Operating device

Abstract

This device provides an operating mechanism that makes it easy to hold the operating mechanism even during automatic operation by controlling its movement, and further enables the user to understand the state of the object being operated automatically based on the movement of the operating mechanism, as well as to intervene in the operation during automatic operation. [Solution] An operating device for operating an operand value, comprising an operating unit, a second operating unit, and an operand value, having an interlocked state and an uninterlocked state as control states. The interlocked state is a state in which the operand value is determined according to the state and / or movement of the operating unit, and the operating unit moves or normal operation is performed by the operating unit in response to changes in the operand value by an entity other than the operating unit, as necessary. The uninterlocked state is a state in which the operand value is determined by the second operating unit, and the state of the operating unit is determined according to that value and, if necessary, changes in the operand value by an entity other than the second operating unit.

Description

Technical Field

[0001] The present invention relates to an operating device that facilitates continuously gripping an operating unit that is automatically operated.

Background Art

[0002] In recent years, with the development of artificial intelligence, things that were previously operated by humans, such as railways and automobiles, have come to be automatically operated. These automated machines observe the external world with sensors and make their own judgments to initiate actions.

[0003] However, it is desirable for a person to intervene in an emergency when these automated machines cannot make appropriate judgments.

[0004] Particularly in the case of autonomous driving of automobiles, from the perspective of liability in case of an accident, it is desired that the driver keep their hand on the steering wheel even during autonomous driving.

[0005] However, it is more difficult to always keep a hand on the steering wheel during autonomous driving than to simply hold the steering wheel.

[0006] On the other hand, when gripping the steering wheel during autonomous driving, it is difficult to continuously grip the steering wheel because the steering wheel moves significantly in curves and the like.

[0007] In Patent Document 1, by providing a steering wheel rest on the steering wheel, hand fatigue is reduced and it becomes possible to immediately grip the steering wheel in an emergency. However, it is difficult to immediately grasp the state of the steering wheel and maintain appropriate driving when quickly re-grasping the steering wheel.

Prior Art Documents

Patent Documents

[0008]

Patent Document 1

Summary of the Invention

[0009] The present invention provides an operating device that makes it easy to hold an operating part, such as a handle, even when it is being operated automatically, by controlling its movement, and further enables the user to understand the state of the object being operated automatically based on the movement of the operating part. [Means for solving the problem]

[0010] An operating device for operating an operating value, comprising an operating unit, a second operating unit, and an operating value, The control states include an interlocked state and an uninterlocked state. The linked state refers to the state and / or movement of the control unit, and the value of the control unit is determined according to this state. The control unit is fixed and, if necessary, moves in response to changes in the target value caused by means other than the control unit. Alternatively, the control panel is performing normal operations. And, The non-interlocked state means that the second operating unit determines the value to be operated, and the state of the operating unit is determined according to that value and, if necessary, changes in the value to be operated by an operating unit other than the second operating unit.

[0011] In the non-linked state, the movement of the control unit for the same target value is set to be equal to or less than that when the unit is linked.

[0012] The range of motion of the operating unit is defined for both the linked and unlinked states, and the operating unit is moved so that it reaches the maximum and minimum of the specified range of motion when the target value of the operation is at its maximum or minimum.

[0013] Alternatively, in the non-interlocked state, the operating unit is not moved according to the value being operated.

[0014] One or more perceptual presentation ranges are set as the range of values ​​to be manipulated, and when the value to be manipulated falls within the perceptual presentation range, a presentation corresponding to the value to be manipulated is made.

[0015] The aforementioned presentation means may be any combination of displaying moving images, movement of an operating part, sound, and electrical stimulation.

[0016] When switching between the linked state and the non-linked state, the state of the operating unit is moved to the state of the target control state determined by the value to be operated on, and at that time, a maximum load is set, and if the load on the operating unit caused by the operation of the operating unit is less than or equal to the maximum load, the operating unit is moved to the predetermined state. If the load on the operating unit caused by the operation of the operating unit exceeds or is equal to the maximum load, the value of the operation target is changed toward a value determined by the state of the operating unit.

[0017] When switching between a non-interlocked state and an interlocked state, if the operating unit is not in a predetermined state corresponding to the target value of the control state to be switched to, Depending on the current state of the control unit, the operation of the control unit and the target value in the target control state of

[0018] When switching between the non-interlocked state and the interlocked state, the second operating unit is operated until the switching of the control state is completed, and during that time, it is possible to intervene in the operation of the second operating unit in accordance with the operation of the first operating unit as needed.

[0019] At a minimum, the system includes means for presenting the target value of the operation when the system is not linked.

[0020] In one aspect of the present invention, The operating device is the steering device. The value being manipulated is the steering amount. The control unit is the handle. The second control unit is operated by a system that automatically controls the amount of steering input. The state of the control unit refers to the amount of rotation of the handle. Operating the control unit involves rotating the handle.

[0021] In another aspect of the invention of the present application, The operating device is a lever, The operating part is the handle part of the lever, The state of the operating part is the position of the handle part, The operation of the operating part is to move the handle part.

[0022] Provided is an operating device provided with two or more of the above-described operating devices in any combination.

[0023] When the state of the operating part is A, the target state of the operating part corresponding to the operation target value is B, and the amount representing the difference between A and B is x, the operating device changes A so that x gradually decreases. When the change of A is hindered and x cannot reach the target value at that moment, x is set to a predetermined value by changing B.

[0024] For example, when a predetermined value x decreases by a certain amount of decrease, by changing A and B as described above, the amount of decrease of x is maintained to be constant. At this time, if no load is applied to the operating part, the operating part approaches the state of B with the above-mentioned constant change amount. When the operating part is fixed and A does not change, B is approached to A by changing the operation target value.

[0025] The target state B of the operating part corresponding to the operation target value may be considered as the state of the second operating part.

[0026] An operating device having an operation target value, a first operating means, and a second operating means, As a control state, an operating device having a first control state and a second control state, The first control state is a state in which a normal operation by the first operating means is being performed, The second control state is a state in which the first operating means is controlled according to an arbitrary correspondence between the state of the first operating means and the state of the second operating means or the value to be operated on. There may be multiple second operating means and multiple second control states.

[0027] The aforementioned arbitrary correspondence is any correspondence that takes at least the target value or the second operating means as input and outputs the state of the first operating means.

[0028] The aforementioned arbitrary correspondence can be expressed by any function consisting of any combination of any straight line and any curve.

[0029] When the first operating means changes toward the target state, the movement of the first operating means is restricted.

[0030] When changing the state of the first operating means to a predetermined target state, the change should not be abrupt. Even if the target state changes abruptly, the state of the first operating means should be changed smoothly in accordance with the change in the target state.

[0031] If the change in the target state of the first operating means is predictable, the state of the first operating means may be controlled according to the predicted target state. [Effects of the Invention]

[0032] The present invention provides an operating device that makes it easy to hold an operating part, such as a handle, even when it is being operated automatically, by controlling its movement, and further enables the user to understand the state of the object being operated automatically based on the movement of the operating part. [Brief explanation of the drawing]

[0033] [Figure 1] System Configuration Example 1 [Figure 2] System Configuration Example 2 [Figure 3] System Configuration Example 2 [Figure 4] Example of operation of the control unit and the target area 1 [Figure 5] Relationship between the state of the control unit and the value being controlled: Example 1 [Figure 6] Example 2 of the relationship between the state of the control unit and the value being controlled. [Figure 7] Relationship between the state of the control unit and the value being controlled: Example 3 [Figure 8] Example of setting the perceptual presentation range [Figure 9] Example of switching control states 1 [Figure 10] Example of switching control states 2 [Figure 11] Diagram illustrating the control state switching operation 1. [Figure 12] Explanation of the control state switching operation 2 (Figure 1) [Figure 13] Explanation of the control state switching operation 2 (Figure 2) [Figure 14] Example of correspondence 1 [Figure 15] Example of correspondence 2 [Figure 16] Example of action 1 for changing to the target state [Figure 17] Example 2 of the action to change to the target state [Figure 18] Example of operation of the first operating means involving prediction of the target state [Figure 19] Diagram illustrating a typical steer-by-wire system. [Modes for carrying out the invention]

[0034] The system overview of the present invention's operating device is described below.

[0035] The system consists of an operating unit, a second operating unit, and a value to be operated on.

[0036] Let's explain the system shown in Figure 1.

[0037] In the linked state, the movement of the operating unit (1) is converted into a numerical value that determines the target value (3).

[0038] Furthermore, changes in the target value (3) due to external factors may be fed back as movement of the control unit (1).

[0039] When applying the features of the present invention's operating device to an existing operating device, the interlocking state may be made to match the operation of the existing operating device to which it is applied. In this case, the existing operating unit may be designated as the second operating unit (2). Alternatively, a new operating unit may be prepared for application and designated as operating unit (1) or the second operating unit (2).

[0040] In the non-interlocked state, the value to be operated (3) is determined by the state and movement of the second operating unit (2). Furthermore, the state and movement of the operating unit (1) is determined by the state and movement of the second operating unit (2).

[0041] The second control unit (2) may also represent the internal state of the system.

[0042] The second operating unit (2) may be operated by a system that automatically operates the target value (3).

[0043] Another example of the configuration of the present system is shown in Figures 2 and 3.

[0044] In the systems shown in Figures 2 and 3, the target value (1) is operated by the second operating unit (2) in both the linked and unlinked states.

[0045] When applying the present system to an existing operating device, the second operating unit (2) is intended to function in the same way as the original operating unit of the operating device to which the system is applied. For application purposes, the original operating unit may be implemented as a virtual second operating unit (2). Alternatively, the second operating unit (2) may be implemented as a physical device.

[0046] When the units are linked, the movement of the control unit (1) is synchronized with the movement of the second control unit (2). That is, by operating the control unit (1), the target value (3) is manipulated via the second control unit (2). Furthermore, in the systems shown in Figures 2 and 3, changing the target value (3) is equivalent to changing the second control unit (2), and changing the second control unit (2) is equivalent to changing the target value (3).

[0047] Furthermore, any changes in the target value (3) due to external factors are transmitted to the operation unit (1) via the second operation unit (2).

[0048] The operation of the operating device in the linked state can be considered equivalent to the original operation of the system to which the present operating device is applied. That is, in the linked state, the operation is equivalent to the operation of the operating part when it is not controlled by the present operating device.

[0049] Next, we will describe the movement of the operating unit (1) in the non-interlocked state.

[0050] In the non-interlocked state, the movement and state of the second operating unit (2) are controlled according to the movement and state of the operating unit (1).

[0051] In the non-linked state, as shown in Figure 4, the movement of the control unit for the same target value is reduced compared to when it is linked.

[0052] More specifically, as shown in Figure 7, the maximum and minimum states of the control unit and the maximum and minimum values ​​of the target value are defined, and the movement of the control unit is adjusted so that the control unit is in the maximum state when the target value is at its maximum value, and in the minimum state when the target value is at its minimum value.

[0053] Alternatively, a relationship between the state of the operating part (14) and the value being operated on (3) is defined, as shown in Figure 5. As shown in Figures 5 and 6, the relationship between the movement of the operating part and the value being operated on does not have to be proportional. It may be proportional. It may also include an inflection point.

[0054] If necessary, the relationship between the state of the operating unit (14) and the value to be operated (3) may be changed depending on the state of the operating device or external factors.

[0055] In addition, in the non-linked state, the operating unit (1) is not moved regardless of the target value (3).

[0056] The operator is presented with a message based on the value of the target value (3).

[0057] One or more perceptual presentation ranges are set as the range of the target value (3), and when the value is within the range, a presentation corresponding to the target value is made.

[0058] For example, when the perceptual presentation range (51, 52) is set as shown in Figure 8, the control unit in Figure 8 is controlled so that it does not move within the perceptual presentation range (51, 52). When the target value (3) is within range 1 (51) or range 2 (52), for example, the operating unit (1) vibrates in accordance with the magnitude of the target value (3) in its current state, allowing the operator to perceive the current device target value.

[0059] This makes it possible to know the current value of the target value (3) even when the operating unit (1) in the operating device of the present invention does not move or moves only slightly.

[0060] The above presentation method is just one example; other presentation methods include displaying text or images, sound, tactile stimuli, etc. Any means of making the operator perceive the information is acceptable. Also, in the example in Figure 8, the control unit (1) is not moved within the perceptual range, but movement of the control unit (1) is also acceptable.

[0061] The following describes the operation when switching between the linked and unlinked states.

[0062] When switching between linked and unlinked states, if the state of the control unit (1) determined by each control state is different, the control unit (1) is gradually moved to the state determined by the target control state, and if the operator intervenes during this process, that operation is reflected as necessary.

[0063] When switching between the linked state and the non-linked state, the state of the operating unit (1) is moved to the state of the target control state determined by the operating value (3), and at that time, a maximum load is set, and if the load on the operating unit (1) caused by the operation of the operating unit (1) is less than or equal to the maximum load, the operating unit (1) is moved to the predetermined state (Figure 9, low load), When the load on the operating unit (1) caused by the operation of the operating unit (1) exceeds or is equal to the maximum load, the value to be operated (3) is changed toward a value determined by the state of the operating unit (1) (Figure 9, Load 1 or Load 2). Figure 9 illustrates the operation.

[0064] As an example of an embodiment, the model shown in Figure 11 will be used as an example. The target state (11) is the state of the operating unit (1) determined by the control state of the switching destination. The instantaneous target state (12) is the target state of the operating unit (1) at that moment, and is based on the target state (11). The difference (13) is the difference between the target state (11) and the state of the operating unit (14). By gradually reducing this difference (13) or by changing predetermined conditions of the difference (13), the instantaneous target state (12) is changed, and ultimately the operating unit is brought to match the target state (11).

[0065] The operating device of the present invention controls the operating unit (1) so that the difference (13) between the target state (11) and the instantaneous target state (12) satisfies predetermined conditions, while transmitting the movement and changes between the operating unit (1), the value to be operated (3), and the second operating unit (2).

[0066] In addition, by changing a predetermined condition of the difference (13) between the target state (11) and the instantaneous target state (12) of the operating unit (1), the state of the operating unit (14) is changed to the target state (11), and the switching is completed.

[0067] During the switching process, the operating unit (1) is moved so that the state of the operating unit (14) matches the instantaneous target state (12). This is achieved by tracking control to the instantaneous target (12) using PID control, etc.

[0068] During the switching process, the instantaneous target state (12) is changed so that the difference (13) between the target state (11) and the instantaneous target state (12) (the state of the operating unit (14)) meets a predetermined condition. As a result, when the target value (3) or the second operating unit (2) changes, the instantaneous target state (12) moves to make the difference (13) meet the predetermined condition.

[0069] In other words, during switching, the operating unit (1) and the target value (3) are controlled so that the difference (13) does not change due to conditions other than those predetermined.

[0070] During the switching process, the operating unit (1), the target value (3), and the second operating unit (2) are moved by changing the predetermined conditions of the difference (13), and together with the control, the state of the operating unit (14) is brought to match the target state (11).

[0071] Changing the predetermined conditions of the difference (13) means, for example, making the difference (13) smaller over time, thereby causing the operating unit (1) to approach the target state (11) over time.

[0072] The initial value of the difference (13) is the difference between the state of the operating unit (14) at the start of the switching process and the target state (13).

[0073] As an example of operation during switching, if the target value (3) is changed by the second operating unit (2) during switching, the instantaneous target state (12) is changed in accordance with the change in the target value (3) so that the difference (13) satisfies a predetermined condition, and this is reflected in the movement of the operating unit (1).

[0074] Similarly, when reflecting changes in the target value (3) due to external factors to the control unit (1), the target state (11) and instantaneous target state (12) are changed according to the change in the target value (3), and this is reflected in the movement of the control unit (1).

[0075] During switching, if a force greater than or equal to an arbitrarily set magnitude is applied to the operating unit (1), this is communicated as a change in the target value (3) corresponding to the magnitude of that force.

[0076] When a force acts on the operating unit (1) in a direction away from the instantaneous target state (11), the manipulated value (3) and, if necessary, the state of the second operating unit (2) change in accordance with that force.

[0077] Alternatively, if a force acts on the operating unit (1) in a direction away from the instantaneous target state (11), the state of the operating unit (14) changes in accordance with that force, and the value to be operated (3) and, if necessary, the state of the second operating unit (2) change accordingly.

[0078] This makes it possible to reflect the operator's operation from the control unit (1) to the target value (3) even if the control unit (1) is moving in a state determined by the control state of the target during switching.

[0079] One example of operation is that during switching, when the operating unit (1) is moving toward the target state (11), if the operator applies a force that opposes that movement, the controlled value (3) changes instead, causing the target state (11) to move closer to the state of the operating unit (14). If the force is above a certain level but not strong enough to stop or hinder the movement of the operating part (1), the operating part (1) and the controlled value (3) will move according to that force. In this case, how they move in response to the force can be arbitrarily set. Furthermore, when applying force to move the operating unit (1) in a direction that brings it closer to the target state (11), the operating value (3) is changed so that the instantaneous target (12) approaches the state (14) of the operating unit, thereby ensuring that the difference (13) satisfies the predetermined conditions.

[0080] The operation when transitioning from the linked state to the unlinked state is, for example, when the state of the operating unit (14) is in a certain state, a reference state, regardless of the value to be operated on (3), The target state (11) is the reference state, and the difference (13) is the difference between the reference state and the state of the operating unit (14) at the time of switching, which is used as the initial value to adjust the state of the operating unit (14) to match the target state (11) in the same manner as described above.

[0081] The following describes the operation when switching between linked and unlinked states.

[0082] When switching between the linked state and the non-linked state, if the state of the control unit (1) determined in each control state is different, the current state of the control unit (1) is corrected to match the state of the control unit (1) in the target control state.

[0083] In one example, the state of the operating unit (1) is the amount of change from a certain standard, and when the target value (3) is determined according to the amount of change of the operating unit (1), the standard is changed so that in the control state to be switched, the target value (3) takes its current value according to the state of the operating unit (1) at the time of switching.

[0084] Let's explain using the case shown in Figure 13 as an example. If the state of the operating unit (21) is represented by a numerical value and the target value (23) is also a numerical value, then the target value (23) is determined by the amount of change in the operating unit (21) with 0 as the base (20). In the linked state, the operating unit (21) and the target value (23) are the same (Figure 13 Linked state). When transitioning to the non-linked state, and the operating unit (21) and the target value (23) do not match (Figure 13 State at switching), when switching from the non-linked state to the linked state, the base (20) is changed so that the current target value (23) is determined by the current value of the operating unit (21) (Figure 13 State at switching). At this time, even if the target value (23) becomes 0, the value of the operating unit (21) does not become 0 (Figure 13 When the target value becomes 0).

[0085] This section will explain the operational intervention by the control unit (1) in the non-linked state.

[0086] In the non-interlocked state, a predetermined operation to the control unit (1) is transmitted as a signal to the inside and outside of the control device system.

[0087] For example, in an autonomous vehicle, if you turn the steering wheel to the right, that signal is transmitted to the autonomous driving system, causing the vehicle to move into the right lane.

[0088] When the control unit is operated at a predetermined speed and force, and when specific conditions are met as needed, it transitions from a non-interlocked state to an interlocked state.

[0089] The aforementioned predetermined values, operations, and conditions may be arbitrarily determined depending on the system to which the operating device is applied.

[0090] The operating unit (1) is equipped with a device that detects whether an operator is gripping the operating unit (1), and if gripping is not detected for a certain period of time, it transmits this information to the system outside the operating unit. For example, if the automatic operating system detects that it cannot detect the operator's gripping, it issues a warning, and if gripping is still not detected, it attempts to stop the automatic operation while ensuring safety.

[0091] It is also possible to combine two or more of the operating devices of this invention.

[0092] For example, in an operating device such as a joystick, where the movement in the x and y directions is controlled by the operating unit (1), the movement in the x and y directions is controlled by the corresponding operating device of the present invention.

[0093] This allows for the combination of different types of control devices, such as a throttle lever and a steering wheel.

[0094] This document illustrates an embodiment of a steering system in an autonomous vehicle. It shows an example of applying the present invention's control device to the steering system of an autonomous vehicle.

[0095] In this embodiment, the operating unit (1) is a steering wheel, and the second operating unit (2) is an internal state indicating the amount of steering operation, and the value to be operated (3) is the amount of steering operation.

[0096] The linked state of the present system corresponds to manual operation, and the unlinked state corresponds to automatic operation.

[0097] The state of the control unit (1) is defined as how much the steering wheel has turned, relative to the state of the steering wheel when the steering amount is 0 and the vehicle is moving straight during manual driving. A change in the control unit (1) is the rotation of the steering wheel.

[0098] In describing this embodiment, the system of the operating device of the present invention will be based on the system configuration shown in Figure 2. In other words, during manual operation, the steering wheel, which is the operating unit (1), operates the second operating unit (2). The second operating unit (2) also operates the steering amount, which is the control target value (3). Thus, during manual operation, the steering amount, which is the control target value (3), is operated by operating the steering wheel, which is the operating unit (1).

[0099] During autonomous driving, the second control unit is operated by the autonomous driving system's function to automatically control the steering. Furthermore, the movement of the steering wheel, which is the control unit, is controlled according to the state of the second control unit. In this embodiment, the second control unit is assumed to be an internal state of the system operated by the autonomous driving system's function to automatically control the steering, but of course, the second control unit may be configured using an actual device.

[0100] Here, we assume that the operation of the steering wheel during manual operation is the same as the operation of the steering wheel during the original manual operation before the application of the operating device of this invention.

[0101] During autonomous driving, the steering wheel performs one of the movements of the control unit (1) in the non-interlocked state described above.

[0102] This section describes the transition from manual to automated driving.

[0103] Switching from manual to automated driving is performed by means defined by the vehicle equipped with the automated driving system. For example, this may occur when a button is pressed to switch to automated driving, or when the vehicle's system detects that the driver is unable to operate the vehicle.

[0104] The control unit (1) is changed from a state corresponding to manual operation to a state corresponding to automatic operation. The operating unit (1) at this time shall be operated by one of the control state switching operations described above.

[0105] This section describes the transition from autonomous driving to manual driving.

[0106] The control panel is changed from a state compatible with automatic operation to a state compatible with manual operation.

[0107] Since the switch from autonomous to manual driving may be triggered by an emergency, it is desirable that the driver be able to intervene even while the steering wheel is being moved by the control system during the switch.

[0108] That is, while controlling the difference (13) between the target state (11) and the instantaneous target state (12) of the operating unit (1) so as to satisfy a predetermined condition, the operation unit (1), the target value (3), and the second operating unit (2) communicate their movements and changes to each other. The method is used to switch between methods.

[0109] Applying the operation described using Figure 11 to this embodiment results in the operation shown in Figure 10. As shown in Figure 10 for low load, when the load on the steering wheel (80) is below a certain level, the steering wheel (80) moves in the direction of the steering amount (82). As shown in Figure 10 for high load 1, when a load of a certain level or more is applied in the opposite direction to the movement of the steering wheel (80), the steering amount (82) moves in the same direction as the load, that is, in the direction of the steering wheel (80) in the example of Figure 10. As shown in Figure 10 for high load 2, when a load of a certain level or more is applied in the same direction as the movement of the steering wheel (80), the steering amount (82) moves in the same direction as the load.

[0110] In other words, the difference between the current steering angle and the desired steering angle is reduced until the steering angle is determined by the current steering amount.

[0111] Alternatively, since it is desirable for the switch to be completed immediately, the current handle state is corrected to match the state of the target control unit.

[0112] For example, as shown in Figure 12, when the steering wheel is straight but the steering is turned to the right, switching to manual driving corrects the steering so that the steering wheel is turned to the right while the steering wheel remains straight. In this case, to straighten the steering wheel, it is turned to the left from its current position, and the state after turning it to the left from the straight position becomes the new reference state for the steering wheel.

[0113] It is desirable that this correction be removed by user action or after a certain period of time.

[0114] When releasing, the operation unit (1) controls the difference (13) between the target state (11) and the instantaneous target state (12) of the operation unit (1) so as to satisfy a predetermined condition, while communicating the movement and changes between the operation unit (1), the target value (3), and the second operation unit (2). It is desirable to remove the correction by some method.

[0115] Furthermore, it is desirable to provide notification while the corrections are being made.

[0116] This section describes intervention in the autonomous driving control system through steering wheel operation during autonomous driving.

[0117] During autonomous driving, the steering wheel's movement is controlled by the control system. However, the driver can intervene in the autonomous driving control by actively turning the steering wheel.

[0118] For example, if, during autonomous driving, the driver turns the steering wheel to the right against the control system's instructions, the autonomous driving system will receive this signal from the control system and attempt to change the driving lane to the right. Alternatively, it may change the route determined by the autonomous driving system and attempt to make a right turn at a point where a right turn was not originally planned.

[0119] The system switches from automatic to manual driving when the steering wheel is turned with a force exceeding a predetermined limit. For example, this might occur when the driver turns the steering wheel to the right to avoid danger in an emergency.

[0120] Another embodiment of the application of the operating device of this invention is: The operating device is a lever. The operating part is the handle portion of the lever. The state of the operating part refers to the position of the handle or the operating state of the lever. Operating the control unit means moving the handle portion. It is an operating device.

[0121] It has a target value to be operated on, a first operating means, and a second operating means, An operating device having a first control state and a second control state, The first control state is a state in which normal operation is being performed by the first operating means. The second control state is a state in which the first operating means is controlled according to an arbitrary correspondence between the state of the first operating means and the state of the second operating means or the value to be operated on. There may be multiple second operating means, and there may be multiple second control states. Operating device.

[0122] For example, in the second control state 1, the state of the first operating means is determined according to the second operating means 1; in the second control state 2, the state of the first operating means is determined according to the second operating means 2; and in the second control state 3, the state of the first operating means is determined according to the second operating means 1 by a process different from that of the second control state 1. Furthermore, the state of the first operating means may be determined according to two or more second operating means.

[0123] The aforementioned arbitrary correspondence is any correspondence that takes at least the target value or the second operating means as input and outputs the state of the first operating means.

[0124] The aforementioned arbitrary correspondence can be expressed by any function consisting of any combination of any straight line and any curve.

[0125] The aforementioned arbitrary correspondence relationship means that if the state of the first operating means is output in accordance with one or more factors other than the target value of the operation or the second operating means, the correspondence relationship may be changed according to those factors.

[0126] The state of the first operating means changes according to the value to be operated on. The following functions can change linearly, nonlinearly, or in a way that corresponds to an nth-degree function: the state of the first operating means does not change according to the value being operated on; the state of the first operating means changes in multiple directions according to a change in the value being operated on in a certain direction; the function can change discretely or in a way that corresponds to a function that can be represented by an arbitrary curve. It is represented by any combination of regions.

[0127] The state of the first operating means changes according to the value being operated on, and there are two or more types of percentage changes. However, a percentage change of 0, i.e., a percentage change in which the state of the first operating means does not change according to the change in the value being operated on, may not be included in the number of types. A portion of the graph that shows a gradual change in the percentage change, forming a curve, may be considered to have two or more types of percentage change values.

[0128] We may consider only the rate of change in sections that are straight lines or curves with small curvature that can be approximated as straight lines. That is, the rate of change of the curved sections connecting the aforementioned straight lines and curves with small curvature that can be approximated as straight lines does not need to be included in the above number.

[0129] The same applies when the state of the first operating means is changed by other factors.

[0130] Regarding the correspondence between the value to be manipulated and the state of the first operating means, One means of implementation is the state of the first operation on the target value, which can be expressed by an arbitrary function.

[0131] When the state of the first operating means is represented as y and the value to be operated on as x, a correspondence relationship f(x) is set such that y = f(x), and the first operating means is controlled to reach a state corresponding to f(x).

[0132] f(x) may be represented by any graph. The graph can be represented by any curve or straight line.

[0133] The increase and decrease in the value indicating the state of the first operating means in response to a change in the target value in a certain direction may switch. When represented graphically, this means that extreme values ​​may be included.

[0134] Figure 14 shows an example of the correspondence. The horizontal axis represents the value being manipulated, and the vertical axis represents the state of the first manipulating device. The intersection of the axes can be considered as the reference point. Constant change (Figure 14 a). The way of change changes midway (Figure 14 b). The change begins from a certain point (Figure 14 c). The change reverses midway (Figure 14 d). The change is gradual. The change is discontinuous (Figure 14 e, f). The change in the way of change is discontinuous (Figure 14 g). Asymmetric around a reference point (Figure 14 h). Any relationship other than those shown in this example may be used.

[0135] The aforementioned correspondence may be changed by other factors. That is, increase the number of inputs to f(x). When other factors are expressed as s, and if multiple are used, as s1, s2, ..., set up a correspondence such that y = f(x, s) or y = f(x, s1, s2, ...). The function f may also be considered as a single-valued function.

[0136] If there is only one other factor s, the relationship can be represented on any three-dimensional graph plane. For example, the horizontal direction represents the value to be manipulated, the vertical direction represents s, and the height direction represents the state of the first operating means.

[0137] It can also be said that the shape of the graph of f(x) changes depending on s. For example, if the control device is the steering wheel of a car, the value being controlled is the steering angle, and s is the vehicle speed, then when the vehicle speed is high, it becomes possible to reduce the upper and lower limits of f(x) and to slow down the rate of change.

[0138] Factor s can be set arbitrarily. For example, it could be the internal state of the control device or the rate of change of the value being controlled, or it could be a value corresponding to the internal state or processing of the device, machine, or system to which it is applied. Specific examples in the case of an automobile include vehicle speed, curve curvature, acceleration, braking state, road surface condition, and traffic conditions. Of course, it is not limited to the examples given here.

[0139] The function showing the correspondence may have the same output for different inputs. It may include a range where the output does not change. The direction of increase or decrease may change. It may change discretely. The rate of change or the direction of the tangent may be discontinuous. It may be asymmetrical.

[0140] Another means of realizing the aforementioned correspondence is to determine the state of the first operating means by processing based on an arbitrary algorithm.

[0141] Depending on the direction of change of the value being manipulated, the way in which the first manipulating means changes may be changed.

[0142] As shown in Figure 15, the path of change in the state of the first operating means may be changed depending on the direction of change of the input value. In the example in Figure 15, when the value to be operated on changes away from the reference value and crosses point a, it passes through r1, and when it changes towards the reference value and crosses point b, it passes through r2. The same may be done for other inputs. There is no limit to the number of paths of change in the state, and the conditions for which path is taken may depend on something other than the way the value to be operated on changes. For example, one of the internal states of the system may be used to select the path. Here, the reference value is the value on the axis of the graph.

[0143] When the first operating means changes toward the target state, the movement of the first operating means is restricted.

[0144] When changing the state of the first operating means to a predetermined target state, the change should not be abrupt. Even if the target state changes abruptly, the state of the first operating means should be changed smoothly in accordance with the change in the target state.

[0145] This suppresses sudden changes in the state of the first operating means and makes it easier for the operator to continue gripping the operating means.

[0146] One example of the aforementioned restriction is to impose a limit on the rate of change of the state of the first operating means, the rate of change of the rate of change, or both. A limit is placed on the rate of change, the acceleration of change, or both of the change in the state of the first operating means.

[0147] The aforementioned restrictions may be changed according to the direction of change of the target state or the state of the first operating means. For example, different restrictions may be set for changes in the direction away from and towards the reference value of the state of the first operating means. The restrictions may also be changed according to the direction of change of the rate of change. For example, the acceleration of the change in the state of the first operating means may be slow, and the deceleration may be fast. Furthermore, the restrictions may be changed according to the value being operated on or the internal state of other systems. For example, the further the state of the first operating means is from the reference value, the more relaxed the speed restriction may be. That is, the change in the state of the first operating part may be faster at points far from the reference value. In one example relating to an automobile, the faster the vehicle speed, the stricter the speed restriction may be, and the slower the movement of the state of the first operating means. Of course, it is also possible to use factors other than the vehicle speed exemplified.

[0148] When adjusting the state of the first operating means to match the target state, it may take the shortest path or follow the changes in the target state (102).

[0149] Taking the shortest path means changing the state of the first operating means toward the current target state (102). An example of this operation is shown in Figure 16. The dashed line shows the target state, and the solid line shows the change in the state of the first operating means over time.

[0150] When tracking changes, the system may track the points of change in the direction of change of the target state (102). For example, when the change in the target state is represented on a graph, the system may track the points that become extreme values. If there are no such change points or extreme values, the state of the first operating means is changed toward the current target state. Figure 17 shows an example of the operation. The dashed line shows the target state, and the solid line shows the change in the state of the first operating means over time. If the number of points to track exceeds a certain number, some or all of them may be ignored. In Figures 16 and 17, the target state is shown to change discretely for illustrative purposes, but it may of course be shown to change smoothly, and if the original change satisfies the above restrictions, the change in the state of the first operating means may coincide with the change in the target state.

[0151] The state of the first operating means may be changed in accordance with the predicted change in the target state.

[0152] When the target state is predictable, such as when the target state is automatically controlled or when the state of the first operating means is changed with a delay in response to changes in the target state, the state of the first operating means may be controlled according to the predicted target state.

[0153] One example of operation is to represent the state of the operating means numerically, and if it is known that the state will change to reach a target state of 100, then as the state of the operating means approaches 100, the rate of change will be reduced so that it can stop at the state of 100.

[0154] The state of the operating means is changed to move toward a predicted target state that is further ahead than the current state. At this time, the change in the state of the operating means may be controlled so that the rate of change of the target state approaches the rate of change of the operating means.

[0155] When the predicted change in the target state is represented graphically, the operating means is controlled so that the change in the state of the operating means becomes an approximate curve of the graph that satisfies the aforementioned restrictions.

[0156] The aforementioned prediction operation is performed at the start of a change in the target state, at the end of the change, or both. Furthermore, whether or not the prediction is reflected, and how it is reflected, may be changed depending on how the target state changes or other arbitrary factors. For example, when the target state changes in a direction approaching a reference value of the operating means's state, the start of the change in the target state may also be reflected, but changes in the direction away from it may not be reflected. Figure 18 shows an example of the operation. The dashed line shows the target state, and the solid line shows the time change of the state of the first operating means. If the prediction is not performed, there is a concern that the change in the state of the first operating means may lag behind or overshoot the target state in response to abrupt changes in the target state (e.g., Figure 18 (a)). At the very least, by taking the predicted target state into consideration and making the change gradual, it is possible to prevent overshooting the target state (e.g., Figure 18 (b)). In addition, by predicting a change in the target state away from the current state of the first operating means and starting the change in the state of the first operating means earlier, it becomes easier to follow the change in the target state. (Example: Figure 18 (c))

[0157] Here, the first operating means can be considered to correspond to the operating unit (1). The second operating means can be considered to correspond to the second operating unit (2).

[0158] The state of the first operating means may be changed between the first and second control states. For example, in the first control state, the state of the first operating means may be represented by a quantity corresponding to the derivative of displacement, and in the second control state, the state of the first operating means may be represented by a quantity corresponding to displacement. The same applies to other cases. For example, the operating means may be steering. ring In this configuration, in the first control state, the value to be operated is determined according to the rotational speed of the steering wheel, and in the second control state, the rotational angle of the steering wheel is determined according to the value to be operated.

[0159] When changing the value of the target of manipulation according to the state of the operating means, the way in which the value of the target of manipulation changes according to the amount of change in the state of the operating means is changed according to an arbitrary input.

[0160] An upper limit is set on the range in which the target value can be changed in response to the aforementioned arbitrary input. Even if the operating means is operated in a way that exceeds the upper limit, the target value will not be changed.

[0161] In the case of steering an automobile, where the operating means is the steering wheel, the value being operated is the steering amount, and the arbitrary input is the vehicle speed, the faster the vehicle speed, the smaller the change in the steering amount in relation to the steering wheel operation. Another example of this operation is that the faster the vehicle speed, the smaller the range of possible steering inputs. As described above, slippage is suppressed at high vehicle speeds by limiting the amount of steering input, i.e., the degree to which the vehicle turns. Other factors besides vehicle speed may also be used. For example, the curvature of the curve, acceleration, braking conditions, road surface conditions, traffic conditions, etc. Of course, these are not the only examples given.

[0162] When changing the state of an operating part to a target state, the control may be made to minimize the amount of change in the operating part's state, or to partially omit the change process. As an example, the operation when the same operating part state appears when the value being operated on is continuously changed in one direction will be described. As a more concrete example for explanation, the case where the value being operated on changes according to the amount of rotation from a certain reference state, such as the steering wheel of a car, will be described.

[0163] This section describes a case where the value of the control unit corresponds to the rotation angle of the control unit, for example, when the value of the control unit is 10 when rotated by 10 degrees, and the state is treated as the same when rotated one full turn, i.e., 360 degrees. When changing the state of the control unit from 0 degrees to 370 degrees, it is rotated by 10 degrees, not by 370 degrees. Similarly, when changing from 0 degrees to 350 degrees, it is rotated by -10 degrees, not by 350 degrees. In this case, a restriction may be placed on the direction of change of the control unit. For example, if it is assumed that the control unit can only change in the direction from the current state to the target state, when changing from +10 degrees to -270 degrees, the control unit is changed in the negative direction, so rotating it by +80 degrees would result in a smaller change in the control unit, but since it can only change in the negative direction, it is rotated by -280 degrees. This restriction may be set arbitrarily other than the example given.

[0164] Furthermore, omitting part of the aforementioned change process means, for example, that when rotating the operating part 3 rotations + a degrees, i.e., 1080 + a degrees, it may be rotated only 1 rotation + a degree.

[0165] The above example shows a case where the state of the control unit rotated 360 degrees is treated as the same. For example, if the shape of the control unit is rectangular, the state of the control unit rotated 90 degrees may be treated as the same, and the control may be configured to minimize the amount of change in the state of the control unit, or to partially omit the change process. What states are considered the same can be set arbitrarily.

[0166] This makes it possible to change the operating unit to the target state more quickly, thus reducing the time required for switching between control states.

[0167] This section describes an application example in steer-by-wire systems.

[0168] A typical steer-by-wire system, as shown in Figure 19, includes actuators 1(111) and 2(112) that operate the steering wheel (115) and the steering wheel (116), respectively. An example of an actuator is a motor. In a steer-by-wire system, the steering wheel (115) and the steering wheel (116) are mechanically separated, so actuator 1(111) makes it possible to rotate the steering wheel (115) independently of the steering wheel (116) or to change the steering wheel (116) independently of the rotation of the steering wheel (115). Here, actuator 2(112) that operates the steering wheel (116) can be considered as a second operating part (2). The steering wheel (115) is also equipped with means such as a torque sensor (113) that can detect the rotation of the steering wheel (115) or the load applied to the steering wheel (115) when the operator rotates the steering wheel (115). Actuators 1(111) and 2(112) are controlled by a control device (114).

[0169] In the non-interlocked state, the handle (115) is moved by the actuator 1 (111) that operates the handle. The actuator 1 (111) can also apply a load to the operator's operation of turning the handle.

[0170] In the non-interlocked state, the steering (116) is operated by the actuator 2 (112). In a steer-by-wire system, the handle and the steering part are mechanically separated, so they can be moved independently, and thus the movement of the operating part (1) in the non-interlocked state of the operating device of this invention can be realized.

[0171] Furthermore, when performing the operation described in Figure 10, the load applied to the operating parts such as the handle can be detected using the torque sensor or the like.

[0172] The same method can be used for other input devices such as levers and joysticks. That is, it is sufficient to have means for moving the operating unit (1), means for detecting the state of the operating unit, and means for detecting the operator's operation on the operating unit (1).

[0173] The above control can be implemented using a general-purpose computer or by combining circuits. [Explanation of Symbols]

[0174] 1 Operating unit, 2 Second operating unit, 3 Target value, 4 Means for operating the second operating unit, 11 Target state, 12 Instantaneous target state, 13 Difference between target state and operating unit state, 14 Operating unit state, 20 Reference, 21 Operating unit state, 22 Second operating unit, 23 Target value, 51 Perceptual presentation range 1, 52 Perceptual presentation range 2, 80 Handle, 81 Steering reference amount, 82 Steering amount, 101 First operating means, 102 Target state, 111 Actuator 1, 112 Actuator 2, 113 Sensor, 114 Control device, 115 Handle, 116 Steering

Claims

1. An operating device for operating a target value, comprising an operating unit and a second operating unit, The control states include an interlocked state and an uninterlocked state. The aforementioned linked state is a state in which the value to be operated is determined according to the state and / or movement of the operating unit. Alternatively, the operation is being performed normally by the aforementioned operating unit. The aforementioned non-linked state is determined by the second operating unit, This is a state in which the state of the operation unit is determined according to the state, movement, or value of the operation target of the second operation unit. It is an operating device, The relationship between the value to be operated and the state of the operating unit is defined, and in the non-interlocked state, the operating unit is moved according to the relationship. The aforementioned relationship refers to an operating device in which the change in the ratio of the change in the state of the operating unit to the change in the value being operated on includes a continuous interval.

2. It is an operating device that controls a target value, which has an operating section. The system has at least two control states for controlling the aforementioned target value, At least one of the aforementioned control states controls the state of the operating unit. When switching the aforementioned control state, the state of the operating unit is moved to a state determined by the target value of the switch destination. In that case, if the load on the operating part caused by the operation of the operating part is less than or equal to the maximum load, the operating part is moved to a state corresponding to the value of the operation target. An operating device that, when the load on the operating unit caused by the operation of the operating unit exceeds or is equal to the maximum load, changes the value to be operated toward a value determined by the state of the operating unit.

3. When switching the control state, the state of the operating unit is changed to a state corresponding to the value to be operated on, The operating device of claim 2, which controls the change in the state of the operating section to be minimized, or to partially omit the process of change.

4. It is an operating device that controls a target value, which has an operating section. The system has at least two control states for controlling the aforementioned target value, At least one of the aforementioned control states controls the state of the operating unit. When the control state is switched, if the state of the operating unit is not the state corresponding to the target value of the control state to be switched to, An operating device that corrects the operation of the operating unit and the target value in the target control state to which the switch destination control state is set, based on the current state of the operating unit, so that the target value in the target control state to which the switch destination control state is set to the current value.

5. An operating device according to any one of claims 2 to 4, An operating device that, when switching the control state, allows the second operating unit to perform operations until the switching of the control state is completed, and during that time, allows the operator to intervene in the operation of the second operating unit in accordance with the operation of the first operating unit as needed.

6. It is an operating device that operates the target value according to the operating unit. Even without the aforementioned operating unit, there is at least one control state 2 for operating the target value, In the control state 2, In response to a predetermined operation on the control unit, it is possible to intervene in the operation of the control state 2. Alternatively, an operating device that transmits a signal corresponding to a predetermined operation to the operating unit within and / or outside the system of the operating device, and the source of the signal performs processing corresponding to the signal in the control state 2.

7. An operating device according to any one of claims 1 to 6, The aforementioned operating device is a steering device provided in a vehicle that is capable of automatically steering the vehicle. The value being manipulated is the steering amount. The second control unit is operated by a system that automatically controls the steering amount. Operating device.

8. It is an operating device that operates the target value according to the operating unit. It has at least one control state 2 that automatically controls the target value, In the control state 2, When the operating unit is operated in a predetermined direction, the system that operates the target value in the control state 2 operates the target value according to the direction. Operating device.

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