JPH03200480A - Automatic operating system in motor-driven vehicle - Google Patents

Abstract

PURPOSE:To facilitate troublesome operation such as entering into a garage and parking in a vertical row by incorporating data indicating the driving operated state each specific timing into a memory, and reading the stored data to repeat/revive driving operation. CONSTITUTION:In a control device 1 at the time of operating a vehicle in a memory mode where a memory mode switch 16 in a mode switch 12 is turned on, the patterned driving operation, for instance, the steering operated data at the time of entering a garage or the like, that is, time from starting driving, the total travel distance, accelerator stepping-in quantity, brake stepping in quantity, steering angle and the value of a forward backward switch are stored in a memory. Then, at the time of repeat mode where the repeat mode switch 17 of the mode switch 12 is turned on, the stored data is read to prepare a driving operating map, and on the basis of the total travel distance at the time of repeat driving, the steering angle at that time is read to repeat/revive the driving of a vehicle.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an automatic driving operation method for an electric vehicle that automatically repeats stored driving operations.

[Prior Art] Conventionally, electric vehicles that use an electric motor (hereinafter simply referred to as a motor) as a driving force source are known. There are many known drive systems, including one in which a single motor drives only the rear wheels or only the front wheels, and one in which two motors are used, one for driving the front wheels and the other for driving the rear wheels. There is. In addition, as a power source to drive the motor,
A system that uses only a rechargeable secondary battery (hereinafter referred to as a battery) such as a lead-acid battery, a hybrid system that uses both a battery and a generator, etc. are known. No matter which method is adopted as the drive method or power supply method, calculations are performed to provide the optimal driving force or braking force to the motor according to the driving conditions such as vehicle speed, accelerator opening, amount of brake depression, etc. It is generally equipped with a control device.

Furthermore, known steering methods include a method in which only the front wheels are operated by manual steering, and a method in which the front wheels are manually steered and the rear wheels are automatically steered by a steering motor. In the latter case, the rotation angle of the steering motor for steering the rear wheels is adjusted in phase according to the steering angle of the front wheels by the control device.
Alternatively, it is controlled in reverse phase.

[Problems to be Solved by the Invention] Through the various proposals described above, it is possible to construct an electric vehicle with less noise and no exhaust gas. The operation of a car is similar to that of a car equipped with an engine, and the driver must operate the steering wheel, accelerator, brakes, etc. in order to drive the car, and the driver still needs to be an expert when parking the car in a garage or parallel parking. This required complicated operations, which were difficult for beginners.

The present invention solves the above problems, and provides an automatic driving operation method for an electric vehicle that can automatically repeat steering wheel operations, particularly patterned steering wheel operations that require routine steering wheel operations. The purpose is to

[Means for Solving the Problems] In order to achieve the above object, the automatic driving operation method for an electric vehicle of the present invention includes a vehicle drive motor, a steering motor, and a control method for controlling the vehicle drive motor and the steering motor. In the electric vehicle, the control device captures and stores data indicating a driving operation state at predetermined timings, reads out the data indicating the stored driving operation state, and executes the stored driving operation. Characterized by repeated reproduction.

[Operation and Effects of the Invention] In the present invention, when the memory mode is selected, the control device memorizes the steering wheel operation, brake operation, accelerator operation, etc. performed during the memory mode, and also stores the steering wheel operation, brake operation, accelerator operation, etc. performed in the memory mode. When is selected, the steering wheel operation, brake operation, accelerator operation, etc. stored in memory mode are read out and repeatedly reproduced. Therefore, when complex operations such as parking in a garage or parallel parking are required, an experienced person can memorize the steering wheel operation, brake operation, accelerator operation, etc. in memory mode, and then select repeat mode from then on. By doing so, it is possible to automatically park the vehicle in the garage, etc., so it is possible to automate the ``difficult driving'' that many beginners do, thereby improving safety.

[Example code] Examples will be described below with reference to the drawings.

FIG. 1 is a diagram showing the configuration of an embodiment of an automatic driving operation method for an electric vehicle according to the present invention, and FIG. 1(a) is a transparent perspective view of the electric vehicle to which the present invention is applied. (b)
is a diagram showing an example of a mode switch, and (C) is a block diagram showing an example of a circuit configuration.
is a motor driver, 3 is a drive motor, 4 is a steering motor, 5 is a power supply device, 6 is a manual steering wheel, 7 is a steering angle sensor, 8 is an accelerator sensor, 9 is a brake sensor, 10 is a speed sensor, 11 is a forward/reverse drive 12 is a mode switch, 13 is a drive motor driver, 14 is a steering motor driver, 15 is a normal running mode switch, 16 is a storage mode switch, and 17 is a repetition mode switch.

In FIGS. 1(a), (b), and (c), the control device 1 includes a microprocessor and ROM that perform calculations.

It includes a memory device such as a RAM, and is placed under the driver's seat or passenger seat, for example, as shown in FIG. It performs mode processing and repetition mode processing. Note that the control device 1 performs digital processing, and the output of each sensor is converted from an analog signal to a digital signal by an A/D conversion circuit (not shown).

As shown in FIG. 1(C), the motor driver 2 includes a drive motor driver 13 for the drive motor 3 and a steering motor driver 1 for the steering motor 4.
4, each of which is composed of a well-known switching circuit and the like. The drive motor driver 13 supplies a predetermined current to the drive motor 3 from a power supply device 5 configured with a rechargeable battery or a fuel cell, so that the drive force value or Generates braking force value. Further, the steering motor driver 14 supplies current from the power supply device 5 to the steering motor 4 based on the steering angle data commanded by the control device 1, thereby rotating the steering motor 4 by the commanded angle in the commanded direction. let

The drive motor 3 is for driving the rear wheels as shown in FIG. 1(a), and is a motor capable of regenerative braking. The rotation of the drive motor 3 is transmitted to the rear axle by a power transmission device (not shown) including a differential mechanism or the like. The steering motor 4 is used to steer the front wheels as shown in FIG. 4 is only used in repeat mode. The rotation of the steering motor 4 is converted into reciprocating motion in the axle direction by a mechanism (not shown), thereby steering the front wheels.

The steering angle sensor 7 is configured integrally with the steering motor 4 and detects the steering angle based on the rotation angle of the steering motor 4. The accelerator sensor 8 and the brake sensor 9 detect the amount of accelerator depression and the amount of brake depression, respectively, and well-known sensors can be used. The speed sensor 10 determines the speed by detecting how many times the drive motor 3 rotates in a predetermined period of time. The forward/reverse switch 11 detects whether the vehicle is in the forward, reverse, or neutral state.This can be done, for example, by detecting the position of the shift lever, but the driver A forward switch, a reverse switch, and a neutral switch may be provided on panels disposed at opposing positions, and the on/off status of these switches may be detected. Also,
For example, as shown in FIG. 1(b), the mode switch 12 is composed of three types of buttons: a normal driving mode switch 15, a memory mode switch 16, and a repetition mode switch 17, and is arranged at a position facing the driver. It is located on the panel. Then, when each button is turned on, the mode flag is set to a predetermined value. In this embodiment, when the normal running mode switch 15 is turned on, the mode flag is "0", when the memory mode switch 16 is turned on, the mode flag is "1", and when the repeat mode switch is turned on, the mode flag is "1". 17 is turned on, the mode flag is assumed to be "2".

Next, the processing performed by the control device 1 will be explained with reference to FIG.

FIG. 2(a) shows the main flow of processing performed by the control device 1. First, the control device 1 takes in the value of the mode flag, which is the output of the mode switch 12, and determines which mode is currently selected. Sl), the mode flag is “0”
”, the normal driving mode process of S2 is performed, if the mode flag is “1”, the storage mode process of S3 is performed, and if the mode flag is “2”, the automatic driving of the vehicle is performed by the repetitive mode process of S4. conduct. Once these processes are complete,
The control device 1 returns to determining the mode flag of Sl, but
The mode flag of Sl is determined after a predetermined period of time, e.g.
It is called every m5ec or every 10m5ec, and subsequent processing is executed. In the following embodiment, it is assumed that the repetition period is 10 seconds.

An example of the normal running mode processing in S2 is shown in FIG. 2(b).

In the normal driving mode process, the control device 1 performs S11
In S12, the value of the forward/reverse switch 11 is taken in, and in S12, the output values of the accelerator sensor 8, brake sensor 9, and speed sensor 10 are taken in. In S13, the motor command value, that is, the driving force or braking force required for the electric vehicle is calculated. do.

The motor command value calculation process of step 813 is shown in FIG. 2 (C
). First, the control device
reads the drive command value A by referring to the drive command value map using the accelerator signal indicating the amount of accelerator depression and the speed signal taken in S12 (S15). The drive command value map is, for example, as shown in FIG. 3(a), a map in which driving force values are written in accordance with the accelerator signal and the speed signal. For example, when the speed signal value is V+, the accelerator signal value is A C+
If so, the control device 1 sets A=e, and if the accelerator signal value is AC2, the control device 1 sets A=d.

Next, the control device 1 refers to the braking command value map and reads the braking command value B using the brake signal indicating the amount of brake depression taken in S12 (81B). The braking command value map is, for example, as shown in FIG. 3(b), a map in which braking force values are written in accordance with the brake signal. According to the braking command value map of FIG. 3(b), the brake If the signal value is b1, the control device 1 sets it as B''B+.

When the drive command value A and the brake command value B are obtained as described above, the control device 1 then calculates the motor command value T using the following formula (817).

T = αA - βB Here, α and β are coefficients determined by the accelerator signal and brake signal, respectively, and this is to balance driving and braking when the accelerator and brake are pressed at the same time. . That is, when the accelerator depression amount is larger than the brake depression amount, the control device l controls α
〉β, and if the amount of depression of the brake pedal is larger than the amount of depression of the accelerator, α is set to β. For example, simply speaking, if the amount of accelerator depression is greater, the control device 1 will control α=1. Let β=O, and if the amount of brake depression is larger, α=0. Let β=1.

The coefficients α and β can be determined, for example, by using a map in which the values of α and β are written in correspondence with the amount of accelerator depression and the amount of brake depression.

When the calculation of the motor command value T is completed, the control device 1 instructs the motor command value T to the driving motor driver 13 (S14). The drive motor driver 13 determines the magnitude of the current to be supplied to the drive motor 3 based on the instructed motor command value T, and which magnetic pole to supply the current to is determined based on the sign of the motor command value. That is, motor command value T
The sign of is a positive value because B=O when the accelerator is pressed, but it is negative when the brake is pressed, so even if the sign of the motor command value T is positive. If the sign of the motor command value T is negative, the current is supplied to the magnetic pole located at a position where a braking force is generated. be. At this time, a forward or reverse command is also given based on the output of the forward/reverse switch 11.

The drive command value map shown in FIG. 3(a) and the braking command value map shown in FIG. 3(b) are merely examples, and are not limited to those shown in FIG. 3. Furthermore, various methods have been proposed for determining the driving force and braking force, and these conventionally known methods can also be employed.

Through the above processing, normal driving is performed.

An example of the storage mode process indicated by 83 in FIG. 2(a) is shown in FIG. 2(d).

The memory mode is a patterned driving operation, such as steering wheel, accelerator, etc. when driving such as parking.
This is a mode for memorizing operation details such as brakes, etc.
The storage mode can be entered by turning on the storage mode switch 16 shown in FIG. 1(b).

In the storage mode process, the control device 1 first determines whether the previous mode was the storage mode (S21
). If the previous mode was the memory mode, the time counter is subsequently incremented (S23), but if this is the first time the mode has been switched to the memory mode from another mode, the memory is incremented to memorize the operation details of the handle, etc. At the same time, the time counter and mileage counter are reset (S22) L, and then the time counter is incremented.

Next, in S24, according to the driver's operation, the image shown in FIG.
The normal driving mode process shown in FIG. 1 is performed, and the control device 1 instructs the motor command value T obtained as a result of the calculation to the drive motor driver 13, whereby the vehicle runs normally.

A control device 1 transmits a motor command value to a driving motor driver 1.
3, then in S25 the output of the steering angle sensor 7 is fetched, then in S26 the output of the speed sensor 10 is fetched, and in S27 the relevant one is calculated based on the speed and the current processing time (10 msec) in the routine. The distance traveled during the processing time is calculated and added to the cumulative distance so far to determine the cumulative distance up to the processing in the current routine.

When the process of S27 is completed, in 828, the control device 1 calculates the cumulative mileage, the output value of the accelerator sensor 8 and the output value of the brake sensor 9 that were captured in the normal driving mode process 824, and the output value of the steering angle sensor 7 that was captured in S24. The output value and the output value of the forward/reverse switch 11 taken in in the normal running mode process S24 are written in the memory, and the process returns. Note that instead of the accelerator sensor value and the brake sensor value, a motor command value T commanded to the driving motor driver 13 may be stored.

After the control bag Wt, 1 completes the processing up to S28 and returns, the next time it enters the storage mode processing routine, it executes S21. Since it is determined that the previous mode is the storage mode, the time counter is incremented in S23, and the processing from 824 onwards is performed.

FIG. 4 shows an example of the structure of the driving operation data stored in this manner. According to FIG. 4, it can be seen that the stored driving operation data includes the time since the start, the cumulative mileage, the amount of accelerator depression, the amount of brake depression, the steering angle, and the value of the forward/reverse switch. Note that it is clear that the driving operation data is collected every 10 m5ec, which is the repeating cycle of the routine. Further, the values of the forward/reverse switch are set to "0" for neutral, "1" for forward, and "2" for reverse, but it goes without saying that other values may be used.

Next, the repetitive mode processing will be explained. There are at least the following two methods for repeatedly reproducing the driving operation. Now, as shown in Fig. 5(a), if we consider the driving operation in the case of parking the vehicle from state A with the vehicle located at the start mark 2o, through state B and then state C, the steering angle is changes approximately as shown in FIG. 5(b) as the cumulative distance increases. In FIG. 5(b), the direction in which the steering angle increases indicates the direction in which the steering wheel is rotated to the right (clockwise), and the direction in which it decreases indicates the direction in which the steering wheel is rotated to the left (counterclockwise). That is, in the state shown by A in FIG. 5(a), the handle is at the center position (0''), but as the vehicle moves forward, the handle is rotated to the right, and as the vehicle moves from B to C, the handle is rotated to the left. It then passes through the center and is finally rotated to the right again to be in state C.

Therefore, a driving operation map shown in FIG. 5(b) is created from the collected driving operation data, and the steering angle at that time is read out by referring to the driving operation map based on the accumulated distance traveled during repeated driving. It can be seen that repeated operation is possible by commanding the steering motor driver 14 with the steering angle value.

This is the first repetitive operation method. This method is based on the following points of view. In other words, in the memorization mode, the driver performs some driving operations, but during repetition, the person who drove in the memorization mode does not necessarily get in the car, and it is possible that another person or no one gets in the car. Therefore, it is possible that the overall weight differs between memorization and repetition. In addition, it is common that the tire air pressure will be different between the time of memorization and the time of repetition. Because of this, the diameter of the wheels may be different between the time of memorization and the time of repetition, so even if you instruct the same motor command value at the same time as the time when it was memorized, it will not necessarily drive the same distance. There is a high possibility that this will not necessarily be the case. Therefore, even if time is ignored, if the driving operation map shown in Figure 5 (b) is faithfully reproduced, the trajectory as memorized can be accurately traced. The first repetitive operation method is designed to repeatedly reproduce the
) is performed.

First, the control device 1 determines whether the previous mode was the repetition mode (S31). If the previous mode is repeat mode, increment the time counter) (S3
3) and execute the processes from S34 onwards, or if the previous mode was not the repeat mode and this is the first time you have entered the repeat mode, reset the time counter and mileage counter to perform the subsequent processes (S32 )L, then increment the time counter and perform the processing from 834 onwards.

834 takes in the output value of the speed sensor 10, then calculates the distance traveled during the processing time from the speed and the processing time in the routine, adds it to the previous cumulative travel distance, and calculates the actual cumulative travel distance in the repeat mode. The mileage is calculated (S35).

Next, the control device 1 refers to the driving operation data shown in FIG. Read the switch value (83B). For example, if the cumulative travel distance calculated in step 835 is 3 meters, the control device 1 refers to the driving operation data in FIG. 'The forward/forward switch reads the value 1. Next, the control device 1 determines whether to move forward or backward from the forward/reverse switch value read at 83B (537), calculates a motor command value to be instructed to the drive motor driver 13 (838), and obtains the The obtained motor command value is indicated to the driving motor driver 13 (S39
). The calculation of the motor command value in S38 is performed according to the flow shown in FIG. 2(C). Note that when starting the repetition of the driving operation, the control device 1 reads the first data of the driving operation data shown in FIG. 4 and calculates the motor command value, but the first value of the stored driving operation data is Mileage is O
m, and both the accelerator depression amount and the brake depression amount are often 0%. In this case, the motor command value obtained as a result of calculation is O, and in the first repetitive operation method, depending on the cumulative travel distance. Since the system is a method of matching traveling trajectories, data for the case where the traveling distance is Om is read out forever, and a situation arises in which the vehicle does not travel. Therefore, when starting to repeat a driving operation, if the motor command value obtained from the data at the first time is 0, the data at the next time is read out and the motor command value is calculated. Continue until the motor command value is no longer 0. In the example of driving operation data shown in FIG.
The motor command value is calculated by reading the data at time 0.1m5ec. In this case, the forward/reverse switch 11 is in the neutral (neutral) position, so the motor command value is 0. Read the data and calculate the motor command value. However, in this case, the forward/reverse switch 11 is in the forward position but the brake is depressed, so the motor command value is O, so next time 0.3 l1s
Read the ec data and calculate the motor command value. In this case, the forward/reverse switch 11 is in the forward position and the accelerator is depressed, so a value other than O is obtained as the motor command value. You will be given instructions. This process is performed only when starting repetition of the driving operation, and after a motor command value other than -1 O is obtained,
The motor command value is calculated based on the data read in S3e.

The case where the motor command value is calculated from the accelerator signal and the brake signal has been described above, but in the first repetitive operation method, matching is performed with the trajectory stored by the cumulative travel distance, and in that case, the speed is Since matching is easier at low speeds, the motor command value may be a constant value that provides a predetermined low speed.

As described above, when the motor command value is calculated and the instruction to the drive motor driver 13 is completed, the control device 1 then instructs the steering motor driver 14 about the steering angle read in 836 (840). and return.

Through the above operations, the vehicle can repeat the travel trajectory stored in the storage mode.

The first repetitive operation method has been described above. Next, the second repetitive operation method will be explained with reference to FIG. 2(f). While the first repetitive operation method described above is open-loop control, the second repetitive operation method performs feedback control regarding the steering angle, as shown in Fig. 2(e).
In the process shown in , the process (S
54L Process for calculating steering angle (861) and S6
A process (S62) for instructing the steering motor driver 14 about the steering angle obtained in step 1 is added.

The steering angle calculation process in S81 is a process for correcting the steering angle based on the difference between the current steering angle acquired in S54 and the steering angle read in S57, and the steering angle correction angle obtained in S61 is used to correct the steering angle by the steering motor. By instructing the driver 14, it is possible to correct the steering angle deviation.

Note that the motor command value calculation process in S59 can be performed according to the flow shown in FIG. If you are also using
As shown in FIG. 6, the braking command value for the drive motor 3 shown at 21 is added to the braking amount by the mechanical brake shown at 22 obtained from the brake signal, and the braking command value is determined from the map shown at 23. do.

Through the above processing, the stored trajectory can be repeated more accurately.

As is clear from the above description, according to the present invention, it is possible to automatically repeat driving by memorizing patterned driving operations, so complex driving such as parking in a garage or parallel parking is possible. Even when operations are required, they can be performed safely. Furthermore, the present invention is not only applicable to ordinary electric vehicles, but also applicable to any vehicle equipped with a drive motor and a steering motor, and in particular, it can be applied to any vehicle that is equipped with a drive motor and a steering motor. It is suitable for transport vehicles, and can also be applied to toys.

Although one embodiment of the present invention has been described above, it is clear to those skilled in the art that the present invention is not limited to the above embodiment, and that various modifications can be made. For example, in the above embodiment, it is necessary to memorize driving operations, but predetermined driving operations can be stored in a ROM card or IC card in advance, and these ROM cards or IC cards can be stored in memory.
Repeated operation can also be performed by sorting, and this is particularly suitable for toys and the like.

[Brief explanation of drawings]

Fig. 1 is a diagram showing the configuration of an embodiment of the automatic driving operation method for an electric vehicle according to the present invention, Fig. 2 is a diagram showing the flow of processing performed by the control device, and Fig. 3 is a diagram showing the drive command value map and braking. Figure 4 is a diagram showing an example of a command value map, Figure 4 is a diagram showing an example of the structure of driving operation data, Figure 5 is a diagram to explain the repetitive operation method, and Figure 6 is a braking command value map used in the repetitive mode. FIG. 1...Control device, 2...Motor driver, 3...
Drive motor, 4...Steering motor, 5...
Power supply device, 6... Manual steering, 7... Rudder angle sensor, 8... Accelerator sensor, 9... Brake sensor, 10... Speed sensor, 11... Forward/forward switch, 12...・Mode switch, 13... Drive motor driver, 14... Steering motor driver, 1
5... Normal running mode switch, 16... Memory mode switch, 17... Repeat mode switch.

Claims (1)

[Claims] (1) In an electric vehicle that includes a vehicle drive motor, a steering motor, and a control device that controls the vehicle drive motor and the steering motor, the control device captures data indicating a driving operation state at every predetermined timing. 1. An automatic driving operation method for an electric vehicle, characterized in that the data indicating the stored driving operation state is stored and the stored driving operation is repeatedly reproduced.