holds the backpack by hooking it with a shoulder harness (shoulder strap), and further holds long items on the vehicle by hooking them at their handle or grip portions. In the present embodiment, the luggage hook 51 is disposed at the upper edge of the back surface of the backrest 412. The luggage hook 51 has a long shape in the left - right direction and extends along the upper edge of the backrest 412.

[0032] (Detailed Configuration of the Movable Display) As shown in FIG. 2, the movable display 315 is attached to the main body portion 311 of the handle unit 31 by a bracket 315a. The bracket 315a stands up from the front edge of the upper surface of the main body portion 311, inclines forward in its upper half, and the movable display 315 is attached via a hinge 315b provided at its tip. The movable display 315 has a connection portion for the hinge 315b on its back surface. The hinge 315b has a rotation axis extending in the left - right direction perpendicular to the front - rear direction L, and the movable display 315 can rotate or swing up and down about this rotation axis.

[0033] The movable display 315 forms a relatively small first angle θ1 with the bracket 315a or its upper half at the deployment position P1 shown in FIG. 2(a), and forms a second angle larger than the first angle θ1 at the retracted position P2 shown in FIG. 2(b). The hinge 315b may be able to hold the movable display 315 only at either the deployment position P1 or the retracted position P2, or may be able to hold it at the deployment position P1, the retracted position P2, and any position therebetween.

[0034] In the deployed position P1 shown in Fig. 3(a), the movable display 315 covers most of the upper surface of the main body 311, including the operation panel 313, from above, excluding the start switch 131 and the warning lamp 141. On the other hand, in the retracted position P2 shown in Fig. 3(b), the movable display 315 retracts from above the operation panel 313 to the front, exposing the operation panel 313 so that it can be visually recognized from above. In other words, when the movable display 315 is in the deployed position P1, it intervenes between the user (i.e., the passenger of the electric vehicle V) sitting on the seat 41 facing forward and the operation panel 313 in the field of view of the user, thereby concealing the operation panel 313 from the user and inhibiting the user's visual recognition and operation of the operation panel 313.

[0035] In this embodiment, the movable display 315 in the deployed position P1 conceals the entire operation panel 313 from the user. However, the present invention is not limited to this, and only a part of the operation panel 313 may be configured to be concealed. For example, only the switches directly related to the setting of the running state of the electric vehicle V in the manual driving mode are concealed, so that the user's visual recognition and contact with these switches are inhibited. Specifically, since the horn switch 135 is not directly related to the setting of the running state and it is assumed that the operation by the user himself / herself is required even during running in the automatic driving mode, the horn switch 135 is excluded from the range concealed by the movable display 315 in the deployed position P1 and is configured to be exposed from the movable display 315.

[0036] In this embodiment, when the movable display 315 travels in the automatic driving mode, as information regarding the traveling state of the electric vehicle V, it displays the route on which the electric vehicle V is traveling, the current position and the traveling direction of the electric vehicle V, and also displays information such as the remaining amount of the battery BAT, the traveling distance of the electric vehicle V, and slope caution, which is displayed by the indicator lights on the operation panel 313. When traveling in the manual driving mode, that is, when in the retracted position P2, the movable display 315 cuts off the power supply and sets to the shutdown mode, or sets to the sleep mode with the screen display turned off. The return from the shutdown mode or the sleep mode to the normal mode can be achieved by returning the movable display 315 to the deployed position P1.

[0037] (Overall Configuration of Control System) FIG. 4 is a schematic diagram showing the configuration of a control system provided in the electric vehicle V.

[0038] The electric vehicle V is provided with a control system for controlling the traveling state. The control system of the electric vehicle V includes a controller 101 which is an electronic control unit, and the controller 101 constitutes the arithmetic unit of the control system. In this embodiment, the controller 101 is composed of a microcomputer including a central processing unit (CPU), an input / output interface, and storage units such as a ROM and a RAM. The controller 101 and its peripheral components are housed in an electric box 215 provided behind the front basket 81 (FIG. 1).

[0039] The control system includes, in addition to the start switch 131, the forward / reverse switch 132, the speed adjustment dial 133, and the accelerator lever 121, a current position sensor 111, a traveling speed sensor 112, a steering angle sensor 113, and a display position sensor 114. The start switch 131, the forward / reverse switch 132, the speed adjustment dial 133, and the accelerator lever 121 are arranged on the operation panel 313 of the handle unit 31 or in its vicinity. The current position sensor 111 detects the current position of the electric vehicle V. The traveling speed sensor 112 detects the traveling speed of the electric vehicle V, in other words, the rotational speed of the wheels 11 (for example, the front wheels 11f). The steering angle sensor 113 detects the steering angle of the electric vehicle V, in other words, the angle formed by the front wheels 11f with respect to the position when going straight. The display position sensor 114 detects the position of the movable display 315, specifically, whether the movable display 315 is in the deployed position P1 or the retracted position P2. The display position sensor 114 can be built into the hinge 315b as a contact or non-contact rotational position sensor configured to output electric signals corresponding to the deployed position P1 and the retracted position P2 respectively.

[0040] The controller 101 receives, as signals related to the traveling control of the electric vehicle V, the output signals from these various switches and sensors as inputs, and outputs output signals corresponding to the input signals to the battery BAT, the drive actuator ACT1, the steering actuator ACT2, the brake device BRK, and the warning lamp 141. The controller 101 is further connected to be communicable with the movable display 315. The controller 101 outputs electric signals indicating these pieces of information to the movable display 315 for displaying information related to the traveling state of the electric vehicle V (for example, the current position and the traveling distance of the electric vehicle V).

[0041] In addition to the above, the control system includes a luggage sensor 115.

[0042] The luggage sensor 115 detects the presence or absence of luggage hung on the luggage hook 51. In this embodiment, the luggage sensor 115 is provided at a mounting portion of the luggage hook 51 to the backrest 412, senses the weight of luggage hung on the luggage hook 51, and generates an output signal corresponding to the detected weight. The controller 101 receives the output signal from the luggage sensor 115 as an input, and outputs a command signal corresponding to the presence or absence of luggage to the warning light 141.

[0043] The warning light 141 provides a visual warning that the luggage has fallen off by lighting up or flashing, etc., when luggage hooked on the luggage hook 51 comes off and the luggage status changes from "present" to "absent," in other words, when the luggage falls off the luggage hook 51. Instead of or in addition to the warning light 141, when the status of the luggage hook 51 changes, an audible warning may be sounded to notify the user.

[0044] (Internal structure of the controller) FIG. 5 is a schematic diagram showing the internal configuration of the controller 101.

[0045] The controller 101 includes a driving mode setting unit B101, an automatic driving control unit B102, a manual driving control unit B103, a travel motor driving unit B104, and a steering motor driving unit B105. In this embodiment, the functions of these units B101 to B105 are realized in software by a central processing unit included in the controller 101 operating in accordance with instructions from a computer program stored in advance in a storage unit.

[0046] The driving mode setting unit B101 sets the driving mode of the electric vehicle V based on the output signal from the display position sensor 114. In this embodiment, when the movable display 315 is in the deployed position P1, the driving mode is set to the automatic driving mode, and when the movable display 315 is in the retracted position P2, the driving mode is set to the manual driving mode. Here, the driving mode is switched between the automatic driving mode and the manual driving mode in conjunction with a change in the position of the movable display 315.

[0047] The automatic driving control unit B102 and the manual driving control unit B103 set the control parameters of the electric vehicle V. The automatic driving control unit B102 sets the control parameters in the automatic driving mode, and the manual driving control unit B103 sets the control parameters in the manual driving mode. In the present embodiment, the control parameters set by the automatic driving control unit B102 and the manual driving control unit B103 include the drive current of the electric motor that is the drive actuator ACT1 (hereinafter referred to as "travel motor drive current") Imd and the drive current of the electric motor that is the steering actuator ACT2 (hereinafter referred to as "steering motor drive current") Ims.

[0048] The automatic driving control unit B102 reads various control information such as output signals from the current position sensor 111, the traveling speed sensor 112, and the steering angle sensor 113, and based on these output signals, sets the travel motor drive current Imd1 and the steering motor drive current Ims1 in the automatic driving mode. The travel motor drive current Imd1 can be set as a current value corresponding to a speed range preset for traveling in the automatic driving mode. In the present embodiment, as a speed range below the upper limit speed legally allowed for traveling on a sidewalk, a motor drive current for driving the electric vehicle V at a speed of 6 km / h is set. The steering motor drive current Ims1 sets a motor drive current for aligning the direction of the steering wheel (that is, the front wheel 11f) with the target steering angle. The target steering angle can be set based on the current position and steering angle of the electric vehicle V in addition to the route information of the traveling route as a steering angle necessary for traveling the electric vehicle V along the set route.

[0049] The manual driving control unit B103 reads various control information such as output signals from the forward / backward changeover switch 132, the speed adjustment dial 133, and the steering angle sensor 113, and based on these output signals, sets the traveling motor drive current Imd2 and the steering motor drive current Ims2 in the manual driving mode. The traveling motor drive current Imd2 can be set as a current value corresponding to the setting range of the speed adjustment dial 133. The manual driving control unit B103 further detects the operation amount of the steering wheel unit 31 (i.e., the steering amount) by the user based on the output signal from the steering angle sensor 113, and sets the steering motor drive current Ims2 for causing the steering assist force for assisting the steering force of the user to be generated by the steering actuator ACT2.

[0050] The traveling motor drive unit B104 energizes the drive actuator ACT1 with a motor drive current corresponding to the driving mode. Specifically, during traveling in the automatic driving mode, it energizes the traveling motor drive current Imd1 set by the automatic driving control unit B102, and during traveling in the manual driving mode, it energizes the traveling motor drive current Imd2 set by the manual driving control unit B103.

[0051] The steering motor drive unit B105 energizes the steering actuator ACT2 with a motor drive current corresponding to the driving mode. Specifically, during traveling in the automatic driving mode, it energizes the steering motor drive current Ims1 set by the automatic driving control unit B102, and during traveling in the manual driving mode, it energizes the steering motor drive current Ims2 set by the manual driving control unit B103.

[0052] Accordingly, when the electric vehicle V is traveling in the automatic driving mode, it automatically travels along the route from the current position to the target position set by the user for the actual driving without depending on the user's operation. Alternatively, the electric vehicle V can also preset or register the departure point and the arrival point, store them in the control system, and automatically travel along a predetermined route from the departure point to the arrival point. The electric vehicle V starts traveling when the user performs a predetermined travel start operation. The travel start operation in the automatic driving mode is, for example, that the user presses a travel start button displayed on the movable display 315.

[0053] On the other hand, when traveling in the manual driving mode, the electric vehicle V operates the accelerator lever 121 by the user, causing the drive actuator ACT1 to operate, and travels at a speed corresponding to the set range of the speed adjustment dial 133. During traveling, when the user operates the steering wheel unit 31, a steering assist force is generated by the steering actuator ACT2 to assist the user's operation of the steering wheel unit 31.

[0054] (Explanation by flowchart) FIG. 6 is a flowchart showing the basic flow of the control (driving mode switching control) executed by the controller 101. The driving mode switching control is executed by the controller 101 when the position of the movable display 315 is switched between the deployed position P1 and the retracted position P2.

[0055] In S101, an output signal from the display position sensor 114 is read to detect the position of the movable display 315. The "display position detection unit" according to the present embodiment is realized by the controller 101 that executes the process shown in S101.

[0056] In S102, it is determined whether the position of the movable display 315 is the deployed position P1 or the retracted position P2. If the position of the movable display 315 is the deployed position P1, the process proceeds to S103, and if it is the retracted position P2, the process proceeds to S104.

[0057] In S103, the driving mode of the electric vehicle V is set to the automatic driving mode.

[0058] In S104, the driving mode of the electric vehicle V is set to the manual driving mode.

[0059] The controller 101 that executes the processes shown in S102 to S104 implements an "operation mode setting unit" according to this embodiment.

[0060] (Explanation of action and effect) The control device for the small electric vehicle V according to this embodiment has the above-described configuration. The effects obtained by this embodiment will be described below.

[0061] First, movable display 315 can be switched between a first position (i.e., deployed position) P1 and a different second position (i.e., retracted position) P2, and when it is in deployed position P1, the automatic driving mode is set, and when it is in retracted position P2, the manual driving mode is set. This makes it possible to easily determine whether the driving mode that is actually set is the automatic driving mode or the manual driving mode through visual information from the position of movable display 315. This is beneficial not only for users or passengers of electric vehicle V, but also for third parties who are around or passing by electric vehicle V (for example, caregivers or assistants accompanying an elderly person riding in electric vehicle V), as it can prevent erroneous operations resulting from misidentification of the driving mode, thereby ensuring safety.

[0062] When considering application to an automated shuttle service that uses the automated driving mode to transport users (e.g., elderly people) from a departure point to a destination point, it is expected that the users of the service (i.e., the users of the electric vehicle V) are not the owners of the electric vehicle V and are often unfamiliar with operating the vehicle V. In such cases, being able to easily determine the actually set driving mode from the position of the movable display 315 is particularly useful in preventing erroneous operations resulting from misidentification of the driving mode.

[0063] It is then possible to easily switch between the automatic driving mode and the manual driving mode by changing the position of the movable display 315.

[0064] Furthermore, when driving in autonomous driving mode, by displaying information regarding the driving status of the electric vehicle V on the movable display 315, it is possible to encourage the user to be aware of the driving status of the electric vehicle V and reduce the anxiety felt by the user.

[0065] In this way, according to this embodiment, it is possible to achieve or improve both the convenience and safety of the electric vehicle V.

[0066] Secondly, when driving in autonomous driving mode, by displaying the route the electric vehicle V is traveling on and the current position of the electric vehicle V on the movable display 315 as information regarding the driving status of the electric vehicle V, the user can be made aware of the status of the electric vehicle V, specifically, that the electric vehicle V is heading towards the destination or arrival point, thereby making it possible to prevent situations in which the user feels anxious.

[0067] Third, when traveling in the autonomous driving mode, by placing movable display 315 at deployed position P1 and covering at least a portion of operation panel 313 from vertically above with movable display 315, the user's operation of operation panel 313 is hindered by movable display 315 at deployed position P1, making it possible to prevent the user from operating operation panel 313 by mistake. This makes it unnecessary to disable operations on operation panel 313 when traveling in the autonomous driving mode. Furthermore, by hiding operation panel 313 behind movable display 315 and blocking the user's view of operation panel 313, it is possible to prevent the user from being distracted by operation panel 313 and encourage them to pay attention to the road ahead.

[0068] Fourth, by making the movable display 315 rotatable about an axis extending in the left - right direction of the electric vehicle V, the orientation of the movable display 315 (the orientation of the display screen) with respect to the user is reversed between the deployed position P1 and the retracted position P2, and when driving in the manual driving mode, it is possible to suppress a situation where the user's attention is drawn to the movable display 315 or its display.

[0069] (Other embodiments, etc.) FIG. 7 is a side view of the steering wheel unit 31 according to the first modification of the present embodiment.

[0070] In the first modification, the steering wheel unit 31 includes a panel cover C that surrounds the operation panel 313. The panel cover C is attached to the upper surface portion of the main body portion 311 and has a shape that can surround the operation panel 313 from four directions excluding the upper and lower directions. The panel cover C cooperates with the movable display 315 in the deployed position P1 to surround the operation panel 313 from above and from the front, rear, left, and right, and reliably inhibits contact with the operation panel 313 by the user and other third parties when driving in the automatic driving mode. Thereby, when driving in the automatic driving mode, it is possible to prevent a situation where the user or a third party accidentally touches the operation panel 313 or the operation panel 313 is inappropriately operated due to mischievous contact.

[0071] FIG. 7(a) shows a state in which the panel cover C is attached. In the state where the panel cover C is attached, the start switch 131 and the warning lamp 141 are exposed outside the panel cover C. Thereby, the user can start and stop the electric vehicle V even when driving in the automatic driving mode and can visually observe the warning lamp 141. FIG. 7(b) shows a state in which the panel cover C is removed, and for reference, the outer shape of the panel cover C is indicated by a two - dot chain line.

[0072] FIG. 8 is a side view of the steering wheel unit 31 according to the second modification of the present embodiment.

[0073] In the second modification example, a biasing member that biases the movable display 315 from the deployment position P1 toward the retracted position P2, a locking member that locks the movable display 315 at the deployment position P1, and a locking release member that releases the locking by the locking member by the operation of the user are provided. Thereby, by the operation of the locking release member, the movable display 315 can be moved from the deployment position P1 to the retracted position P2, and in conjunction with this, the driving mode can be easily switched from the manual driving mode to the automatic driving mode.

[0074] The biasing member can be realized by, for example, a torsion spring S disposed coaxially with the rotation axis of the hinge 315b. The torsion spring S is built into the hinge 315b so as to increase the repulsive force in the rotation direction in which the movable display 315 moves from the retracted position P2 toward the deployment position P1. The locking member can be realized by, for example, a latch mechanism having a protrusion Ra attached to the movable display 315 and a receiving portion R provided in the main body portion 311 of the handle unit 31. The latch mechanism holds the movable display 315 at the deployment position P1 by locking the protrusion Ra extending from the movable display 315 by the receiving portion R. The locking release member can be realized by, for example, a button that releases the locking by the receiving portion R of the latch mechanism by the operation of the user.

[0075] Here, by adopting a push latch for the latch mechanism, it is possible to substantially eliminate the button for releasing the lock. The receiving portion R, which is the main body portion of the push latch, is installed in the main body portion 311 of the handle unit 31, and the protrusion Ra of the push latch is installed on the movable display 315. By pushing the protrusion Ra into the receiving portion R, the receiving portion R locks the protrusion Ra, and holds the movable display 315 at the deployment position P1. Then, by pushing the protrusion Ra into the receiving portion R again via the movable display 315, the locking by the receiving portion R is released, causing the movable display 315 to move from the deployment position P1 toward the retracted position P2. In other words, the pressing portion of the movable display 315 that the user operates to release the lock constitutes the "locking release member" in the case of the push latch.

[0076] The hinge 315b may be combined with a spring hinge having a torsion spring S built therein and a damper hinge having a damper function. Thereby, the momentum due to the restoring force of the spring when the movable display 315 moves toward the retracted position P2 can be reduced, and a smooth transition from the deployed position P1 to the retracted position P2 can be realized.

[0077] A button with illumination may be adopted as the unlocking member, whereby it is possible to improve visibility and operability in situations where sufficient light cannot be obtained, such as in the evening or at night. Further, the button may be provided with a personal authentication function, and configured to limit the person who changes the position of the movable display 315 to a registered person stored in advance. Thereby, it is possible to prevent inappropriate position changes caused by pranks of persons other than the registered person. The registered persons are assumed to be not only the user himself / herself, but also close relatives such as the user's family in the case of personal use of the electric vehicle V. Further, in the case of use for the purpose of a business such as sharing, in addition to the user, employees of the service provider, maintenance and management personnel, etc. are assumed. The personal authentication function is not limited to the method of collating fingerprints, and can be realized by other methods based on the physical characteristics of the registered person.

[0078] The biasing member may bias the movable display 315 from the retracted position P2 toward the deployed position P1. In this case, the locking member is configured to lock the movable display 315 at the retracted position P2, and the unlocking member is configured to release the locking by the locking member and cause the movable display 315 to move from the retracted position P2 toward the deployed position P1.

[0079] FIG. 9 is a side view of the handle unit 31 according to another embodiment of the present invention. FIG. 9(a) shows a state where the movable display 315 is in the deployed position P1, and FIG. 9(b) shows a state where the movable display 315 is in the retracted position P2. The deployed position P1 corresponds to the "first position" according to the present embodiment, and the retracted position P2 corresponds to the "second position" according to the present embodiment.

[0080] In this embodiment, the movable display 315 is configured to be linearly movable in the front-rear direction L with respect to the operation panel 313. The movable display 315 can move back and forth with respect to the operation panel 313 and can be arranged at a deployment position P1 relatively close to the operation panel 313 and a retracted position P2 located in front of the deployment position P1 and farther from the operation panel 313 than the deployment position P1. The linear movement of the movable display 315 can be realized, for example, by interposing a slide mechanism 315c that guides the movable display 315 back and forth at a connection part that connects the movable display 315 to a bracket 315a. Similar to the previous embodiment, when the movable display 315 is at the deployment position P1, it covers most of the upper surface of the main body 311 including the operation panel 313, excluding the start switch 131 and the warning lamp 141, from above. When at the retracted position P2, it retracts from above the operation panel 313 forward, and exposes the front-back changeover switch 132 and the speed adjustment dial 133, which are directly related to setting the running state of the electric vehicle V, in particular, of the operation panel 313, so that they can be visually observed from above. Thereby, when the movable display 315 is at the deployment position P1, it intervenes between the user sitting on the seat 41 facing forward and the operation panel 313 in the field of view of the user, and obstructs the user's visual recognition of the operation panel 313. On the other hand, when at the retracted position P2, it allows easy visual recognition and operation of the operation panel 313 by the user.

[0081] By setting the direction in which the movable display 315 moves when changing its position to the front-rear direction L of the electric vehicle V with respect to the operation panel 313, the same side surface (the surface having the display part) of the movable display 315 faces the user both when at the deployment position P1 and when at the retracted position P2. Therefore, when driving in the manual driving mode, it is possible to display on the movable display 315 information for assisting the user's operation of the operation panel 313, or to realize operation buttons for extended functions in the manual driving mode by the movable display 315, and further improvement in convenience can be achieved.

[0082] At the connection part between the movable display 315 and the bracket 315a, by installing a hinge in conjunction with the slide mechanism 315c, the inclination of the movable display 315 may be configured to be adjustable in each of the deployed position P1 and the retracted position P2. Thereby, it becomes possible to improve the visibility of the user with respect to the screen of the movable display 315. Such a configuration is useful when, during traveling in the manual driving mode, the movable display 315 in the retracted position P2 is not set to the shutdown or sleep mode, and auxiliary information regarding the operation of the operation panel 313 (for example, guidance regarding the operation method of the operation panel 313) is displayed, or information regarding the traveling state of the electric vehicle V (for example, a map around the current position of the electric vehicle V and the current position) is displayed.

[0083] In the above description, the movable display 315 is configured to be non-removable with respect to the bracket 315a and the main body portion 311 of the handle unit 31. However, the present invention is not limited to this, and the movable display 315 can also be configured to be detachable with respect to the main body portion 311 of the handle unit 31. In this case, the position of the movable display 315 when mounted on the main body portion 311 corresponds to the "first position", and the position of the movable display 315 when removed from the main body portion 311 corresponds to the "second position". The movable display 315 removed from the main body portion 311 can be stored in a storage portion provided separately on the vehicle for storing the movable display 315, or in a storage tool carried by a third party (for example, a caregiver) accompanying a user (for example, an elderly person) boarding the electric vehicle V. Then, the driving mode of the electric vehicle V is switched between when the movable display 315 is mounted on and removed from the main body portion 311. When mounted, it is set to the automatic driving mode, and when removed, it is set to the manual driving mode. When traveling in the automatic driving mode, the route and the current position of the electric vehicle V are displayed on the movable display 315 mounted on the main body portion 311. On the other hand, when traveling in the manual driving mode, the user can perform settings regarding the traveling state of the electric vehicle V via the operation panel 313 that has become visible by removing the movable display 315.

[0084] A second display portion is formed on the back surface or the rear surface of the movable display 315, separate from the first display portion on the front surface. When the movable display 315 is in the retracted position P2, the front and back of the movable display 315 may be configured to be reversed with respect to the user sitting on the seat 41. Such an arrangement can be realized, for example, by expanding the angle at which the movable display 315 rotates when shifting from the deployed position P1 to the retracted position P2. The second display portion can be used not only to display information regarding the running state of the electric vehicle V, but also to display information assisting the operation of the operation panel 313 by the user, or to realize operation buttons for assisting or expanding the setting functions realized by the operation panel 313.

[0085] The controller 101 can also be configured to be communicable with the portable terminal 201. When driving in the autonomous driving mode, the user can set the destination position of the electric vehicle V or set the driving route of the electric vehicle V from the starting point to the arrival point not only via the operation panel 313 but also via the portable terminal 201. For example, the user downloads an application program related to driving control from a remote server through the Internet and sets the destination position or driving route of the electric vehicle V according to the instructions displayed on the screen of the portable terminal 201 by the application program. The setting of the destination position and driving route can be carried out not only by the user but also by a third party via the portable terminal 201. After the setting, the user instructs the controller 101 to start driving in the autonomous driving mode, for example, by operating the driving start button displayed on the portable terminal 201. After the instruction, the electric vehicle V automatically drives toward the set destination position or along the set driving route. As the portable terminal 201, a smartphone or a tablet terminal can be applied.

[0086] It is also possible to install a stop button for forced stop or emergency stop of the electric vehicle V. The stop button is provided in front of the seat 41, and in this embodiment, it is installed on the upper surface of the main body 311 of the handle unit 31 together with the operation panel 313, and the user can operate the stop button while sitting on the seat 41. By pressing the stop button, the user can forcibly stop the running electric vehicle V or keep the stopped electric vehicle V in the stopped state regardless of operations such as the accelerator lever 121.

[0087] When changing the position of the movable display 315, it may be configured to issue voice guidance. For example, it is configured to issue guidance regarding the setting or change of the driving mode. When the movable display 315 is switched from the retracted position P2 to the deployed position P1, it guides that "the driving mode is set to the automatic driving mode", and when it is switched from the deployed position P1 to the retracted position P2, it guides that "the automatic driving mode ends and returns to the manual driving mode". In addition to or instead of the voice guidance, it may be configured to emit a signal sound or a transmission sound.

[0088] An elastic material or a cushioning material may be installed on the back surface of the movable display 315. Thereby, it is possible to reduce the vibration transmitted from the main body 311 of the handle unit 31 to the movable display 315 during running in the automatic driving mode, and when changing the position of the movable display 315, for example, when changing from the retracted position P2 to the deployed position P1, it is possible to avoid a situation where the movable display 315 directly collides with the handle unit 31.

[0089] The electric vehicle V is not limited to an electric wheelchair or a senior car, and may be a so-called personal mobility.

Explanation of Reference Numerals

[0090] V... electric vehicle, 11... wheel, 11f... front wheel, 11r... rear wheel, 12f... front suspension device, 12r... rear suspension device, 21... vehicle body cover, 211... cover body, 212... front fender, 213... rear fender, 214... floor step, 215... electric box, 31... operation panel, 311... main body part, 312... handlebar, 313... operation panel, 314... rearview mirror, 315... movable display, 41... seat, 411... seating part, 412... backrest, 413... armrest, 51... luggage hook (luggage hanging part), 101... controller, 111... current position sensor, 112... traveling speed sensor, 113... steering angle sensor, 114... display position sensor, 121... accelerator lever, 131... start switch, 132... forward and backward switching switch, 133... speed adjustment dial, BAT... battery, ACT1... drive actuator (electric motor), ACT2... steering actuator (electric motor), BRK... brake device.

Claims

1. A control device for a small electric vehicle configured to be able to switch between a manual driving mode in which the vehicle travels by a user's manual operation and an automatic driving mode in which the vehicle automatically travels along a preset route, an operation panel configured to be able to receive a user's request regarding the driving state of the vehicle during travel in the manual driving mode, a movable display that is switched and arranged at a first position and a second position different from the first position, and is configured to be able to display information regarding the driving state of the vehicle when it is at the first position, and a controller configured to selectively set the driving mode of the vehicle, and the controller includes a display position detection unit that detects the position where the movable display is arranged, a driving mode setting unit that sets the automatic driving mode as the driving mode when the position of the movable display detected by the display position detection unit is at the first position, and sets the manual driving mode as the driving mode when the position of the movable display is at the second position. A control device for a small electric vehicle.

2. The control device for a vehicle according to claim 1, wherein the movable display displays the route on which the vehicle is traveling and the current position of the vehicle as information regarding the driving state of the vehicle.

3. The control device for a small electric vehicle according to claim 1, wherein when the movable display is at the first position, it covers at least a part of the operation panel from directly above.

4. The control device for a small electric vehicle according to claim 1, wherein when the movable display is at the first position, it is located between the user and the operation panel within the field of view of the user riding in the vehicle.

5. The movable display is configured to be rotatable about an axis extending parallel to the extending direction of the operation panel and to be arranged at the first position closer to the operation panel and the second position farther from the operation panel than the first position, and when it is at the first position, it obstructs the visual recognition of the operation panel by the user riding in the vehicle. A control device for a small electric vehicle according to claim 1.

6. The movable display It is configured to be movable parallel to the extension direction of the operation panel and can be arranged at the first position relatively close to the operation panel and the second position farther from the operation panel than the first position. The control device for a small electric vehicle according to claim 1, which obstructs visual recognition of the operation panel by a user boarding the vehicle when in the first position.

7. A biasing member that biases the movable display from the first position toward the second position; A locking member that locks the movable display at the first position; The control device for a small electric vehicle according to claim 1, further comprising a locking release member that releases the locking by the locking member by the operation of the user and causes the movable display to move from the first position to the second position by the biasing member.

8. Further comprising a handle unit, The handle unit includes A main body part, A handlebar attached to the main body part and configured to be grippable by a user boarding the vehicle during travel, The operation panel provided on the upper surface part of the main body part, The control device for a small electric vehicle according to any one of claims 1 to 7, comprising the movable display attached to the main body part so as to be position-switchable between the first position and the second position.

9. The control device for a small electric vehicle according to claim 8, wherein the moving speed during travel is set to be equal to or lower than the upper limit speed at which travel on a sidewalk is possible.

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