Remote control for motor vehicle

• US 4,476,954 A
• Filed: 09/22/1982
• Issued: 10/16/1984
• Est. Priority Date: 09/22/1982
• Status: Expired due to Term

• Current Assignee: Ford Motor Company, Nelson & Johnson Engineering, Robal Incorporated
• Original Assignee: Johnston Engineering Limited (Bucher Industries AG)
• Inventors: Ciciora, John A., Johnson, Dale R.
• Primary Examiner(s): Peters, Jr., Joseph F.
• Assistant Examiner(s): HILL, MITCHELL
• Application Number:
  US06/421,599
• Time in Patent Office: 755 Days
• Field of Search: 180/333, 180/315, 180/179, 180/169, 180/168, 180/165, 180/79.1, 180/DIG. 3, 180/170, 180/174, 180/178, 180/334, 180/65.1, 180/65.2, 180/65.3, 180/65.4 , 180/65.5, 180/65.6, 180/65.7, 180/65.8, 74/471 R, 74/471 XY, 74/491, 364/424, 364/426, 123/352, 318/17, 318/887, 318/628, 318/663
• US Class Current: 180/333
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2710/0605 Throttle position
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 30/18 Propelling the vehicle
• CPC Class Codes: Y10T 74/20012 Multiple controlled elements
• CPC Class Codes: Y10T 74/20201 Control moves in two planes

Abstract

A remote controller is disclosed for controlling the throttle, brake and steering mechanism of a conventional motor vehicle, with the remote controller being particularly advantageous for use by severely handicapped individuals. The controller includes a remote manipulator which controls a plurality of actuators through interfacing electronics. The remote manipulator is a two-axis joystick which controls a pair of linear actuators and a rotary actuator, with the actuators being powered by electric motors to effect throttle, brake and steering control of a motor vehicle adapted to include the controller. The controller enables the driver to control the adapted vehicle from anywhere in the vehicle with one hand with minimal control force and range of motion. In addition, even though a conventional vehicle is adapted for use with the remote controller, the vehicle may still be operated in the normal manner.

Claims

1. A control system for a motor vehicle having a rotary steering mechanism, a throttle mechanism, and a brake mechanism, said control system comprising:

command means having a first portion displaceable in at least four different directions, and a second portion responsive to displacement of said first portion in different ones of said directions providing electrical signals indicative of commanded changes in the direction and speed of said vehicle;

electrically responsive means including a rotary actuator for causing rotation of said steering mechanism and linear actuators, including rack and pinion mechanisms, for actuating said throttle and brake mechanisms; and

signal processing means connected with said second portion of said command means and said electrically responsive

means, said signal processing means, responsive to received electrical signals indicative of commanded changes in vehicle direction, causing said electrically responsive means to effect rotation of said steering mechanism, and responsive to received electrical signals indicative of commanded changes in vehicle speed, causing said electrically responsive means to effect actuation of at least one of said throttle and brake mechanisms.

2. The control system of claim 1 wherein said first portion of said command means includes a joystick displaceable in opposite directions along two different axes.

3. The control system of claim 2 wherein said joystick has a limited range of motion and wherein said control system includes arm positioning means for positioning the arm of a driver manipulating said joystick.

4. The control system of claim 1 wherein said second portion of said command means includes potentiometers, the movable wipers of which are controlled by the positioning of said first portion of said command means.

5. The control system of claim 1 wherein said electrically responsive means are electro-mechanical actuators.

6. The control system of claim 1 wherein said system includes means for mounting said command means, electrically responsive means, and said signal processing means within said vehicle adjacent to an operator.

7. A control system for a motor vehicle having a rotary steering mechanism, a throttle mechanism, and a brake mechanism, said control system comprising:

command means having a first portion displaceable in at least four different directions, and a second portion responsive to displacement of said first portion in different ones of said directions providing electrical signals indicative of commanded changes in the direction and speed of said vehicle;

electrically responsive means including a rotary actuator for causing rotation of said steering mechanism and linear actuators for actuating said throttle and brake mechanisms; and

signal processing means connected with said second portion of said command means and said electrically responsive means, said signal processing means, responsive to received electrical signals indicative of commanded changes in vehicle direction, causing said electrically responsive means to effect rotation of said steering mechanism, and responsive to receive electrical signals indicative of commanded changes in vehicle speed, causing said electrically responsive means to effect actuation of at least one of said throttle and brake mechanisms, said signal processing means including first means for providing a signal indicative of commanded position, second means for providing a signal indicative of actual position, and error signal producing means for receiving signals from said first and second means and producing an error signal for driving said electrically responsive means to said commanded position.

8. The control system of claim 7 wherein said second means includes velocity and position feedback loops.

9. The control system of claim 8 wherein said velocity feedback loop includes a tachometer and said position feedback loop includes a position potentiometer.

10. A control system for a motor vehicle having a rotatable steering mechanism, a throttle pedal, and a brake pedal mounted for access within the vehicle at a driver station, said control system comprising:

command means within said vehicle for providing electrical signals indicative of desired changes in direction and speed of said motor vehicle;

signal processing means within said vehicle connected with said command means to receive said electrical signals therefrom and responsive thereto providing electrical output signals indicative of needed changes in direction and speed to that desired; and

electrically responsive actuating means connected with said signal processing means to receive said electrical output signals therefrom said electrically responsive actuating means having one portion connected with said rotatable steering mechanism within said vehicle for rotating said steering mechanism to effect needed changes in direction of said vehicle, and a second portion within said vehicle connected with said throttle pedal and said brake pedal for depressing the same to effect needed changes in the speed of said vehicle.

11. The control system of claim 10 wherein said command means is a two-axis joystick with limited range of motion in opposite directions with said axe being normal to one another.

12. The control system of claim 18 wherein said electrically responsive actuating means includes a rotary actuator and a pair of linear actuators.

13. A control system for a motor vehicle having a rotary steering mechanism, a throttle mechanism, and a brake mechanism, said control system comprising:

a joystick displaceable in opposite directions along two different axes, said joystick having a limited range of motion;

potentiometer means having movable wipers controlled and positioned by said joystick;

command signal developing means connected with said potentiometer means to provide electrical signals indicative of commanded direction and speed of said motor vehicle;

actual signal developing means including tachometer means and position potentiometer means to provide electrical signal indicative of actual direction and speed of said motor vehicle;

signal combining means connected to receive said electrical signals from said command signal developing means and said actual signal developing means responsive thereto providing error output signals;

a rotary actuator connected to receive said error output signals indicative of needed changes in the direction of said motor vehicle and responsive thereto rotating said rotary steering mechanism to effect said direction changes; and

linear actuator means connected to receive said error output signals indicative of needed changes in the speed of said motor vehicle and responsive thereto actuating at least one of said throttle mechanism and brake mechanism to effect said speed changes.

14. The control system of claim 13 wherein said actual signal developing means includes a velocity feedback loop including said tachometer means and a position feedback loop including said position potentiometer means.

15. The control system of claim 13 wherein said potentiometer means includes separate potentiometers connected to sense motion of said joystick in each of said axes and directions of movement, wherein said electrical signals indicative of command direction and speed are separate signals developed for each, wherein said actual signal developing means develop separate electrical signals for direction and speed, and wherein said electrical signals indicative of direction and speed are separately combined for providing direction error signals and speed error signals.

16. The control system of claim 13 wherein said linear actuating means includes rack and pinion mechanisms, and wherein said rack and pinion mechanisms are connected with said throttle and brake mechanisms through position-to-force converters.

17. The control system of claim 16 wherein said position-to-force converter connecting said rack and pinion mechanism through said brake mechanism includes a spring for spring loading of said converter.