|Base vehicle||Toyota Estima Hybrid|
|Model year||2009 - 2012 * We are planning to expand the year |
|Riding capacity||7, 8 (choice)|
|Size||Length 4.8 m × width 1.82 m × height 1.76 m|
|Drive mechanism||Front engine electric four-wheel drive (E-Four)|
The following vehicle CAN information can be acquired by ADC.
- Steering angle - Brake ON / OFF
- Accelerator depression amount - Speed
- Wheel speed (right front, left front, right rear, left rear) - Shift position
- Engine speed - Coolant temperature
- Odometer - door open / closed state
- Light on
For the brake depression amount, turn signal condition etc, you can obtain the control value from ADC.
RoboCar MiniVan is a control system for moving forward and backward from "RUNNING" and "STOP" from the standard RoboCar PC or user exclusive device, so that you can control by accelerator and brake in the following two ways.
(1) Velocity mode
A target value of the traveling speed of the vehicle is input as an input value.Control to the target value is independently set by the ZMP inside the ADC, and the control gain can be changed by parameter setting. As the user only inputs the target speed, it is easy to handle mode.
(2) Pedal mode
Enter the accelerator and brake depression amount (strength) as input value.The control program to the target value can be built independently by the user himself, and RoboCar MiniVan transmits the control amount of the accelerator and the brake directly to the vehicle via the ADC. This mode allows the user to define the control logic for reaching the target speed finely.
In the program mode of RoboCar MiniVan, using the EPS motor installed in the vehicle, the standard RoboCar PC,
Or you can control the position (angle) of the steering that performs "bend" operation from the user exclusive device.
As a method, you can select control by the following two methods.
(1) Angle mode
(2) Torque mode
Each of the two control modes will be explained below.
The target value of the steering angle of the steering wheel is set as an input value
The control to the target value is done by PID control (*), and the control gain can be changed by parameter setting.
The range can be entered from the right rotation 666 degrees to the left rotation 666 degrees at the angle of the steering wheel.
(2) Torque mode
The amount of torque to the EPS motor of the steering is input as an input value
The steering torque amount indication is reflected at the moment when the command command is received, and the range is given from the -4096 (right rotation) to 4096 (left rotation) to the EPS motor as the output of the torque sensor.
As a lighting device of RoboCar MiniVan, the following can be controlled from the RoboCar PC or user exclusive device.
- Forward light
- Left and right turn signal
- Brake lamp
RoboCar MiniVan has the following safety functions.
- Safety function of the base vehicle itself
The ABS (Anti-lock Braking System) function, the air bag function, other warning indication etc. which are provided in the base vehicle are maintained as it is in RoboCar MiniVan.
- Migration to forced manual mode due to critical error occurrence
When the following events occur during operation in program mode, it forcibly shifts to manual mode and is handed over to driver's operation.
· There is no command value from the upper controller side for a certain period of time
· CAN communication error of base vehicle
· Sensor fault in base vehicle
- Equipment for emergency stop button
RoboCar MiniVan has an emergency stop button like a picture. (Installation location can be changed by user)
When you press the emergency stop button, the speed command value zero is input and the vehicle stops.
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