[Technical Field]
[0001]
The present invention relates to an automated-driving device that enables a test
body which is either a vehicle or part of a vehicle to perform automated-driving.

[Technical Background]
[0002]
When a performance test is carried out on a vehicle using a chassis dynamometer,
it is common for an automated-driving device such as an automated-driving robot or the
10 like to be installed in the driver’s seat, and for this automated-driving device to perform a
driving operation of the vehicle (Patent Document 1). In this type of automated-driving
device, a pedal operation actuator that performs pedal operations and a shift operation
actuator that performs shift operations are connected to a control device that is installed in
the driver’s seat, and the vehicle is made to perform an automated-driving operation as a
15 result of the control device operating these actuators.
[Documents of the Prior Art]
[Patent Documents]
[0003]
20 [Patent Document 1] Japanese Unexamined Patent Application (JP-A) No. 2003-149087
[Disclosure of the Invention]
[Problems to be Solved by the Invention]
[0004]
3
In recent years, when vehicles in which the above-described automated-driving
device is used are automated-driving, it is common for various types of actuators to be
used not only for performing pedal operations and shift operations, but also for operating
various types of switches such as a starter switch and air-conditioner switches and the like.
In a conventional automated-driving device, 5 each actuator performing the various types of
operation is matched one-to-one to respective connectors that are provided in the control
device to which the actuators are connected. Consequently, it is necessary, for example, for
an actuator that is used to operate a starter switch to be correctly connected to the
connector for starter switch operations which is provided in the control device. Because of
10 this, when an operator is working in a narrow space and connecting the actuators by feeling
their way by hand, it is not uncommon for incorrect connections to be made. If, on the
other hand, an operator slowly and carefully performs the connection task so as not to
make any incorrect connections, then the actuator connection operation takes an inordinate
length of time, so that work efficiency is reduced.
15 [0005]
It is a principal object of the present invention to provide an automated-driving
device that, in a control device in which multiple types of actuators are connected, enables
incorrect connections to be prevented, and enables work efficiency to be improved.
20 [Means for Solving the Problem]
[0006]
Namely, an automated-driving device according to the present invention is an
automated-driving device that causes a test body which is either a vehicle or part of a
vehicle to perform automated-driving using a plurality of types of actuators, and that
4
includes a plurality of connectors to which the actuators are connected, and a control
device that controls movements of the actuators that are connected to the connectors,
wherein, when one of the actuators is connected to one of the connectors, the control
device identifies the type of actuator that is connected.
5 [0007]
If the above-described type of structure is employed, when an actuator is
connected to any one of a plurality of connectors, the type of actuator that is connected is
identified. As a result, the actuator can be made to function regardless of which connector
it is connected to. In other words, it is not necessary for a particular actuator to be matched
10 one-to-one to a particular connector, and a plurality of connectors are able to be connected
to a plurality of types of actuators. As a result, it is possible to prevent incorrect
connections that result from an actuator being connected to an incorrect connector.
Moreover, because an operator is able to connect an actuator to any one of a plurality of
connectors, the connection task is simplified, and work efficiency is improved.
15 [0008]
A specific aspect of the above-described automated-driving device is an
automated-driving device in which each of the plurality of types of actuators has an
identifier that corresponds to the type of actuator, and the control device is provided with a
storage unit that stores identification information which associates the identifier with the
20 type of actuator, and an identification unit that reads the identifier of the actuator
connected to the connector and, by referring to the relevant identifier and the identification
information, identifies the type of actuator that is connected.
[0009]
One aspect that clearly demonstrates the effects of the above-described present
invention is an automated-driving device in which each of the plurality of connectors has
the same shape.
[0010]
It is also preferable for the storage unit to store identification information for at
least one of a starter operation, a button-5 type shift operation, a paddle-type shift operation,
and an air-conditioner operation, and more preferable for the storage unit to store
identification information for two or more of these operations.
[0011]
It is also preferable that, when the automated-driving device has been installed on
10 the driver’s seat of the test body, the plurality of connectors be positioned at a front surface
of the control device.
If this type of structure is employed, then because a plurality of connectors are
disposed at a front surface of the control device installed in the driver’s seat, compared
with when connectors are provided at a back surface of the control device, an operator is
15 able to connect the actuators easily so that the work efficiency is improved even further.
[0012]
Moreover, a vehicle testing system of the present invention is characterized in
being provided with the above-described automated-driving device, a dynamometer that
applies a load to the test body that is being driven by the automated-driving device, and an
20 exhaust gas analysis device that analyzes exhaust gas discharged from the test body.
[0013]
Furthermore, an actuator identification method of the present invention is a
method in which, in an automated-driving device that comprises a plurality of connectors
to which a plurality of types of actuators are connected, and that causes a test body which is
either a vehicle or part of a vehicle to perform automated-driving using the actuators that
are connected to the connectors, the types of actuators that are connected to the connectors
are identified, wherein the types of actuators that are connected are identified as a result of
the actuators being connected to any one of the plurality of connectors.
5 [0014]
According to the vehicle testing system and actuator identification method of the
present invention, the same type of action and effects as those obtained from the
above-described automated-driving device of the present invention can be achieved.
10 [Effects of the Invention]
[0015]
According to the present invention which has the above-described structure, in an
automated-driving device in which a plurality of types of actuators are connected, it is
possible to prevent the actuators being connected incorrectly, and to thereby provide an
15 automated-driving device that enables work efficiency to be improved.
[Brief description of the drawings]
[0016]
[FIG. 1] FIG. 1 is a plan view schematically showing the overall structure of a
20 vehicle testing system of the present embodiment.
[FIG. 2] FIG. 2 is a perspective view schematically showing the structure of an
automated-driving device of the same embodiment.
[FIG. 3] FIG. 3 is a function block diagram of a control device of the same
embodiment.
7
[FIG. 4] FIG. 4 is a view showing an example of interrelationships between types
of general actuators and identifiers contained in identification information that is stored in
a storage unit of the same embodiment.
5 [Best Embodiments for Implementing the Invention]
[0017]
Hereinafter, an automated-driving unit 100 which is equipped with an
automated-driving device 1 according to an embodiment of the present invention will be
described with reference to the drawings. Note that, in the following description, a
10 complete vehicle is described as a specific aspect of a test body.
[0018]
The automated-driving unit (car-driving unit) 100 of the present embodiment is
employed, for example, in vehicle performance tests that use a chassis dynamometer. The
automated-driving unit 100 is installed inside a vehicle and causes that vehicle to perform
15 automated-driving. As is shown more specifically in FIG. 1 and FIG. 2, the
automated-driving unit 100 is provided with the automated-driving device s(car-driving
device) 1 which is placed on a seat FS (more specifically, a driver’s seat) and causes the
vehicle to perform automated-driving, and a holding device 2 that holds the
automated-driving device 1 on the driver’s seat FS. Note that, in the following description,
20 when the automated-driving unit 100 has been placed in the correct position on the driver’s
seat FS (i.e., in a position which is suitable for performing a performance test), the
front-rear, left-right, and up-down directions are described taking the front-rear direction
of the test body as a reference.
[0019]
8
The automated-driving device 1 causes the vehicle to perform automated-driving
by performing various operations such as depressing and releasing an accelerator pedal, a
brake pedal, and a clutch pedal, switching positions of a shift lever, and turning various
types of switches that are mounted in the vehicle on and off from its position on the
driver’s seat FS. More specifically, the automated-5 driving device 1 is provided with a
plurality of types of actuators 12 that perform various types of operations, and a control
device 11 that controls movements of the actuators 12.
[0020]
The actuators 12 receive control signals from the control device 11 and perform
10 various operations. More specifically, the actuators 2 are electrically connected via a cable
to the control device 11, and receive control signals from the control device 11. The
actuators 12 operate based on these signals.
[0021]
The automated-driving device 1 of the present embodiment is provided with
15 actuators 12 in the form of a plurality (three in this case) of pedal actuators 121 that are
used to perform pedal (i.e., accelerator, brake, and clutch) operations, and a shift actuator
122 that is used to perform a position-shifting operation of a shift (either a floor shift or a
column shift) lever. Here, the shift actuator 122 is formed such that a hand portion 122A
which is in contact with the shift lever is able to move in a front-rear direction (i.e., along
20 an X axis), a left-right direction (i.e., along a Y axis), and an up-down direction (i.e., along
a Z axis).
[0022]
The control device 11 is what is commonly known as a computer which has
analog electrical circuits having buffers and amplifiers, a CPU, digital electrical circuits
9
such as memory and a DSP and the like, and an A/D converter or the like that is connected
between these various portions. As a result of the CPU and the peripheral devices thereof
operating in mutual collaboration in accordance with a predetermined program stored in
the memory, as is shown in FIG. 3, the control device 11 functions as a control unit 113 that
5 controls movements of at least the respective actuators 12.
[0023]
In accordance with the types of actuators 12 that are connected, the control unit
113 transmits control signals that properly correspond thereto individually to each actuator
12.
10 [0024]
Structurally, the control device 11 is formed having a box-shaped external
appearance. The control device 11 is placed in a predetermined position on the holding
device 2 such that a bottom surface and a rear surface thereof are firmly held. As a result,
the control device 11 remains held in the correct placement position on the holding device
15 2.
[0025]
The automated-driving device 1 is provided with a plurality of connectors 13 to
which cables of the actuators 12 are electrically connected that are located on a front
surface 111 of the control device 11 which faces towards the front of the vehicle when held
20 on the holding device 2. The automated-driving device 1 is provided with connectors 13 in
the form of pedal actuator connectors 131 to which the pedal actuators 121 are connected,
and shift actuator connectors 132 to which the shift actuator 122 is connected. In the
present embodiment, all of these multiple types of connectors 13 are provided on the front
surface 111 of the control device 11.
10
[0026]
Three pedal actuator connectors 131 are provided so as to correspond individually
to the three types of pedal actuators 121. In addition, three types of shift actuator
connectors 132 are provided so as to correspond individually to the X axis, the Y axis and
5 the Z axis of the shift actuator 122.
[0027]
The holding device 2 is placed on and fixed to the driver’s seat FS of the vehicle,
and the automated-driving device 1 is mounted on the holding device 2 and held in
position thereby.
10 [0028]
As is shown in FIG. 1 and FIG. 2, the holding device 2 is placed on a seat portion
SD of the driver’s seat FS, and is provided with a mounting portion 21 on which the
automated-driving device 1 is mounted, a back portion 22 that is placed against a backrest
BR of the driver’s seat FS, and a joining portion 23 that joins the mounting portion 21 and
15 the back portion 22 together. The mounting portion 21, the back portion 22, and the joining
portion 23 are each formed schematically in a plate shape. The mounting portion 21 and
the back portion 22 are joined together via the joining portion 23 substantially in an L
shape so as to be in contact respectively with the seat portion SD and the backrest BR of
the driver’s seat FS.
20 [0029]
The mounting portion 21 has a mounting surface 211 on which the
automated-driving device 1 is mounted, and a bottom surface 212 that is formed on a rear
side from the mounting surface 211 and that is in contact with a seat surface SS of the seat
portion SD. Here, the bottom surface 212 is formed as a planar surface, and is shaped so as
11
to enable it to be in surface contact with the seat surface SS. The mounting surface 211 is
formed so as to hold a bottom surface of the automated-driving device 1 in position when
this is mounted thereon. The pedal actuators 121 are attached to the vicinity of a front end
of the mounting portion 21, and a plurality of pedal actuator fixing portions 25 are
5 provided in order to fix the pedal actuators 121 in position.
[0030]
The back portion 22 has a front surface 221 that faces towards the front side of the
vehicle when mounted on the seat FS, and a back surface 222 that is formed on a rear side
of the front surface 221 and is in contact with a backrest surface BS of the backrest BR.
10 Here, the back surface 222 is formed as a planar surface and is shaped so as to enable it to
be in surface contact with the backrest surface BS. The front surface 221 is formed so as to
hold a back surface of the automated-driving device 1 in position when this is mounted
thereon.
[0031]
15 A connecting portion 231 to which a fixing mechanism 24 (specifically, a belt)
that is used to fix the holding device 2 on the driver’s seat FS is connected is provided on
the joining portion 23. By applying tension to the belt forming the fixing mechanism 24
that is connected to the connecting portion 231 by pulling the belt diagonally downwards
and towards the rear of the driver’s seat FS, the holding device 2 is held in position on the
20 driver’s seat FS.
[0032]
Moreover, the automated-driving device 1 of the present embodiment is also
provided with a plurality of types of general-purpose actuators 123 that are furnished with
predetermined functions in order to operate various switches of the vehicle, and with a
12
plurality of general-purpose actuator connectors 133 to which the plurality of types of
general-purpose actuators 123 are connected. When one of this plurality of
general-purpose actuator connectors 133 is connected to a general-purpose actuator 123,
the control device 11 automatically identifies the type of general-purpose actuator 123 that
5 has been connected.
[0033]
In the present embodiment, an individual identifier (here, a number from 1 to 9)
that corresponds respectively to each of the plurality of types of general-purpose actuator
123 is attached to each type of general-purpose actuator 123 so that the type of
10 general-purpose actuator 123 that is connected can be automatically identified.
Furthermore, as is shown in FIG. 3, the control device 11 is also furnished with functions of
a storage unit 114 and an identification unit 115.
[0034]
The storage unit 114 is set in a predetermined area of the memory, and stores
15 identification information that associates each identifier with the type of general-purpose
actuator 123. The storage unit 114 stores identification information that identifies the type
of general-purpose actuator 123 for at least one of starter operations, button-type shift
operations, paddle-type shift operations, and air-conditioner operations. As is illustrated in
FIG. 4, in the present embodiment, the storage unit 114 stores identification information
20 that identifies the type of general-purpose actuator 123 for operations such as, for example,
push starter operations, turn starter operations, button shift (P switch) operations, button
shift (N switch) operations, button shift (D switch) operations, button shift (shift up)
operations, paddle shift (shift down) operations, air-conditioner (turn on) operations, and
air-conditioner (turn off) operations. Not limited to the example illustrated in FIG.4, the
13
storage unit 114 may further store identification information that identifies the type of
general-purpose actuator 123 for operations such as, for example, button shift (R switch)
operations, button shift (shift down) operations, paddle shift (shift up) operations, and
traction control on/off switch operations. Note that the present invention is not limited to
this and the 5 identification information stored by the storage unit 114 may identify a single
type of general-purpose actuator 123, or multiple types of general-purpose actuators 123.
[0035]
The identification unit 115 identifies the type of general-purpose actuator 123 that
is connected to a general-purpose actuator connector 133. More specifically, the
10 identification unit 115 reads the identifier for the general-purpose actuator 123 that is
connected to the general-purpose actuator connector 133, and identifies the type of
general-purpose actuator 123 that is connected by referring to the identifier which it has
read and to the identification information stored in the storage unit 114. An identification
result showing the type of general-purpose actuator 123 that has been identified is then
15 transmitted to the control unit 113.
[0036]
Here, the control device 11 is provided with individual drivers that are used to
operate each type of general-purpose actuator 123. Each general-purpose actuator 123 that
is connected is operated by the particular driver that corresponds to that type of
20 general-purpose actuator 123 which has been identified by the identification unit 115.
[0037]
The plurality (specifically, three rows  two levels  six) of general-purpose
actuator connectors 133 provided in the automated-driving device 1 of the present
embodiment all have the same connecting structure (in other words, all have the same
14
shape). Moreover, the plurality of types of general-purpose actuators 123 all have
connecting terminals having the same connecting structure so that they can be connected to
any one of the plurality of general-purpose actuator connectors 133.
[0038]
Here, the plurality of general-5 purpose actuator connectors 133 may be
concentrated in the front surface 111 of the control device 11. In other words, here, all of
the connectors 13 to which the various types of actuators are connected including the pedal
actuator connectors 131, the shift actuator connectors 132 and the general-purpose
actuators 123 are provided in the front surface 111 of the control device 11. Moreover, the
10 front surface 111 of the control device 11 is inclined so as to face forwards and diagonally
upwards when the control device 11 is being held in the holding device 2 and is installed on
the driver’s seat FS.
[0039]
Moreover, in the present embodiment, as is shown in FIG. 2, it is also possible for
15 the shift actuator 122 provided in the automated-driving device 1 to be disposed in the
back portion 22 of the holding device 2. More specifically, the shift actuator 122 is
attached to an upper end portion (i.e., above an upper end portion of the control device 11)
of the back portion 22 of the holding device 2, and a shift actuator fixing portion 26 is
provided in order to fix the shift actuator 122 in place. The shift actuator 122 is formed
20 such that when it is attached to the shift actuator fixing portion 26, the hand portion 122A is
able to move along the X axis, the Y axis, and the Z axis. Because it is necessary to attach
the shift actuator 122 high enough to enable it to operate a shift lever beside the steering
wheel, if the shift lever is attached to the control device 11, then it is necessary to attach a
separate supporting component to the control device 11 to support the shift actuator 122.
15
Consequently, the weight of the overall automated-driving device 1 increases. However,
by attaching the shift actuator 122 to the back portion 22 of the holding device 2 which is
already provided, there is no need to attach a separate supporting component to the control
device 11, and this is able to contribute to a reduction in the weight of the overall device.
5 [0040]
According to the automated-driving unit 100 of the present embodiment which
has the above-described structure, when a general-purpose actuator 123 is connected to
any one of the plurality of general-purpose actuator connectors 133, because the control
device 11 automatically identifies the type of general-purpose actuator 123 that is
10 connected, the general-purpose actuator 123 can be made to function irrespective of which
general-purpose actuator connector 133 it is connected to. In other words, there is no need
to match each general-purpose actuator 123 one-to-one with its corresponding
general-purpose actuator connector 133, and any of a plurality of general-purpose actuator
connectors 133 can be matched with any of a plurality of general-purpose actuators 123.
15 Because of this, it is possible to prevent incorrect connections occurring as a result of a
general-purpose actuator 123 being connected to a general-purpose actuator connector 133
which it does not match. Furthermore, because an operator is able to connect a
general-purpose actuator 123 to any one of a plurality of general-purpose actuator
connectors 133, the connection task is simple and work efficiency is improved.
20 Furthermore, although the positions of the various switches operated by the
general-purpose actuators 123 vary depending on the vehicle make and model, because the
general-purpose actuators 123 function correctly irrespective of which of the plurality of
general-purpose actuator connectors 133 they are connected to, a general-purpose actuator
123 can be connected to the general-purpose actuator connector 133 that is closest to the
16
switch to be operated. As a result, cable routing can be made tidier, and work efficiency
thereby improved.
[0041]
Note that the present invention is not limited to the above-described embodiment.
5 [0042]
In the above-described embodiment, an individual identifier is provided
respectively for each one of a plurality of types of general-purpose actuators 123, and the
identification unit 115 reads this identifier and thereby identifies the type of
general-purpose actuator 123, however, the present invention is not limited to this. In
10 another embodiment, it is also possible for a different connection point structure to be
provided for the connecting terminal of each one of the plurality of types of
general-purpose actuators 123, and for the type of general-purpose actuator 123 that is
connected to the general-purpose actuator connector 133 to be identified by this
connection point structure.
15 [0043]
In the above-described embodiment, all of the connectors 13 are disposed on the
front surface 111 of the control device 11, however, the present invention is not limited to
this, and it is also possible for either a portion or all of the connectors 13 to be disposed in
another location such as on a back surface or top surface of the control device 11.
20 Moreover, the connectors 13 may instead be disposed on a separate control device that is
connected to the control device 11.
[0044]
In the above-described embodiment, the front surface 111 of the control device 11
is inclined so as to face forwards and diagonally upwards, however, the present invention
17
is not limited to this. In another embodiment, it is also possible for the front surface 111 of
the control device 11 to face perpendicularly towards the front.
[0045]
In the above-described embodiment, it is also possible for either a portion of or all
of the functions of the control unit 113, the 5 storage unit 114, and the identification unit 115
to be allocated to a separate control device that is connected to the control device 11.
[0046]
In the above-described embodiment, a complete vehicle is described as an
example of a specific aspect of a test body, however, the present invention is not limited to
10 this. In another embodiment, it is also possible for the test body to be a portion of a
complete vehicle.
[0047]
In the above-described embodiment, the automated-driving unit 100 is employed
in a vehicle performance test that uses a chassis dynamometer, however, the present
15 invention is not limited to this. The automated-driving unit 100 may also be employed in
vehicle performance tests that use various types of drive system dynamometers in which a
load is applied to a test body in the form of a complete vehicle or a portion thereof such as,
for example, an engine dynamometer or a brake dynamometer or the like.
[0048]
20 In the above-described embodiment, the automated-driving device 1 performs
depressing and releasing operations for an accelerator pedal, a brake pedal, and a clutch
pedal, and also position switching operations for a shift lever, however, the present
invention is not limited to this. It is also possible for the automated-driving device 1 to be
formed so that it performs a portion of these operations in accordance with the type of
18
vehicle (for example, an AT vehicle or a MT vehicle) forming the test body.
[0049]
It is also possible for the above-described automated-driving vehicle 1 to be
formed such that by operating either one or a plurality of the actuators 12 that are
connected to the control 5 device 11 in a predetermined sequence, and by operating the
vehicle pedals and various buttons and the like in a predetermined sequence, the state of
the vehicle can be switched to a predetermined test mode. This test mode is a mode in
which, for example, the vehicle’s abnormality determination function is switched off, the
collision avoidance function is switched off, and the speed limiter is also disengaged. The
10 operation performed in order to switch a vehicle to test mode differs depending on the
make and model of vehicle. In this case, it is possible for the control unit 113 to store one or
a plurality of operating sequences for each actuator 12 in order to switch the vehicle to test
mode. Accordingly, when the control unit 113 receives a predetermined input from an
operator, the control unit 113 is able to perform sequence control for each actuator 12 and
15 thereby switch the vehicle to test mode.
[0050]
Furthermore, it should be understood that the present invention is not limited to
the above-described embodiment, and that various modifications and the like may be made
thereto insofar as they do not depart from the spirit or scope of the present invention.
20
[Description of the Reference Numerals]
[0051]
1 … Automated-Driving Device
11 … Control Device
19
111 … Front Surface
123 … General-Purpose Actuator
133 … General-Purpose Actuator Connector

We Claim:
1. An automated-driving device that causes a test body which is either a vehicle or
part of a vehicle to perform automated-driving using a plurality of types of actuators,
5 comprising:
a plurality of connectors to which the actuators are connected; and
a control device that controls movements of the actuators that are connected to the
connectors, wherein,
when each of the actuators is connected to one of the connectors, the control
10 device identifies the type of actuator that is connected.
2. The automated-driving device as claimed in Claim 1, wherein
each of the plurality of types of actuators has an identifier that corresponds to the
type of actuator, and
15 the control device comprises:
a storage unit that stores identification information which associates the identifier
with the type of actuator; and
an identification unit that reads the identifier of the actuator connected to the
connector and, by referring to the relevant identifier and the identification information,
20 identifies the type of actuator that is connected.
3. The automated-driving device as claimed in Claim 1, wherein each of the
plurality of connectors has the same shape.
21
4. The automated-driving device as claimed in Claim 2, wherein the storage unit
stores identification information for at least one of a starter operation, a button-type shift
operation, a paddle-type shift operation, and an air-conditioner operation.
5. The automated-driving device 5 as claimed in Claim 1, wherein, when the
automated-driving device has been installed on the driver’s seat of the test body, the
plurality of connectors are positioned at a front surface of the control device.
6. A vehicle testing system comprising:
10 the automated-driving device as claimed in Claim 1;
a dynamometer that applies a load to the test body that is being driven by the
automated-driving device; and
an exhaust gas analysis device that analyzes exhaust gas discharged from the test
body.
15
7. An identification method in which, in an automated-driving device that comprises
a plurality of connectors to which a plurality of types of actuators are connected, and that
causes a test body which is either a vehicle or part of a vehicle to perform
automated-driving using the actuators that are connected to the connectors, the types of
20 actuators that are connected to the connectors are identified, wherein
the types of actuators that are connected are identified as a result of the actuators
being connected to any one of the plurality of connectors.