Control device and control method

Abstract

This improves the clarity of understanding the difference between normal turning and the behavior of vehicles performing special driving or turning maneuvers. [Solution] The control device is installed in a vehicle that has multiple driving modes related to how to drive and turn. Furthermore, when the control device controls the sequential illumination of the turn signals provided on the vehicle, it varies the range in which the turn signals are illuminated sequentially according to the driving mode.

Description

[Technical Field]

[0001] The present disclosure relates to a technology for notifying the behavior of a vehicle capable of independently steering a plurality of wheels. [Background Art]

[0002] Conventionally, a direction notification system that notifies the moving direction to the outside of a vehicle body has been proposed (Patent Document 1). This direction notification system is configured to notify, as turning patterns of a vehicle, when the vehicle is moving laterally straight in a direction intersecting the longitudinal direction of the vehicle body, or when performing a spin turn rotating around a vertical axis passing through the center of the vehicle body. [Prior Art Literature] [Patent Literature]

[0003] [Patent Document 1] Japanese Unexamined Patent Application Publication No. 2020-97291 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] In the above technology, special travel and turning of a vehicle are notified using a sequential turn signal, but there has been a problem that it is difficult for third parties around to distinguish the difference in lighting patterns between conventional notification for left / right turns or course changes and such special cases.

[0005] An object of the present technology is to improve the ease of recognizing the difference in behavior between normal turning and special travel or turning of a vehicle. [Means for Solving the Problem]

[0006] The present technology adopts any of the following configurations. (Aspect 1) A sequential turn signal control device mounted on a vehicle capable of independently steering a plurality of wheels, A control device that illuminates the sequential turn signals in multiple modes, each with a different range of illumination depending on the behavior of the vehicle to be notified. (Aspect 2) A sequential turn signal control device, which is installed in a vehicle capable of special behavior by independently steering multiple wheels, The aforementioned special behavior is at least one of the following: (1) moving sideways by steering the multiple wheels in a direction perpendicular to the longitudinal direction of the vehicle body; (2) spin turn, in which the multiple wheels turn in place by steering each axle so that it faces the center of gravity of the multiple wheels in a plan view; and (3) pivot turn, in which the vehicle turns around any of the multiple wheels as the axis of rotation. When notifying the aforementioned special behavior, the first region of the sequential turn signal is illuminated sequentially in the direction of the vehicle's movement, while a second region, which is different from the first region, is flashed. Control device. [Effects of the Invention]

[0007] This technology makes it easier to distinguish between normal turning and the behavior of vehicles performing special driving or turning maneuvers. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a schematic diagram showing an example of a vehicle configuration in which multiple tires (wheels) can be steered independently. [Figure 2] Figure 2 is a schematic diagram showing an example of a drive system for traction and a drive system for steering. [Figure 3] Figure 3 is a diagram illustrating the behavior of a vehicle capable of independent steering. [Figure 4] Figure 4 is a diagram illustrating an example of a flashing pattern. [Figure 5] Figure 5 is a diagram illustrating an example of a flashing pattern. [Figure 6]Figure 6 shows an example of a sequential turn signal flashing pattern in which the light-emitting units are arranged in a straight line. [Figure 7] Figure 7 is a diagram illustrating another example of a flashing pattern. [Figure 8] Figure 8 is a processing flow diagram showing an example of a notification process performed by the control device. [Modes for carrying out the invention]

[0009] Embodiments of this disclosure will be described below with reference to the drawings. However, the configurations of the following embodiments are illustrative, and the present invention is not limited to the configurations of these embodiments.

[0010] <Structure> First, let's describe a vehicle with independently steerable wheels. Figure 1 is a schematic diagram showing an example of the configuration of a vehicle 100 in which multiple tires (wheels) can be independently steered. The vehicle 100 is, for example, an automobile, but it may also be a construction machine or the like equipped with wheels. In this embodiment, the orientation of the vehicle body 1 of the vehicle 100 is used as the reference point, and the directions indicated by the arrows in Figure 1 are referred to as front, back, left, and right. That is, for convenience, the direction that the driver of the vehicle 100 faces when seated in the seat will be called the "front" of the vehicle body, and the opposite direction will be called the "rear". Similarly, the left and right sides of the driver seated in the seat will be called the "left" and "right", respectively.

[0011] Vehicle 100 also includes four tires 2 (2A, 2B, 2C, and 2D), four drive units 3 (3A, 3B, 3C, and 3D), four steering drive units 4 (4A, 4B, 4C, and 4D), a control device 5, a turn signal lever 6, a shift lever 7, and four turn signals 8 (8A, 8B, 8C, and 8D). Vehicle 100 is also equipped with a general automobile interface such as a hazard switch. The tires 2 include wheels, hubs, axles, etc. The vehicle body 1 is equipped with tire 2A on the right front, tire 2B on the left front, tire 2C on the left rear, and tire 2D on the right rear. The drive unit 3 includes a motor (in-wheel motor) that rotates the axle of the corresponding tire 2, thereby rotating the tire 2. The vehicle body 1 is equipped with a drive unit 3A on the right front, a drive unit 3B on the left front, a drive unit 3C on the left rear, and a drive unit 3D on the right rear. The steering drive unit 4 includes a motor that can steer the tires 2 to the left and right by, for example, 90 degrees or more, and changes the direction of the tires 2. In the example in Figure 1, one steering drive unit 4 is connected to each of the four tires 2, and the tires 2 can be steered independently around the axis of rotation shown by the black circle. The vehicle body 1 is equipped with a steering drive unit 4A on the right front, a steering drive unit 4B on the left front, a steering drive unit 4C on the left rear, and a steering drive unit 4D on the right rear.

[0012] Figure 2 is a schematic diagram showing an example of a driving unit 3 and a steering unit 4 connected to one tire 2. Figure 2 is a rear view of tire 2B or tire 2C in Figure 1, located on the left side of the vehicle body 1. The driving unit 3 is connected to the hub of tire 2 via an output shaft 31 connected to the rotor side of a motor housed inside, and rotates tire 2 around its axis of rotation (the dashed line in Figures 1 and 2). The driving unit 3 may also include a braking mechanism, etc. Furthermore, the stator side of the motor in the driving unit 3 is connected to the casing 32.

[0013] The steering drive device 4 is connected to the casing 32 of the travel drive device 3 via an output shaft 41 connected to the rotor side of an internally provided motor, and is connected to the travel drive device in the casing 32 The tire 2 connected to 3 is rotated about a rotation axis extending in the vertical direction, which is a straight line perpendicular to the road surface. The rotation axis of the steering drive device 4, which is the black circle in Fig. 1 and the two-dot chain line in Fig. 2, is located at the center of the tire 2 in plan view, and the plurality of tires 2 can be steered independently.

[0014] Fig. 3 is a diagram for explaining the behavior of the vehicle 100 capable of independent steering. The vehicle 100 can mainly operate in two travel modes, i.e., turning modes: a normal travel mode, i.e., normal turning mode, and a special travel mode, i.e., special turning mode. (A) shown at the upper left of Fig. 3 indicates the state of the tires in the normal travel mode. The normal travel mode, i.e., normal turning mode, is a mode in which, for example, the steering angles of the two front wheels can be changed similarly to a general two-wheel steering system, and the vehicle performs forward travel, reverse travel, right / left turns, and turning. In Fig. 3(A), the four tires 2 face the front-rear direction of the vehicle body 1. Therefore, as indicated by the arrow of the one-dot chain line, the vehicle 100 can move forward and backward according to the rotation direction of the tires 2.

[0015] The special driving mode (special turning mode) is a mode that includes at least one of the lateral movement driving mode, spin turn mode, and pivot turn mode. Figure 3(B), shown in the upper right, shows the state of the tires in the lateral movement driving mode. The lateral movement driving mode is a mode that allows the vehicle to travel in a direction intersecting the longitudinal direction of the vehicle body 1 without changing the orientation of the vehicle body 1. In Figure 3(B), the four tires 2 are facing the same direction, intersecting the longitudinal direction of the vehicle body 1. Specifically, the four tires 2 are facing in a direction perpendicular to the longitudinal direction of the vehicle body 1. Therefore, the vehicle 100 can move laterally to the left or right (movement directly to the side in Figure 3(B)) depending on the direction in which the tires 2 are rotated, as shown by the dashed arrows. Note that by steering the four tires 2 so that they are parallel, the vehicle may move not only in a direction perpendicular to the longitudinal direction of the vehicle body 1, but also in a direction intersecting the longitudinal direction of the vehicle body 1 and diagonally with respect to the orientation of the vehicle body 1 (longitudinal direction). In other words, the vehicle may move laterally with all tires 2 steered in the same direction, not limited to directly to the side, but also in a direction intersecting the longitudinal direction of the vehicle body 1. Note that Figure 3(A) shows the vehicle body 1 with all four tires 2 steered in the longitudinal direction, but in typical right or left turns or corners, not all tires are steered in the same direction.

[0016] (C) shown at the bottom left of FIG. 3 indicates the state of tires in a spin turn (on-the-spot turning) mode. The spin turn mode is a mode for turning (changing direction of) a vehicle body 1 on the spot around a region surrounded by a plurality of tires 2. In FIG. 3(C), the four tires 2 are steered such that the axles of the respective tires 2 face the center (geometric center of gravity, black circle in FIG. 3(C)) of the four tires 2. That is, extension lines of the axles are configured to pass through the center of gravity of the four tires 2. Note that the geometric center of gravity is, for example, the intersection point of two straight lines connecting diagonally positioned tires 2, and serves as the center of the turning motion in plan view. In addition, during general left / right turns and turning, the center of the turning motion in plan view is located outside the vehicle body 1. Further, the center of the spin turn in plan view is not strictly one point, and may be a region around the center of the plurality of tires 2 (for example, a circular range closer to the center of the vehicle body 1). In FIG. 3(C), the front wheels of the four tires 2 face each other inward toward the front, and the rear wheels face each other inward toward the rear, so as to be along the circumference of a predetermined diameter in plan view. In this case, the vehicle 100 can perform a spin turn according to the rotation directions of the four tires 2, with a straight line perpendicular to the road surface passing through the center of the four tires 2 in plan view as the rotation axis (the black circle in FIG. 3(C)), as indicated by the one-dot chain line arrow. Note that the spin turn is defined as on-the-spot turning (direction change) without movement, with a straight line perpendicular to the road surface passing through the center of the vehicle 100 (the center of gravity of the plurality of tires 2) in plan view as the rotation axis.

[0017] (D) shown at the bottom right of FIG. 3 indicates the state of tires in a pivot turn mode. The pivot turn mode is a mode for turning the vehicle body 1 around the vicinity of any one of the tires 2. In FIG. 3(D), the right front tire 2A of the vehicle body 1 faces slightly left, the left front tire 2B of the vehicle body 1 faces front, the left rear tire 2C of the vehicle body 1 faces rightward, the right rear tire 2 of the vehicle body 1 Each of the 2D tires is facing 45 degrees to the right. By rotating tires 2A, 2C, and 2D in their respective directions, the vehicle 100 can pivot turn counterclockwise around tire 2B, as indicated by the dashed arrow. On the other hand, as mentioned above, during typical right or left turns and turns, the center of the turning motion in plan view is outside the vehicle body 1. Steering during typical right or left turns and turns will be explained later. Also, the center of the pivot turn in plan view is not strictly a single point on tire 2, but may be an area around tire 2 (for example, a circular area with a radius from one tire 2 to the midpoint between that tire 2 and the adjacent tire 2). Note that a pivot turn refers to a turn with a straight line perpendicular to the road surface passing through any of the tires 2 as the axis of rotation (for example, the black circle in Figure 3(D)). In a pivot turn, the vehicle turns so that the tire 2, which is the axis of rotation, is positioned diagonally opposite the vehicle body 1 in a plan view, and the side with tire 2 moves laterally toward the side of the vehicle body 1. For example, when vehicle 100 performs a pivot turn clockwise in a plan view, the axis of rotation is tire 2A, which is the right front wheel of vehicle body 1. Similarly, a pivot turn may be performed using the rear wheels as the axis of rotation. The lateral movement shown in Figure 3(B), the spin turn shown in Figure 3(C), and the pivot turn shown in Figure 3(D) are examples of behaviors (special turning movements) unique to vehicle 100, which is capable of independent steering.

[0018] Furthermore, when turning right or left, or turning in the opposite direction, the steering angle of the two front wheels is changed. In other words, during typical right or left turns or cornering, not all tires are steered in the same direction. Even when a vehicle with 4WS (4-wheel steering) performs in-phase steering, the angles of each tire are adjusted to strictly different angles according to the turning radius. In contrast, the lateral movement in the embodiment of Figure 3(B) is in a direction that intersects the longitudinal direction of the vehicle body 1, and all tires 2 are steered in the same direction. Also, during typical right or left turns or cornering, the center of the turning motion in a plan view is outside the vehicle body 1. In contrast, as shown by the black circles in Figures 3(C) and (D), the center of the turning (rotation) in a plan view during a spin turn or pivot turn is basically inside the vehicle body 1.

[0019] The control device 5 shown in Figure 1 is a controller. The control device 5 is, for example, one or more electronic control units (EC) that control the illumination or flashing of the turn signal 8. The device includes U) and may be a system including multiple ECUs. The control device 5 may also include a so-called computer processor. For example, the control device 5 receives a signal indicating the position of the turn signal lever 6 via a signal line and flashes the turn signal 8 in a pattern corresponding to the position. That is, the control device 5 outputs a control signal to the turn signal 8 via a signal line to drive the turn signal on / off. The control device 5 may further include one or more ECUs that control the driving drive unit 3, the steering drive unit 4, etc., and control the driving of the vehicle 100. For example, the control device 5 may receive a signal indicating the position of the shift lever 7 via a signal line and steer the tires 2 in the direction illustrated in Figure 3 according to the position, and rotate the tires 2 according to the accelerator opening.

[0020] The turn signal lever 6 is an interface for receiving driver input and is a component for operating the turn signal 8 via the control device 5. In this embodiment, the turn signal lever 6 includes positions for normal right and left turns (including lane changes and U-turns), as well as positions for lateral movement, spin turns, and pivot turns.

[0021] The shift lever 7 is an example of a behavior switching device for switching to a mode of driving that is specific to the independently steerable vehicle 100, as shown in Figures 3(B) to (D). For example, the shift lever 7 may have a shift position for switching to the above-mentioned mode, in addition to the gear combinations in the transmission. The behavior switching device is not limited to a lever; it may also use buttons, dials, etc., to switch the shift position. In addition, separate from the shift lever 7, a behavior switching device for switching to the above-mentioned mode may be provided. A replacement device may be provided.

[0022] The turn signal 8 is, for example, a general-purpose turn signal, and is a sequential turn signal that can control in stages the number of lights that illuminate and the number that turn off. Furthermore, the turn signal 8 in this embodiment can flash in a pattern to notify the surroundings of at least one of the behaviors specific to the independently steerable vehicle 100. The vehicle body 1 is provided with turn signal 8A on the right front, turn signal 8B on the left front, turn signal 8C on the left rear, and turn signal 8D on the right rear.

[0023] <Flashing Pattern 1> Figures 4 and 5 illustrate examples of flashing patterns. Figure 4 shows the flashing pattern for signaling a normal right turn or lateral movement to the right. Figure 5 shows the flashing pattern for signaling a left-turning spin turn or pivot turn in a plan view. Turn signal 8 is a sequential turn signal and contains six light-emitting units schematically shown as squares. The total number of light-emitting units is just an example and is not limited to six. Each light-emitting unit is composed of, for example, one or more LEDs (Light Emitting Diodes), and each light-emitting unit can be turned on and off independently. A hatched square represents an on state, and an unhatched (blank) square represents an off state. The combination of on and off states of the six light-emitting units at a given time (each of (1) to (7) shown in Figures 4 and 5) is called a flashing pattern. A series of flashing patterns that change over time in the order of the numbers in parentheses is called a flashing sequence (flashing pattern).

[0024] In the example of a right turn or lateral movement to the right shown in Figure 4, the turn signals 8 located on the right side of the vehicle body 1 illuminate sequentially from the center of the vehicle body 1 in the width direction toward the side, as indicated by the arrows. In the example of a spin turn or pivot turn shown in Figure 5, the turn signals 8 located at the four corners of the vehicle body 1 illuminate sequentially in the direction in which the vehicle body 1 is turning, as indicated by the arrows. In the case of a spin turn or pivot turn, for example, the turn signals 8B located on the front left of the vehicle body 1 and the turn signals 8D located on the rear right of the vehicle body 1 may be illuminated sequentially in the direction in which the vehicle body 1 is turning (i.e., from the center of the vehicle body 1 in the width direction toward the side). Also, when moving or turning in the opposite direction, each illumination pattern in the flashing sequence is reversed left to right.

[0025] The control device 5 (Figure 1) described above operates the turn signal 8 in multiple modes with different ranges of sequentially lit light-emitting units (also referred to as the "lighting range"). Figures 4 and 5 show three modes: Mode M1, M2, and M3. In Mode M1, the lighting range extends from the central edge of the vehicle body 1 in the width direction to a length of four light-emitting units, with the two light-emitting units on the side of the vehicle body 1 remaining unlit. In Mode M2, the lighting range extends from the central edge of the vehicle body 1 in the width direction to a length of five light-emitting units, with the one light-emitting unit on the side of the vehicle body 1 remaining unlit. In Mode M3, the lighting range extends to a length of six light-emitting units. The turn signal 8 is also installed so as to wrap around the vehicle body 1, extending from the front and rear to the sides of the vehicle body 1, covering two sides of the vehicle body 1. In other words, the turn signal 8 includes, for example, a region R1 on the rear of the vehicle body 1 where the light-emitting unit is located, and a region R2 on the side of the vehicle body 1 where the light-emitting unit is located.

[0026] The control device 5 may, for example, flash the turn signal 8 in different modes (i.e., in different ranges of sequential illumination) depending on whether the vehicle 100 is making a normal right or left turn or whether it is performing a behavior specific to a vehicle 100 capable of independent steering. The control device 5 flashes the turn signal 8 in different modes according to a predetermined input. In other words, the control device 5 flashes the turn signal 8 in different modes according to the behavior of the vehicle 100 to be notified (i.e., the driving mode). The turn signal 8 is flashed in different modes. For example, the control device 5 may flash the turn signal 8 in a mode corresponding to the behavior of the vehicle 100 based on a signal indicating the position of the turn signal lever 6. The control device 5 may flash the turn signal 8 in a mode corresponding to the behavior of the vehicle 100 based on a signal input from a behavior switching device such as a shift lever 7. That is, the predetermined input may be based on the steering angle of the tire 2, or on the turning radius (or turning center) of the vehicle 100.

[0027] Furthermore, the control device 5 may widen the range over which the turn signals 8 (light-emitting units) are sequentially illuminated when notifying of behavior specific to the independently steerable vehicle 100, compared to when notifying of a right or left turn. For example, when the turn signal 8 signals a right turn, it may flash in the flashing sequence shown in mode M1 or M2 of Figure 4, and when it signals a lateral movement to the right, it may flash in the flashing sequence shown in mode M3.

[0028] Furthermore, the control device 5 may vary the illumination range of the turn signals 8 depending on whether it is signaling lateral movement, a spin turn, or a pivot turn. For example, the illumination range may be widened in the order of signaling lateral movement, a pivot turn, and a spin turn.

[0029] As described above, by creating a difference in the illumination range of the sequential turn signals, it becomes easier for third parties around the vehicle 100 to understand that the behavior of the vehicle 100 that is intended to provide notification is different. If the turn signal 8 includes a portion where the light-emitting unit is provided on the front or rear of the vehicle body 1 and a portion where the light-emitting unit is provided on the side of the vehicle body 1, and for example, if the illumination range is made different in whether or not it wraps around to the side of the vehicle body 1, third parties will be more likely to notice that the illumination range of the turn signal 8 is different. In particular, by making the turn signal illuminate so that it wraps around to the side of the vehicle body 1, it becomes easier for third parties viewing the vehicle 100 from the side to recognize the special behavior of the vehicle 100.

[0030] However, the turn signal 8 does not necessarily have to include the portion provided on the side of the vehicle body 1. Figure 6 shows an example of a flashing pattern of a sequential turn signal in which the light-emitting units are arranged in a straight line. In the example in Figure 6, modes M1, M2, and M3 are also included, and each mode has a different illumination range. In this way, different behaviors of the vehicle 100 may be indicated by varying the illumination range of the linear sequential turn signal. Furthermore, the linear sequential turn signal may be provided horizontally along the front or rear of the vehicle body 1. Alternatively, it may be provided diagonally from the front or rear of the vehicle body 1 to the side so that it can be seen by a third party located to the side of the vehicle body 1.

[0031] <Flashing Pattern 2> Figure 7 illustrates other examples of flashing patterns. Mode M1 shown in Figure 7 is an example of a flashing pattern for signaling a normal right turn and is the same as Mode M1 in Figure 4. Mode M4 shown in Figure 7 is an example of a flashing pattern for signaling lateral movement to the right. In Mode M4, the areas R1 of the turn signal 8 located on the front or rear of the vehicle body 1 are sequentially illuminated, while the area R2 located on the side of the vehicle body 1 is flashed. For example, when signaling lateral movement to the right, the control device 5 may flash the turn signal 8 in the flashing sequence shown in Mode M4. When signaling a spin turn or pivot turn, for example, the areas R1 of the turn signals 8 located on the front or rear of the vehicle body 1 are sequentially illuminated in the direction of the turn, while the area R2 located on the side of the vehicle body 1 is flashed. When moving or turning in the opposite direction, each illumination pattern in the flashing sequence is reversed left and right.

[0032] As shown in Figure 7, the sequential turn signal is divided into multiple areas and the flashing patterns are differentiated. By doing so, the differences in the behavior of the vehicle 100 that is to be notified can be easily understood by third parties around the vehicle 100. In particular, if the turn signal 8 includes a portion where the light-emitting unit is provided on the front or rear of the vehicle body 1 and a portion where the light-emitting unit is provided on the side of the vehicle body 1, and if the area is divided between the front or rear of the vehicle body 1 and the side, then third parties will be more likely to notice that the flashing patterns of the turn signal 8 are different. However, even in the example of Figure 7, the turn signal 8 does not have to include a portion provided on the side of the vehicle body 1. That is, for example, a linear sequential turn signal may be divided into multiple areas and the flashing patterns may be different to notify different behaviors of the vehicle 100.

[0033] Furthermore, in mode M4, the regions R1 and R2 shown in Figure 7 may be reversed. That is, in mode M4, the portion corresponding to region R2 on the side may be lit sequentially, and the portion corresponding to region R1 on the front or rear may be made to blink. Also, in mode M4, in each sequential turn signal, the multiple light-emitting units in the center may be lit sequentially, and one or more light-emitting units at both ends may be made to blink.

[0034] <Notification Processing> Figure 8 is a processing flow diagram showing an example of notification processing performed by the control device 5 of the vehicle 100. For example, when the accessory power or ignition power of the vehicle 100 is turned on, the control device 5 starts the processing shown in Figure 8 and repeats it until the power is turned off.

[0035] In step S1, the control device 5 determines whether the turn signal lever 6 has been operated. Whether the turn signal lever 6 has been operated can be determined based on the operation signal from the turn signal lever 6.

[0036] If it is determined in step S1 that the turn signal lever has been operated (step S1: YES), then in step S2, the control device 5 determines whether the position of the turn signal lever 6 is a position that indicates a lateral movement notification. In step S2, the control device 5 determines, based on the operation signal from the turn signal lever 6, whether a lateral movement notification has been indicated. It is also possible to determine the direction of the lateral movement (left or right) based on the operation signal. If it is determined in step S2 that a lateral movement notification has been indicated (S2: YES), then in step S3, the control device 5 flashes the turn signal 8 in a predetermined flashing pattern for indicating a lateral movement, according to the direction of the lateral movement. For example, the control device 5 flashes the turn signal 8 in a flashing sequence shown in mode M2 ​​or M3 in Figure 4, or mode M4 in Figure 7, etc.

[0037] The process in step S3 of Figure 8 continues as long as the position of the turn signal lever 6 is in a position that instructs lateral movement. The control device 5 can determine the position of the turn signal lever 6 based on, for example, the operation signal from the turn signal lever 6. After step S3, the control device 5 completes the process in Figure 8 for one processing cycle and repeatedly executes the process in Figure 8 until, for example, the accessory power or ignition power of the vehicle 100 is turned off.

[0038] In step S2, if it is determined that the position of the turn signal lever 6 does not indicate a lateral movement (S2: NO), then in step S4, the control device 5 determines, for example, whether the position of the turn signal lever 6 is a position that indicates a spin turn. It is also assumed that the direction of the spin turn (left or right) can be determined based on the operation signal. Then, in step S4, if it is determined that a spin turn has been indicated (S4: YES), then in step S5, the control device 5 flashes the turn signal 8 in a predetermined flashing pattern for indicating a spin turn. For example, the control device 5 is shown in Figure 5. The turn signal 8 is flashed in the flashing sequence shown in mode M2 ​​or M3, or mode M4 in Figure 7, etc.

[0039] The process in step S5 of Figure 8 continues as long as the position of the turn signal lever 6 is in the position that indicates a spin turn. The control device 5 can determine the position of the turn signal lever 6 based on the operation signal from the turn signal lever 6, for example. After step S5, the control device 5 completes the process in Figure 8 for one processing cycle and repeatedly executes the process in Figure 8 until, for example, the accessory power or ignition power of the vehicle 100 is turned off.

[0040] In step S4, if it is determined that the position of the turn signal lever 6 does not indicate a spin turn notification (S4: NO), in step S6, the control device 5 determines, for example, whether the position of the turn signal lever 6 is a position that indicates a pivot turn notification. It is also possible to determine the direction of the pivot turn (left or right) based on the operation signal. If it is determined in step S6 that a pivot turn notification has been indicated (S6: YES), in step S7, the control device 5 flashes the turn signal 8 in a predetermined flashing pattern for indicating a pivot turn. For example, the control device 5 flashes the turn signal 8 in a flashing sequence shown in mode M2 ​​or M3 in Figure 5, or mode M4 in Figure 7, etc.

[0041] The process in step S7 of Figure 8 continues as long as the position of the turn signal lever 6 is in the position that indicates a pivot turn. The control device 5 can determine the position of the turn signal lever 6 based on the operation signal from the turn signal lever 6, for example. After step S7, the control device 5 completes the process in Figure 8 for one processing cycle and repeatedly executes the process in Figure 8 until, for example, the accessory power or ignition power of the vehicle 100 is turned off.

[0042] In step S6, if it is determined that the position of the turn signal lever 6 does not indicate a pivot turn (S6:NO), the control device 5 determines, for example, that a normal right or left turn has been indicated, and in step S8, the control device 5 flashes the turn signal 8 in a predetermined flashing pattern for indicating a right or left turn. It is also possible to determine whether it is left or right based on the operation signal. In step S8, the control device 5 flashes the turn signal 8 located on the left or right side of the vehicle body 1 in the direction corresponding to the instruction signal from the turn signal lever 6. In this case, the process of sequentially lighting the turn signals in the direction of the right or left turn (gradually increasing the number of illuminated light-emitting units) may be repeated, or the process of flashing at least some of the light-emitting units (for example, all light-emitting units) simultaneously may be repeated. For example, the control device 5 flashes the turn signal 8 in the flashing sequence shown in mode M1 of Figure 5. The process in step S8 is also continued as long as the position of the turn signal lever 6 indicates a right or left turn.

[0043] On the other hand, if it is determined in step S1 that the turn signal lever 6 has not been operated (S1:NO), then in step S9, the control device 5 determines whether the hazard switch has been pressed. Whether the hazard switch has been operated can be determined based on the operation signal from the hazard switch.

[0044] If it is determined in step S9 that the hazard switch has been operated (step S9: YES), then in step S10, the control device 5 flashes the turn signals 8 in the normal hazard lamp flashing pattern. For example, the control device 5 flashes the turn signals 8 symmetrically on both sides in the flashing sequence shown in mode M1 of Figure 4.

[0045] Furthermore, if it is determined in step S9 that the hazard switch has not been operated (step S9: NO), or after step S8 or step S10, the control device 5 will terminate the processing shown in Figure 8 for one processing cycle and will repeatedly execute the processing shown in Figure 8 until, for example, the power to the vehicle 100 is turned off.

[0046] Note that the processing flow shown in Figure 8 is just one example, and the order in which decisions are made is not limited to the example in Figure 8. Furthermore, the control device 5 may control the notification of only some of the lateral movement, spin turn, and pivot turn. In this case as well, the clarity of the notification of each behavior to the surroundings can be improved.

[0047] <Other> Although embodiments and modifications have been described above, this disclosure is not limited thereto, and various modifications based on the knowledge of those skilled in the art are possible without departing from the spirit of the claims. The configurations shown in the embodiments and modifications can be implemented in appropriate combinations.

[0048] In the example shown in Figure 8, the driver operated the turn signal lever 6 to make the turn signal 8 flash. However, the control device 5 of the vehicle 100, which performs so-called autonomous driving, may control the turn signal 8 according to the behavior of the vehicle 100. In other words, in step S1 of Figure 8, it is not essential to determine whether or not the turn signal lever 6 has been operated.

[0049] When a user operates the vehicle, the transition to a special turning mode in the vehicle 100 may be performed using an existing input means such as a shift lever. That is, for example, a shift position for mode switching may be provided on the behavior switching device, which is the shift lever. Alternatively, the vehicle 100 may be equipped with a new behavior switching device such as a switch, which is a new interface for mode switching, or mode switching may be made possible by input to a behavior switching device such as a touch panel. Furthermore, mode switching may be made possible by operating multiple operating parts such as the shift lever and turn signal lever.

[0050] When a user is operating the vehicle, the notification by the turn signal 8, etc., may be initiated by a predetermined operation on the turn signal lever 6 as described above, or by an operation on a switch provided separately from the turn signal lever 6. In addition, the control device 5 may be configured to initiate notification by the turn signal 8, etc., in conjunction with the transition to a special turning mode. That is, during special turns such as lateral movement, spin turns, and pivot turns, the processing from step S2 onwards in Figure 8 may be initiated when the vehicle is switched to a special turning mode. When the notification by the turn signal 8, etc., is initiated in conjunction with the transition to a special turning mode, the notification may be initiated immediately after the transition, or the notification may be initiated after a predetermined waiting period has elapsed after the transition. In addition, after transitioning to a special turning mode, the control device 5 may be configured to initiate notification by the turn signal 8, etc., at the start of driving (lateral movement, spin turn, or pivot turn) or at the operation to start driving.

[0051] When the user is operating the vehicle, the notification by the turn signal 8, etc., may be terminated by a predetermined operation on the turn signal lever 6, or by an operation on a switch provided separately from the turn signal lever 6. In addition, the control device 5 may terminate the notification by the turn signal 8, etc., in conjunction with the termination of the special turning mode or transition to another mode, or in conjunction with the termination of driving. That is, when the special turning mode is terminated, the processes in steps S3, S5, and S7 in Figure 8 are also terminated. The termination of driving is determined, for example, based on an operation to return (reduce the amount of operation) the input of the accelerator, steering, etc., used for driving operations in the special turning mode. Specifically, the amount of operation may be the previous value or the maximum operation up to now. The operation may be deemed complete when the value decreases by more than a threshold compared to the target value, or when the manipulated amount falls below a threshold close to zero.

[0052] When a user is operating the vehicle, the start of driving in special turning mode may be initiated when input is received from the user, for example, via an input means such as a steering wheel for inputting the amount of steering, or an accelerator pedal for inputting the amount of movement. Specifically, driving starts when an operation is performed in a direction that increases the amount of steering or movement from the initial reference position or the position at the time of mode transition. Alternatively, for example, driving may start when the position and orientation of the vehicle 100 after movement are specified via a display equipped with a touch panel.

[0053] When a user is operating the vehicle, the end of driving in special turning mode may be initiated, for example, by receiving input from the user via the input means described above. Specifically, driving may be terminated when the operating position of the steering wheel, accelerator pedal, etc., returns to the initial reference position or the position at the time of mode transition. Alternatively, driving may be terminated when an input instructing the vehicle to stop driving is received via a display equipped with a touch panel, or when the vehicle 100 has completed moving to a specified position and direction.

[0054] As described above, in addition to notification by turn signals, voice notifications may also be made directed outwards from the vehicle body 1, or notifications may be made by other means.

[0055] In the example above, a four-wheeled vehicle 100 was used as an example, but the number of wheels is not particularly limited. For example, vehicle 100 may be a three-wheeled vehicle with one wheel at the front or rear. Alternatively, vehicle 100 may be a vehicle with five or more wheels, such as a six-wheeled vehicle with additional wheels between the front and rear wheels. In these cases as well, vehicle 100 is equipped with turn signals 8 on the left and right sides of the front and rear of the vehicle body 1, and is independently steerable to perform at least one of lateral movement, pivot turns, and spin turns.

[0056] The present invention also includes a computer program that performs the processing method described above, and a computer-readable recording medium on which the program is recorded. By having a computer read the program stored on the recording medium and execute the program, a device equipped with the computer can realize the above-described operation. A computer-readable recording medium refers to a recording medium that stores information such as data and programs by electrical, magnetic, optical, mechanical, or chemical action and can be read by a computer. Examples of such recording media that are removable from a computer include flexible disks, magneto-optical disks, optical disks, magnetic tapes, and memory cards. Examples of recording media fixed to a computer include hard disk drives and ROMs. Alternatively, a computer program may be stored on a server's storage medium (hard disk drive, etc.), and the server may distribute the computer program to an in-vehicle computer (control device) via a communication line. [Explanation of Symbols]

[0057] 100: Vehicle, 1: Body, 2 (2A-2D): Tires, 3 (3A-3D): Drive system, 31: Output shaft, 32: Casing, 4 (4A-4D): Steering drive system, 41: Output shaft, 5: Control device, 6: Turn signal lever, 7: Shift lever, 8 (8A-8D): Sequential turn signal

Claims

1. A control device installed in a vehicle having multiple driving modes related to how to drive and turn, A control device that, when controlling the sequential illumination of sequential turn signals provided on the vehicle, varies the range in which the turn signals are illuminated sequentially according to the driving mode.

2. In addition to the normal driving mode, the vehicle has at least one special driving mode, which includes a lateral movement mode in which multiple wheels are steered in the same direction that intersects the front-to-rear direction of the vehicle body, a spin turn mode in which the vehicle turns so that the center of rotation is within the area surrounded by the multiple wheels, and a pivot turn mode in which the vehicle turns so that the center of rotation is near any of the multiple wheels. The control device according to claim 1.

3. The range over which lights are sequentially illuminated is wider when notifying of right and left turns in the special driving mode than when notifying of turns in the normal driving mode. The control device according to claim 2.

4. The sequential turn signals are provided extending from the front or rear of the vehicle body to the side of the vehicle body. The control device according to claim 3.

5. When a right or left turn is indicated in the normal driving mode, the area of ​​the sequential turn signal located on the front or rear of the vehicle body is illuminated. When indicating that the vehicle is running in the aforementioned special driving mode, the lights from the front or rear of the vehicle body to the sides of the vehicle body are illuminated. The control device according to claim 4.

6. The lateral movement mode, the spin turn mode, and the pivot turn mode each have different ranges over which the sequential turn signals are illuminated. The control device according to claim 3.

7. A control device installed in a vehicle having multiple driving modes related to how to drive and turn, When the aforementioned driving mode is a special driving mode different from the normal driving mode, and control is performed to illuminate the sequential turn signals provided on the vehicle, the first region of the sequential turn signals is illuminated sequentially in the direction in which the vehicle is moving, while a second region different from the first region is flashed. Control device.

8. The aforementioned sequential turn signal extends in the width direction of the vehicle body, The first region is located on the central side in the width direction of the vehicle body, and the second region is located on the lateral side in the width direction of the vehicle body. The control device according to claim 7.

9. A method for controlling sequential turn signals performed by a control device mounted on a vehicle capable of independently steering multiple wheels, A control method for illuminating the sequential turn signal in multiple modes, each with a different range of sequential illumination, according to the behavior of the vehicle to be notified.

10. A control method in which a control device controls a vehicle capable of special behavior by independently steering multiple wheels, The aforementioned special behavior is at least one of the following: (1) moving sideways by steering the multiple wheels in a direction perpendicular to the longitudinal direction of the vehicle body; (2) spin turn, in which the multiple wheels turn in place by steering each axle so that it faces the center of gravity of the multiple wheels in a plan view; and (3) pivot turn, in which the vehicle turns around with any of the multiple wheels as the axis of rotation. When notifying the aforementioned special behavior, the first region of the sequential turn signal is illuminated sequentially in the direction of the vehicle's movement, while a second region, which is different from the first region, is flashed. Control method.

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