Electric vehicles

Abstract

Reduce the impact of installing external sensors on the overall dimensions of the vehicle body. [Solution] The electric vehicle V includes a front basket 61 capable of accommodating luggage, a basket cover 62 attached to the front basket 61 and switchable between an open state that exposes the space inside the front basket 61 and a closed state that closes it, and an external environment sensor 111. The external environment sensor 111 is installed on the basket cover 62 so as to be located outside the front basket 61 and to include a field of view in front of the electric vehicle V when the basket cover 62 is in the closed state.

Description

[Technical Field]

[0001] The present invention relates to an electric vehicle. [Background technology]

[0002] 2. Description of the Related Art There are electric vehicles that are equipped with sensors for monitoring the road ahead, and that automatically control the running state of the vehicle or assist the driver in manual driving based on the output from these sensors. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-131438 Summary of the Invention [Problem to be solved by the invention]

[0004] There are legal restrictions on the size and dimensions of vehicles traveling on roads. For example, the dimensions of small electric vehicles such as electric wheelchairs, including overall length and height, are restricted by law. When installing a forward monitoring sensor on the vehicle, the various dimensions after installation must meet legal restrictions.

[0005] In view of the above circumstances, an object of the present invention is to provide an electric vehicle that can suppress the effect that the installation of external sensors has on the overall dimensions of the vehicle body. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems, an electric vehicle according to one embodiment of the present invention comprises a storage section that forms a space capable of storing luggage, a cover attached to the storage section that can be switched between an open state that opens up the space and a closed state that closes off the space, and an external environment sensor configured to be able to acquire information about the situation around the vehicle, wherein the external environment sensor is installed on the cover so that when the cover is in the closed state, it is located outside the space and has a field of view ahead of the vehicle. [Effects of the Invention]

[0007] According to one aspect of the present invention, by attaching a cover to the storage section and installing an external sensor on this cover, it is possible to ensure a location for installing the external sensor while minimizing the impact on the overall dimensions of the vehicle body. Furthermore, by installing the external sensor on the cover so that it is located outside the space of the storage section and within the field of view ahead of the vehicle when the cover is closed, it is possible to prevent the external sensor from interfering with the space of the storage section and limiting the amount of luggage that can be stored. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a schematic diagram showing the configuration of an electric vehicle according to a first embodiment of the present invention. [Figure 2] 3A and 3B are schematic views showing the state of the basket cover according to the embodiment in (a) a closed position and (b) an open position. [Figure 3] 3 is a flowchart showing a basic flow of a driving mode switching control according to the embodiment; [Figure 4] 5A to 5C are schematic diagrams showing a basket cover according to a second embodiment of the present invention in (a) a closed position, (b) a half-open position, and (c) a fully open position. [Figure 5] 3 is a flowchart showing a basic flow of a driving mode switching control according to the embodiment; [Figure 6] 10A and 10B are explanatory diagrams illustrating a method of using the front basket in a half-open state. [Figure 7] FIG. 10 is an explanatory diagram showing an operation relating to state monitoring of an external sensor according to the third embodiment of the present invention. [Figure 8] FIG. 3 is a schematic diagram illustrating an output signal of an external sensor according to the embodiment. [Figure 9] 10A and 10B are explanatory diagrams showing another example of the operation related to the monitoring state of the external sensor according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

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

[0010] (First embodiment) (Overall configuration of electric vehicle) FIG. 1 is a schematic diagram showing the configuration of a small electric vehicle V (hereinafter simply referred to as "electric vehicle") according to a first embodiment of the present invention, as viewed from the left with respect to the forward direction of the electric vehicle V. 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, correspond to the traveling direction of the electric vehicle V when moving forward or backward, and the direction from right to left with respect to the plane of the paper corresponds to the forward direction of the electric vehicle V.

[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 of the handle unit 31 by the user or passenger, and can also be driven automatically. That is, the electric vehicle V has a manual driving mode and an automatic driving mode set as driving modes when driving (hereinafter referred to as "driving modes"). The manual driving mode and the automatic driving mode can be switched as appropriate by the user. Switching between the manual driving mode and the automatic driving mode is done by selecting the position of a mode selector switch 116 provided on the operation panel 313 of the handle unit 31. The user can switch the driving mode by changing the position 116 of the mode selector switch.

[0013] When traveling in manual driving mode, the force that the user applies to the handle unit 31 in the rotational direction (i.e., steering torque) is transmitted to the steered wheels (in this embodiment, the front wheels 11f) via the steering shaft 51. When moving the electric vehicle V forward, the driver can turn the electric vehicle V clockwise by rotating the handle unit 31 clockwise, and can turn the electric vehicle V counterclockwise by rotating the handle unit 31 counterclockwise.

[0014] When traveling in the autonomous driving mode, the user can set a destination location. The electric vehicle V travels automatically along a route from the current location to the destination location without the user operating the handle unit 31. That is, in this embodiment, the steering angle of the electric vehicle V is adjusted automatically without the user operating it, and the user starts and stops the electric vehicle V manually by operating the accelerator lever. Alternatively, the electric vehicle V can be configured to have a departure point and a destination point set in advance, and the overall traveling state, including acceleration and deceleration, can be automatically controlled. In this case, after starting based on the user's instructions, the electric vehicle V travels automatically from the departure point to the destination along the set route.

[0015] The electric vehicle V includes, as basic components, a chassis (not shown), wheels 11, a body cover 21, a handle unit 31, and a seat 41. In this embodiment, the electric vehicle V is a four-wheel vehicle, and includes a pair of left and right front wheels 11f and a pair of left and right rear wheels 11r.

[0016] The chassis is the undercarriage of the electric vehicle V, and forms the skeletal structure of the electric vehicle V while supporting the various elements that make up the electric vehicle V.

[0017] Specifically, the chassis supports drive system electrical components including a battery BAT and a drive actuator ACT1, steering system electrical components including a steering actuator ACT2, and also supports a body cover 21. In this embodiment, the battery BAT is a secondary battery that can be charged and discharged, and the drive actuator ACT1 and the steering actuator ACT2 are both 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 from the battery BAT.

[0018] The front wheels 11f are provided on the left and right sides of the front portion of the electric vehicle V, and support the chassis via front suspension devices 12f against the road surface on which the electric vehicle V travels. In this embodiment, the front wheels 11f are steered wheels and driven wheels. The front wheels 11f are configured to be steerable, with their rotation axes rotating around an axis perpendicular to the road surface. The front wheels 11f are driven to rotate and change their direction by steering torque transmitted from the handle unit 31 or the steering actuator ACT2 via the steering shaft 51. The electric vehicle V can change its traveling direction depending on the direction of the front wheels 11f.

[0019] The rear wheels 11r are provided on the left and right sides of the rear portion of the electric vehicle V, and support the chassis from the road surface via rear suspension devices 12r. In this embodiment, the rear wheels 11r are drive wheels, and their orientation is fixed. The left and right rear wheels 11r, 11r are connected to the electric vehicle V via wheel drive shafts that extend in the left-right direction perpendicular to the front-to-rear direction L. A drive actuator ACT1 is attached to the wheel drive shafts so as to be able to transmit its torque, and the rear wheels 11r are rotationally driven by the torque transmitted from the drive actuator ACT1 (hereinafter referred to as "drive torque"), thereby propelling the electric vehicle V.

[0020] Furthermore, a brake device is provided to prevent the rotation of the rear wheel 11r. The brake device, for example, prevents 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 can maintain the electric vehicle V in a stopped state after deceleration.

[0021] The vehicle body cover 21 is attached to the chassis so as to cover the entire chassis, encloses various elements supported by the chassis, and forms the exterior of the electric vehicle V. The vehicle body cover 21 has a cover main body 211, a front fender 212, and a rear fender 213.

[0022] The cover main body 211 is located near the center of the electric vehicle V in the front-rear direction L, and surrounds the battery BAT.

[0023] 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.

[0024] The rear fender 213 extends rearward from the cover body 211 and surrounds the rear wheel 11r from above and in front thereof.

[0025] The front fender 212 and the rear fender 213 prevent the front and rear wheels 11f, 11r from coming into contact with the outside, and also prevent a user seated on the seat 41 from getting splashed with mud while traveling.

[0026] The front fender 212 is provided with a night lighting device 22 that can illuminate the area ahead of the electric vehicle V, and the rear fender 213 is provided with a turn signal 23. In the vehicle 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 feet of a user seated in the seat 41 while the vehicle is traveling.

[0027] The handle unit 31 is attached to the upper end of a steering shaft 51 that extends vertically between the left and right front wheels 11f, 11f, and is supported by the steering shaft 51. In other words, the handle unit 31 is mechanically connected via the steering shaft 51 to a tie rod attached to the front wheel 11f and left and right knuckle arms.

[0028] Alternatively, the handle unit 31 may be capable of being mechanically disconnected from the front wheels 11f. In other words, the application of steering torque to the front wheels 11f can be performed not only by the user directly using the handle unit 31, but also by converting the torque applied by the user to the handle unit 31 into output torque of the steering actuator ACT2 and applying this to the front wheels 11f. An alternative configuration in which the connection between the handle unit 31 and the front wheels 11f is disconnected is advantageous in that it allows the orientation of the handle unit 31 to be maintained constant during driving in an autonomous driving mode in which the user does not steer using the handle unit 31 but merely holds it to stabilize the vehicle posture.

[0029] The seat 41 is located above the cover body 211 and is supported on the chassis via a bracket (not shown). The seat 41 has a seating portion 411, a backrest 412, and an armrest 413, and is configured so that the user faces the forward direction of the electric vehicle V while sitting on the seating portion 411.

[0030] Backrest 412 is in an upright position from seating portion 411, and armrest 413 is attached to backrest 412 near its midpoint and extends forward from backrest 412. Armrest 413 can swing up and down around the connection with backrest 412, and can be switched between a standby state in which it is flipped up and a use state in which it is tilted down. In Fig. 1, armrest 413 in the use state is shown by a solid line, and armrest 413' in the standby state is shown by a two-dot chain line.

[0031] The seat 41 and the floor step 214 form the "living area" of the electric vehicle V according to this embodiment.

[0032] In addition to the above, in this embodiment, the electric vehicle V is provided with a front basket 61 provided in the front portion of the electric vehicle V as an element for storing or holding luggage to be transported by the electric vehicle V, i.e., as a luggage storage section. The front basket 61 is disposed above the front fender 212 and is formed integrally with the body cover 21 so as to surround the steering shaft 51 from three sides, the front, left, and right. The front basket 61 constitutes the "storage section" according to this embodiment and forms a space inside that can store luggage.

[0033] (Handle unit configuration) The handle unit 31 includes, as main components, a main body 311, a handlebar 312, an operation panel 313, and a rearview mirror 314.

[0034] The main body 311 constitutes the housing of the handle unit 31, and is located in front of the user who is seated on the seat 41 facing forward while traveling.

[0035] The handlebars 312 are provided on the left and right outer sides of the main body 311. In both the manual driving mode and the automatic driving mode, the user can grip the handlebars 312 to maintain and stabilize their posture while driving. In the manual driving mode, the user can steer the electric vehicle V by rotating the entire handle unit 31 left and right via the handlebars 312. At this time, the steering actuator ACT2 may generate an output torque according to the rotation angle of the handlebars 312, i.e., the steering angle, to assist the user's steering force.

[0036] Here, an accelerator lever is provided on the handle unit 31 at a position where it can be operated by the four fingers, excluding the thumb, of a user gripping the handlebar 312. When traveling in manual driving mode and automatic driving mode, the user can operate the accelerator lever with the fingers of the hand gripping the handlebar 312.

[0037] When the user pulls the accelerator lever toward the handlebar 312, the electric vehicle V accelerates and travels due to the powering operation of the drive actuator ACT1, and when the user releases the accelerator lever 121 and returns it to its original position, the electric vehicle V decelerates due to the regenerative operation of the drive actuator ACT1. After deceleration, a brake device (not shown) is activated, and the electric vehicle V remains stopped until the user operates the accelerator lever again. The electric vehicle V can be decelerated not only by the regenerative operation of the drive actuator ACT1, but also by the brake device.

[0038] The operation panel 313 is provided on the top surface of the main body 311. On the top surface of the main body 311, there are provided various switches that are manually operated by the user, such as a system activation switch 115 that switches between turning on and off the power to the electric vehicle V, a mode changeover switch 116 that switches the driving mode of the electric vehicle V between a manual driving mode and an automatic driving mode, a forward / backward changeover switch that switches the traveling direction of the electric vehicle V between a forward direction and a backward direction, and a speed adjustment dial that changes the maximum forward moving speed in stages within a range of a predetermined speed (for example, 6 km / h) or less.

[0039] 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 positioned slightly lower than the eye height of a user sitting on the seat 41. While traveling, the user can view the rear of the electric vehicle V through the rearview mirror 314 while facing forward.

[0040] In this embodiment, a display 121 is further provided on the main body 311 of the handle unit 31. The display 121 is arranged on the top surface of the main body 311 in a position that is easily visible to the user, for example, on the back side of the operation panel 313 as seen from the user. The display 121 can be linked to the steering controller 101, which will be described later, and displays information related to the traveling state of the electric vehicle V.

[0041] (Control system configuration) The electric vehicle V is equipped with a steering controller 101, which automatically controls the steering angle of the electric vehicle V when traveling in autonomous driving mode without the user operating the handle unit 31. In this embodiment, an external sensor 111, a steering angle sensor 112, a traveling speed sensor 113, and a cover position sensor 114 are provided as sensors for acquiring vehicle information related to control in autonomous driving mode. The steering controller 101 and its peripheral elements are housed in an electrical parts box 151, which is arranged at the back of the front basket 61.

[0042] The steering controller 101 constitutes the calculation section of the control system, and in this embodiment is constituted by a microcomputer equipped with a central processing unit (CPU), an input / output interface, and storage units such as ROM and RAM. The steering controller 101 receives as input detection signals from sensors 111 to 114 as well as output signals from various switches including a system start switch 115 and a mode selector switch 116. The steering controller 101 then executes predetermined calculations and generates command signals according to the results of the calculations, which are output to the steering actuator ACT2 and the battery BAT as well as to a display 121.

[0043] The external sensor 111 monitors the situation around the electric vehicle V and outputs a detection signal according to the situation around the electric vehicle V. A laser sensor or a camera sensor can be used as the external sensor 111. The laser sensor is arranged so that it can irradiate electromagnetic waves with a relatively short wavelength to the area around the vehicle including the area in front of the electric vehicle V, and detects scattered light from the irradiated light and converts it into an electrical signal. For example, a LiDAR can be used as the laser sensor. The camera sensor is installed so that the area in front of the electric vehicle V fits within its field of view, captures an image of the area within its field of view, and generates image information. A monocular camera or a stereo camera can be used as the camera sensor.

[0044] In the following description, the term "field of view of the external sensor" is not limited to the field of view (i.e., the photographable range) of a camera sensor, but also includes the laser irradiation range (i.e., the detectable range) of a laser sensor.

[0045] The steering angle sensor 112 detects the steering angle of the electric vehicle V, in other words, the angle that the front wheels 11f make with respect to their positions when traveling straight ahead.

[0046] The traveling speed sensor 113 detects the traveling speed of the electric vehicle V while it is traveling.

[0047] The cover position sensor 114 detects the open / closed state of the basket cover 62, which will be described later, specifically, whether the basket cover 62 is in the closed state or the open state.

[0048] As previously mentioned, the system activation switch 115 and the mode changeover switch 116 are provided on the operation panel 311 and can both be manually operated by the user seated in the seat 41.

[0049] (Support structure for external sensors) 2A and 2B are schematic views showing the basket cover 62 according to this embodiment in (a) the closed position and (b) the open position.

[0050] A basket cover 62 is attached to the front basket 61, and an upper end opening 611 of the front basket 61 can be opened and closed by the basket cover 62. The basket cover 62 can be switched between a closed state shown in FIG. 2(a) and an open state shown in FIG. 2(b), and in the closed state, it closes the upper end opening 611 and blocks the space inside the front basket 61. In the open state, it opens the upper end opening 611 and opens the space inside the front basket 61.

[0051] In this embodiment, the basket cover 62 has two plate portions 62a, 62b arranged at the front and rear, and is configured so that the two plate portions 62a, 62b are connected via a hinge 621, and can be folded in half by the hinge 621. In the closed state, the angle formed by the two plate portions 62a, 62b, i.e., the opening angle of the hinge 621, is large, and the basket cover 62 is in an extended state so as to straddle the upper end opening 611 of the front basket 61 from front to rear. On the other hand, in the open state, the opening angle of the hinge 621 is small, and the basket cover 62 is in a folded state so as to retract rearward. The user can manually switch between the closed state and the open state by, for example, grasping the edge of the front plate portion (hereinafter sometimes referred to as the "front plate portion") 62a.

[0052] Basket cover 62 has an installation base 622, and external sensor 111 is placed and fixed on installation base 622. In other words, basket cover 62 also functions as a bracket that supports external sensor 111, and external sensor 111 is attached to basket cover 62 and is supported by the chassis or body cover 21 via basket cover 62.

[0053] In this embodiment, the installation base 622 is provided on the upper surface of the front plate 62a of the two front and rear plate portions 62a, 62b that make up the basket cover 62, and is disposed above the front edge of the front basket 61 when the basket cover 62 is in the closed state. The external sensor 111 is located outside the front basket 61 when the basket cover 62 is in the closed state, and is capable of emitting a laser toward the front of the electric vehicle V and capturing an image of an area that fits within the field of view in front of the electric vehicle V.

[0054] The front basket 61 constitutes a "storage section" according to this embodiment, and the basket cover 62 constitutes a "cover" according to this embodiment.

[0055] The cover position sensor 114 detects whether the basket cover 62 is in a closed state or an open state. In this embodiment, the cover position sensor 114 is a proximity sensor, and outputs a signal according to the position of the rear plate portion 62b (hereinafter sometimes referred to as the "rear plate portion") of the two front and rear plate portions 62a, 62b that make up the basket cover 62.

[0056] (Operation mode switching control) 3 is a flowchart showing the basic flow of the driving mode switching control according to this embodiment. The driving mode switching control is performed by the steering controller 101 at a predetermined cycle when the system activation switch 115 is in the on state.

[0057] In S101, it is determined whether or not the automatic driving mode has been selected as the driving mode of the electric vehicle V, based on the output signal from the mode selector switch 116. If the automatic driving mode has been selected, the process proceeds to S102, and if the manual driving mode has been selected, the process proceeds to S103.

[0058] In S102, the driving mode of the electric vehicle V is set to the automatic driving mode.

[0059] In S103, the driving mode of the electric vehicle V is set to the manual driving mode.

[0060] In S104, the display 121 displays that the driving mode of the electric vehicle V is the automatic driving mode.

[0061] In S105, the display 121 displays that the driving mode of the electric vehicle V is the manual driving mode.

[0062] In S106, it is determined whether the basket cover 62 is in the closed state or the open state based on the output signal from the cover position sensor 114. If the basket cover 62 is in the closed state, the process proceeds to S108, and if it is in the open state, the process proceeds to S107.

[0063] In S107, the fact that the basket cover 62 is in the open state is displayed on the display 121, and then the process returns to S101. This prompts the user to close the basket cover 62, and puts the start of travel of the electric vehicle V on hold.

[0064] In S108, the electric vehicle V is permitted to start traveling.

[0065] In this way, in this embodiment, when the user sets the driving mode of the electric vehicle V to the manual driving mode, it is displayed that the driving mode being set is the manual driving mode (S105), and driving in the manual driving mode is permitted (S108).

[0066] On the other hand, when the user sets the driving mode of the electric vehicle V to the automatic driving mode, the automatic driving mode setting itself is maintained while the basket cover 62 is in the open state, and it is displayed that the set driving mode is the automatic driving mode (S104), but the start of driving of the electric vehicle V is postponed, thereby prohibiting driving in the automatic driving mode.

[0067] Then, when the user switches the driving mode to manual driving mode (S101), or recognizes from the display 121 that the basket cover 62 is open and closes the basket cover 62, driving in automatic driving mode is permitted (S108).

[0068] Thereafter, when the user places his / her hands on the handle unit 31 and operates the accelerator lever, the drive actuator ACT1 is activated and the electric vehicle V starts to travel.

[0069] In this embodiment, the function of the "cover open / close detection unit" is realized by the processing of S106 in the flowchart shown in Fig. 3, and the function of the "automatic mode permission determination unit" is realized by the processing of S106 and S108. Furthermore, the function of the "travel mode display unit" is realized by the processing of S104 and S105, and the function of the "cover state display unit" is realized by the processing of S107.

[0070] In this embodiment, when the user sets the travel mode of the electric vehicle V to the automatic driving mode and the basket cover 62 is in the open position, the automatic driving mode setting itself is maintained while the start of travel of the electric vehicle V is suspended, thereby prohibiting travel in the automatic driving mode. Prohibition of travel in the automatic driving mode is not limited to this, and it is also possible to forcibly switch the travel mode to the manual driving mode when the basket cover 62 is in the open position. In this way, when the basket cover 62 is in the open position, it is possible to prevent travel in the automatic driving mode while permitting travel of the electric vehicle V, thereby ensuring safety.

[0071] (Explanation of action and effect) First, by attaching a basket cover 62 to the front basket 61 and installing an external sensor 111 for monitoring the surrounding conditions on the basket cover 62, it is possible to secure a place to install the external sensor 111 while minimizing the impact that the installation of the external sensor 111 has on the overall dimensions of the vehicle body.

[0072] Furthermore, the basket cover 62 can be switched between a closed state and an open state, and the external sensor 111 is installed on the basket cover 62 so that when the basket cover 62 is in the closed state, it is positioned outside the front basket 61 and has a field of view in front of the electric vehicle V. This makes it possible to prevent the external sensor 111 and its installation tools from interfering with the space inside the front basket 61, thereby limiting the amount of luggage that can be stored.

[0073] Secondly, by installing a steering controller 101 and enabling the steering controller 101 to control the driving state of the electric vehicle V, specifically the steering angle, based on the output signal from the external sensor 111, it is possible to achieve autonomous driving in an electric vehicle V equipped with a front basket 61 while minimizing the impact that the installation of the external sensor 111 has on the vehicle dimensions.

[0074] Thirdly, it is possible to switch between driving in automatic driving mode and driving in manual driving mode, and detect the open / closed state of the basket cover 62, that is, whether the basket cover 62 is closed or open.When the basket cover 62 is closed, driving in automatic driving mode is permitted, but when the cover is open, driving in automatic driving mode is prohibited.This prevents the situation where driving in automatic driving mode is performed with the basket cover 62 left open, and makes it possible to safely drive in automatic driving mode.

[0075] Fourth, by making it possible to display the actually set driving mode on display 121, the user can check the driving mode being set, which gives the user a sense of security and makes it possible to avoid situations in which the user becomes confused about setting the driving mode.

[0076] Fifth, by making it possible to display the open / closed state of the basket cover 62 on the display 121, the user can confirm whether the actual open / closed state of the basket cover 62 matches their own intentions or perception, and if they do not match, the user can be prompted to check the open / closed state of the basket cover 62.

[0077] This makes it possible to prevent situations in which, for example, driving in automatic driving mode is prohibited due to the basket cover 62 being in an open state contrary to the user's awareness when starting, causing anxiety and confusion to users who are aware that the automatic driving mode is set.

[0078] Sixth, by placing the front basket 61 in front of the living area of ​​the electric vehicle V, the external environment sensor 111 is positioned in front of the living area after installation on the basket cover 62, making it possible to easily bring the front of the electric vehicle V within the field of view of the external environment sensor 111 and effectively obtain information about the surrounding conditions.

[0079] (Description of Other Embodiments) (Second embodiment) The basket cover 62 is not limited to being switchable between a closed state and an open state, but can also be configured to be switchable to a half-open state in addition to the closed state and open state (i.e., fully open state). Here, the half-open state refers to a state in which the area of ​​the space inside the front basket 61 opened by the basket cover 62 (hereinafter referred to as the "open area of ​​the front basket 61") is smaller than in the fully open state, and the closed state refers to a state in which the open area of ​​the front basket 61 is the smallest. In other words, in addition to the closed state, multiple open states with different open areas can be set as states that the basket cover 62 can take.

[0080] FIG. 4 is a schematic diagram showing a basket cover 62 according to a second embodiment of the present invention in (a) a closed position, (b) a half-open position, and (c) a fully open position.

[0081] As in the first embodiment, the basket cover 62 has two plate portions (front plate portion 62a and rear plate portion 62b) arranged in the front and rear, and these two plate portions 62a, 62b are connected via a hinge (hereinafter referred to as a "connecting hinge") 621. In this embodiment, the basket cover 62 is attached to the front basket 61 via a hinge (hereinafter referred to as an "attaching hinge") arranged at the front edge portion (hereinafter referred to as the "upper front edge end portion of the front basket 61") of the upper end opening 611 of the front basket 61, and is rotatable back and forth around the attaching hinge.

[0082] In the closed state, as shown in Figure 4(a), the angle between the two plate portions 62a, 62b, i.e., the opening angle of the connecting hinge 621, is large, and the basket cover 62 is extended so as to straddle the upper end opening 611 of the front basket 61 from front to back.

[0083] In contrast, in the half-open state, as shown in Fig. 4(b), the opening angle of connecting hinge 621 is small, and basket cover 62 is in a folded state. However, the direction in which basket cover 62 moves when switching from the closed state to the half-open state is forward, which is different from the first embodiment. In other words, when switching from the closed state to the half-open state, basket cover 62 is folded so that connecting hinge 621 approaches the upper end of the front edge of basket cover 62.

[0084] In the fully open state, the opening angle of the connecting hinge 621 is enlarged as shown in Fig. 4(c). However, the direction in which the connecting hinge 621 opens, in other words, the direction in which the rear plate 62b tilts relative to the front plate 62a, is opposite to that in the closed state.

[0085] In this embodiment, a variable support mechanism 623 is installed on the basket cover 62 instead of the installation base 622. The variable support mechanism 623 maintains the external sensor 111 in an orientation that keeps the area ahead of the electric vehicle V within its field of view, both when the basket cover 62 is in the closed state and when it is in the half-open state.

[0086] As shown in FIG. 4(b), the variable support mechanism 623 includes a support base 623a rotatably attached to the rear plate 62b around the connecting hinge 621, and a diagonal brace 623b supporting the support base 623a. The support base 623a can be switched between a stored position in which it fits into the rear plate 62b and an extended position in which it protrudes from the rear plate 62b using the connecting hinge 621 as a starting point. The support base 623a is positioned in the stored position in the closed and fully open states, and in the extended position in the half-open state. The diagonal brace 623b extends diagonally between the support base 623a and the rear plate 62b in the extended position, and holds the support base 623a at a right angle to the rear plate 62b. When the support base 623a is in the extended position, the variable support mechanism 623 has a triangular bracket structure or a similar structure.

[0087] The external sensor 111 is placed on and fixed to a support base 623a. In both the closed state and the half-open state, the support base 623a remains horizontal, so that the external sensor 111 is maintained in an orientation that keeps the front in its field of view in both the closed state and the half-open state.

[0088] In this embodiment, a cover position sensor 117 configured to be able to detect the rotation angle of the mounting hinge is used instead of the cover position sensor 114, which is a proximity sensor. Based on the output signal from the cover position sensor 117, the steering controller 101 determines the range within which the rotation angle of the mounting hinge falls, and detects whether the basket cover 62 is in a closed state, a half-open state, or a fully open state.

[0089] FIG. 5 is a flowchart showing the basic flow of the running mode switching control according to this embodiment.

[0090] As in the first embodiment, the driving mode switching control according to this embodiment is performed by the steering controller 101 at predetermined intervals when the system activation switch 115 is in the on state.

[0091] The driving mode switching control according to this embodiment differs from the first embodiment only in the processing performed in S201 and S202. The processing in the other steps is the same as in the first embodiment, and the same reference numerals as in the flowchart shown in FIG. 3 are used, and the description thereof will be omitted.

[0092] In S201, it is determined whether basket cover 62 is in a closed state, a half-open state, or a fully open state based on the output signal from cover position sensor 117. If basket cover 62 is in a closed state or a half-open state, the process proceeds to S108, and if it is in a fully open state, the process proceeds to S202.

[0093] In S202, the fact that the basket cover 62 is fully open is displayed on the display 121, and then the process returns to S101. This prompts the user to close the basket cover 62, and the start of travel of the electric vehicle V is put on hold.

[0094] In S108, similarly to the first embodiment, the electric vehicle V is permitted to start traveling.

[0095] In this way, in this embodiment, when the user sets the driving mode of the electric vehicle V to the manual driving mode, it is displayed that the driving mode being set is the manual driving mode (S105), and driving in the manual driving mode is permitted (S108).

[0096] On the other hand, when the user sets the driving mode of the electric vehicle V to the automatic driving mode, the automatic driving mode setting itself is maintained while the basket cover 62 is in the fully open state, and it is displayed that the set driving mode is the automatic driving mode (S104), but the start of driving of the electric vehicle V is postponed, thereby prohibiting driving in the automatic driving mode.

[0097] Then, when the user switches the driving mode to manual driving mode (S101), or when the user recognizes from the display 121 that the basket cover 62 is fully open and completely closes the basket cover 62, driving in automatic driving mode is permitted (S108).

[0098] Thereafter, when the user places his / her hands on the handle unit 31 and operates the accelerator lever, the drive actuator ACT1 is activated and the electric vehicle V starts to travel.

[0099] In this embodiment, the function of the "cover open / close detection unit" is realized by the processing of S201 in the flowchart shown in Fig. 5, and the function of the "automatic mode permission determination unit" is realized by the processing of S201 and S108. Furthermore, the function of the "travel mode display unit" is realized by the processing of S104 and S105, and the function of the "cover state display unit" is realized by the processing of S202.

[0100] In this way, the basket cover 62 can be positioned in an open state in addition to a closed state, and can be switched between a fully open state and a half-open state, and the variable support mechanism 623 makes it possible to maintain the external environment sensor 111 in an orientation that keeps the front of the electric vehicle V within its field of view when the basket cover 62 is in both a closed state and a half-open state.This makes it possible to store luggage in the front basket 61 even when the basket cover 62 is half-open, and to obtain information about the surrounding situation using the external environment sensor 111.

[0101] This makes it possible to easily store luggage (e.g., long luggage such as a walking stick or umbrella) that is difficult to store in the front basket 61 when the basket cover 62 is fully open by opening the basket cover 62 halfway, and makes it possible to drive in automatic driving mode with luggage stored in the front basket 61.

[0102] FIG. 6 is an explanatory diagram illustrating a method of using the front basket 61 with the basket cover 62 in a half-open state.

[0103] Long luggage 71, such as a walking stick or umbrella, tilts significantly when the basket cover 62 is fully open, making it impossible to store it properly in the front basket 61. However, by narrowing the open area of ​​the front basket 61 by partially opening the basket cover 62, it is possible to store such long luggage 71 upright, enabling it to be stored properly in the front basket 61. Furthermore, because the luggage 71 is prevented from protruding to the side of the vehicle, if the luggage 71 is, for example, a walking stick, it is possible to prevent the handle of the walking stick from coming into contact with or getting caught on nearby pedestrians, thereby improving traffic safety.

[0104] Furthermore, in addition to being able to detect whether the basket cover 62 is in a closed or fully open state, it is also able to detect whether it is in a half-open state. When the basket cover 62 is in a closed or half-open state, driving in the autonomous driving mode is permitted, while driving is prohibited when the basket cover 62 is in a fully open state. This makes it possible to safely drive in the autonomous driving mode and improve the convenience of the electric vehicle V.

[0105] (Third embodiment) FIG. 7 is an explanatory diagram showing the operation of the external sensor 111 for monitoring the state according to the third embodiment of the present invention, and shows an enlarged view of the area around the upper end of the basket of the electric vehicle V. In FIG.

[0106] In this embodiment, the external sensor 111 is attached to the basket cover 62 so that a portion of the front basket 61 falls within its field of view R. Specifically, of the two plate portions 62a, 62b that make up the basket cover 62, an installation base 622 is provided on the front plate portion 62a, and when the basket cover 62 is in the closed state, the external sensor 111 is placed on and fixed to the installation base 622 with its orientation shifted from the facing direction so that it faces slightly downward. As a result, the external sensor 111 fits the front edge upper end portion 611a of the front basket 61 near its lower edge in the field of view R when the basket cover 62 is in the closed state.

[0107] Then, based on a change in the output signal from the external sensor 111, if the external sensor 111 becomes loose in its fixing or its position shifts, the steering controller 101 prohibits driving in automatic driving mode or issues a warning to encourage the user to be aware of a problem with the external sensor 111.

[0108] For example, if a deviation occurs in the position of the external sensor 111, even if the automatic driving mode is set, the start of driving in the automatic driving mode is suspended until the deviation is resolved. Alternatively or in addition to this, the fact that a deviation has occurred in the position of the external sensor 111 may be displayed on the display 121, thereby prompting the user to recognize the occurrence of the deviation.

[0109] FIG. 8 is a schematic diagram showing an example of an output signal from the external sensor 111 according to this embodiment, where a laser sensor is used.

[0110] 8(a) shows the sensor output in a normal state, and Fig. 8(b) and (c) show the sensor output in an abnormal state. When an abnormal sensor output is detected, traveling in the autonomous driving mode is prohibited or a warning is issued.

[0111] As shown in FIG. 8(a), under normal circumstances, a signal of a predetermined intensity indicating the leading edge upper end portion 611a appears at a height Hth in a range of phases Lth1 to Lth2 in the left-right direction.

[0112] In contrast, when a deviation occurs in the position or orientation of the external sensor 111, causing the external sensor 111 to face downward, the range and height at which the signal appears change compared to the normal signal. For example, as shown in Fig. 8(b), the range at which the signal appears narrows and the height at which the signal appears appears to rise.

[0113] Furthermore, when the orientation of the external sensor 111 shifts sideways (for example, to the left), the range in which the signal appears changes, and the position or phase shifts to the left, as shown in FIG. 8(c).

[0114] In this way, by prohibiting driving in automatic driving mode or notifying the user of the generation of the signal based on changes in the output signal from the external sensor 111, which includes part of the front basket 61 in its field of view R, it is possible to detect any shift in the position of the basket cover 62 or the external sensor 111 without the need to add any special sensors other than the external sensor 111, and to prevent situations that could compromise safety while driving due to incorrect detection of the surrounding conditions by the external sensor 111.

[0115] Furthermore, by positioning the external sensor 111 in a direction offset from the direction directly facing it so that part of the front basket 61 falls within the field of view R, it becomes possible to detect positional deviations that occur in the basket cover 62 or the external sensor 111 relatively easily without adding any additional parts.

[0116] The positional deviation that occurs in the external sensor 111 can be detected by adjusting the orientation of the external sensor 111, as well as by changing the shape of the front basket 61.

[0117] FIG. 9 is an explanatory diagram showing another example of the operation related to the monitoring state of the external sensor 111 according to this embodiment.

[0118] 9, the upper end of the front basket 61 is extended upward so that the upper leading edge 611b of the front basket 61 falls within the field of view R of the external sensor 111 that is installed facing forward. In other words, in this embodiment, the upper leading edge 611b serves as a "signal forming portion" of the front basket 61 that can form an output signal from the external sensor 111.

[0119] In this way, by forming a signal forming section capable of forming an output signal from the external sensor 111 at a position on the front basket 61 that falls within the field of view R of the external sensor 111, it becomes possible to detect positional deviations that occur in the basket cover 62 or the external sensor 111 relatively easily without making any changes to the configuration or arrangement of the external sensor 111. [Explanation of symbols]

[0120] V...electric vehicle, 11f...front wheel, 11r...rear wheel, 12f...front suspension device, 12r...rear suspension device, 21...body cover, 211...cover main body, 212...front fender, 213...rear fender, 31...handle unit, 41...seat, 51...steering shaft, 61...front basket, 62...basket cover, 62a...front plate portion, 62b...rear plate portion, 71...luggage, 101...steering controller, 111...external sensor, 114, 117...cover position sensor, 611...upper end opening of front basket, 611a, 611b...upper front edge end of front basket, 621...hinge (connecting hinge), 622...mounting base, 632...variable support mechanism, 632a...support base, 632b...bracing, ACT1...drive actuator, ACT2...steering actuator, R...field of view of external sensor.

Claims

1. a storage section that forms a space capable of storing luggage; a cover attached to the storage portion so as to be switchably disposed between an open state that exposes the space and a closed state that closes the space; an external sensor configured to acquire information about a situation around the vehicle; The external sensor is installed on the cover so as to be located outside the space and to have a field of view ahead of the vehicle when the cover is in the closed state.

2. The electric vehicle according to claim 1 , further comprising a controller that controls a running state of the electric vehicle based on an output signal from the external sensor.

3. 3. The electric vehicle according to claim 2, wherein the driving mode can be switched between an automatic mode in which the driving state of the electric vehicle is automatically controlled without a user operation or in which the user's operation related to the driving state is supported, and a manual mode in which the user manually controls the driving state, The controller a cover open / close detection unit that detects whether the cover is in the open state or the closed state; an automatic mode permission determination unit that permits driving in the automatic mode when the cover open / close detection unit detects that the cover is in the closed state, and prohibits driving in the automatic mode when the cover open / close detection unit detects that the cover is in the open state.

4. The cover is In addition to being disposed in the closed state, the open state can be switched between a fully open state and a half open state in which the open area of ​​the space by the cover is smaller than that in the fully open state, 3. The electric vehicle according to claim 2, further comprising a variable support mechanism configured to maintain the external sensor in an orientation that keeps the area ahead of the vehicle within its field of view when the cover is in the closed state and when the cover is in the half-open state.

5. 5. The electric vehicle according to claim 4, wherein the driving mode can be switched between an automatic mode in which the driving state of the electric vehicle is automatically controlled without a user operation or in which the user's operation related to the driving state is supported, and a manual mode in which the user manually controls the driving state, The controller a cover open / close detection unit that detects whether the cover is in the fully open state, the half open state, or the closed state; an automatic mode permission determination unit that permits driving in the automatic mode when the cover open / close detection unit detects that the cover is in the half-open state or the closed state, and prohibits driving in the automatic mode when the cover open / close detection unit detects that the cover is in the fully open state.

6. The electric vehicle according to claim 3 or 5, wherein the controller further comprises a driving mode display unit that displays the driving mode that is actually set.

7. The electric vehicle according to claim 3 or 5, wherein the controller further comprises a cover state display unit that displays the open / closed state of the cover detected by the cover open / close detection unit.

8. the external sensor is attached to the cover so that a part of the storage section is within its field of view; 3. The electric vehicle according to claim 2, wherein the controller further comprises a sensor state monitoring unit that, based on a change in an output signal from the external sensor, prohibits driving in the automatic mode or notifies a user of the generation of the signal.

9. The electric vehicle according to claim 8 , wherein the external sensor is disposed in a direction shifted from a direction directly facing the external sensor so that a part of the housing portion falls within the field of view of the external sensor.

10. The electric vehicle according to claim 8 , wherein the housing portion has a signal forming portion, which is located within a field of view of the external sensor and is capable of forming an output signal from the external sensor.

11. The electric vehicle according to claim 1, further comprising a seating area where a user stands or sits when riding, The electric vehicle, wherein the storage section is provided in front of the living area.

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