JP2005152189A - Vehicle control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To recognize a relationship between a vehicle initial travelable distance calculated from a remaining battery charge amount at the time of executing a charging operation to a mounted battery and an actual vehicle travel distance, and thereby, for example, return To provide a vehicle control device that makes it possible to reliably return to the ground.
A feedback alarm that prompts feedback by comparing a vehicle initial travelable distance (X) calculated by a vehicle initial travelable distance calculation unit and a vehicle travel distance (Y) integrated by the vehicle travel distance integration unit. Is provided with feedback alarm output means for appropriately outputting.
[Selection] Figure 4

Description

  The present invention relates to a vehicle control device for controlling a vehicle such as an electric wheelchair for elderly people referred to as “Senia Car (trade name, registered trademark of Suzuki Motor Corporation)”, and is particularly mounted. Comparing the vehicle initial travelable distance (X) calculated from the remaining battery charge during the charging operation of the battery with the actual vehicle travel distance (Y), and appropriately outputting a feedback alarm that prompts the user to go home It relates to something that was devised.

  As an electric wheelchair for elderly people referred to as “Senia Car (trade name, registered trademark of Suzuki Motor Co., Ltd.)”, various configurations have been proposed. For example, Patent Document 1, Patent Document 2, and Patent Document 3 disclose such electric wheelchairs.

JP 05-008781 A Japanese Patent Laid-Open No. 07-096007 Japanese Patent Laid-Open No. 2002-104278

  The electric wheelchairs disclosed in Patent Literature 1, Patent Literature 2, and Patent Literature 3 are generally configured as follows. First, there is a vehicle body, and one front wheel is attached to the front portion of the vehicle body. A pair of rear wheels is attached to the rear part of the vehicle body. A handle for operation is attached to the front of the vehicle body. Further, an electric motor and a rotation transmission mechanism for transmitting the rotation of the electric motor to the rear wheels are installed at the rear part of the vehicle body. A battery for supplying power to the electric motor is mounted at the rear of the vehicle body. In addition, a driver's seat and a backrest are provided at the rear of the vehicle body.

  According to the above configuration, the driver performs the work of charging the battery at home or the like. Then, while sitting on the driver's seat, turning on the power and operating the steering wheel, the vehicle travels to the target location.

The conventional configuration has the following problems.
That is, the remaining battery charge can be recognized by the meter. However, the relationship between the remaining battery charge and the distance that can be traveled cannot be recognized. Therefore, even if it can be recognized that the remaining battery charge is low, it is already at that time. There was a case where it was impossible to return to.

  The present invention has been made on the basis of the above points, and the object of the present invention is to determine the vehicle's initial travelable distance calculated from the remaining battery charge at the time of executing the charging operation to the mounted battery and the actual vehicle travel. It is an object of the present invention to provide a vehicle control device that makes it possible to recognize a relationship with a distance and thereby, for example, to be able to reliably return to a return place.

In order to achieve the above object, a vehicle control apparatus according to claim 1 of the present invention is mounted on a battery charging operation detecting means for detecting that a charging operation of a battery mounted on the vehicle has been executed, and on the vehicle. A remaining battery charge detecting unit for detecting a remaining battery charge, and a remaining battery charge detected by the remaining battery charge detecting unit when the battery charging operation detecting unit detects that the battery charging operation has been executed. Vehicle initial travelable distance calculation means for calculating the initial travelable distance (X) of the vehicle estimated from the amount, motor rotation speed counting means for counting the rotation speed of a motor mounted on the vehicle, and the motor rotation The vehicle travel distance (Y) is integrated from the motor rotational speed counted by the number counting means and the battery charging operation is performed. When the detection unit detects that the battery charging operation has been performed, the vehicle travel distance integration unit that resets the previous integration and newly starts the integration, and the vehicle calculated by the vehicle initial travelable distance calculation unit Feedback alarm output means for appropriately outputting a feedback alarm for prompting feedback by comparing the initial travelable distance (X) and the vehicle travel distance (Y) accumulated by the vehicle travel distance accumulation means. It is what.
The vehicle control apparatus according to claim 2 is the vehicle control apparatus according to claim 1, wherein the feedback alarm output means is a vehicle initial travelable distance (X) calculated by the vehicle initial travelable distance calculation means. / 2 and the vehicle travel distance (Y) calculated by the vehicle travel distance integration means are compared, and a feedback alarm for prompting feedback is output when X / 2> Y. It is.
According to a third aspect of the present invention, in the vehicle control device according to the first or second aspect, the remaining battery charge amount is detected when the battery charge operation detecting means detects that the battery charge operation has been executed. An initial battery charge remaining amount storage means for storing the initial battery charge remaining amount (A) detected by the detection means is provided, and the feedback alarm output means is an initial battery stored by the initial battery charge remaining amount storage means. Comparing the remaining charge amount (A) with the remaining battery charge amount (B) detected by the remaining battery charge detection means during traveling, a feedback alarm for prompting feedback is appropriately output. Is.
The vehicle control device according to claim 4 is the vehicle control device according to claim 3, wherein the feedback alarm output means detects the remaining battery charge level during driving with 1/2 of the initial remaining battery charge level (A). Compared with the remaining battery charge (B) detected by the means, a feedback alarm for prompting feedback is appropriately output when A / 2> B.
The vehicle control apparatus according to claim 5 is the vehicle control apparatus according to claim 3, wherein the feedback alarm output means is ½ of the initial battery charge remaining amount (A) and the battery charge remaining amount during traveling. By comparing the remaining battery charge (B) detected by the detection means with the value obtained by adding the battery charge (α) corresponding to the safe mileage, a feedback alarm for prompting feedback is appropriately provided when A / 2> B + α. It is what outputs.
A vehicle control device according to claim 6 is the vehicle control device according to any one of claims 1 to 5, wherein the vehicle initial travelable distance (X) calculated by the vehicle initial travelable distance calculation means is Further, there is provided display means for comparing and displaying the remaining vehicle travelable distance calculated based on the vehicle travel distance (Y) calculated by the vehicle travel distance integrating means.
The vehicle control device according to claim 7 is the vehicle control device according to claim 6, wherein the feedback alarm output means outputs a feedback alarm by lighting and blinking via the display means. It is what.
A vehicle control device according to claim 8 is the vehicle control device according to any one of claims 1 to 7, wherein the vehicle is an electric wheelchair for elderly people.

As described above, according to the vehicle control apparatus of the present invention, the vehicle initial travelable distance (X) calculated by the vehicle initial travelable distance calculation means is compared with the vehicle travel distance (Y) integrated by the vehicle travel distance integration means. Since it is configured to output a warning to promptly return, even if it can be recognized that the remaining battery charge is low, there is already a situation where it is not possible to return to the place of return at that time Can be prevented in advance.
Here, it supplements about the meaning of issuing an alarm by contrast with the vehicle initial travelable distance and the actual vehicle travel distance. For example, simply assume a configuration in which an alarm is output based on only the remaining battery charge. For example, it is assumed that the forward road travels from a mountain to a valley and the backward road travels from a valley to a mountain. In this case, since the vehicle travels from a high place to a low place on the outward trip, the battery consumption is relatively low, and therefore, it is possible to travel over a relatively long distance when a half of the remaining battery charge is taken as a guide. It is. However, since the return path is traveling from low to high, battery consumption is severe, and it is impossible to return even if returning to the return path with half the initial battery charge remaining as a guide. . In that respect, in the case of the present invention, since it is configured to issue an alarm based on a comparison between the vehicle initial travelable distance and the actual vehicle travel distance, there is no such concern.
Further, the vehicle initial travelable distance (X) calculated by the vehicle initial travelable distance calculating means ½ is compared with the vehicle travel distance (Y) calculated by the vehicle travel distance integrating means, and X When a feedback alarm for encouraging feedback is output when / 2> Y, the feedback alarm can be output in a state where a remaining battery charge level that can be returned is secured.
Further, a feedback alarm for prompting feedback by comparing the initial battery charge remaining amount (A) detected by the battery charge remaining amount detection means with the battery charge remaining amount (B) detected by the battery remaining amount detection means during traveling. Is output as appropriate, a feedback alarm is output by a double check of the feedback alarm output based on the comparison between the vehicle initial travelable distance (X) and the vehicle travel distance (Y). Therefore, the occurrence of an unexpected situation can be prevented with a higher probability.
Specifically, the actual vehicle travel distance (Y) does not reach half of the initial vehicle travel distance (X), but depending on various conditions during travel, the remaining battery charge may be greatly consumed (for example, Traveling from the valley to the mountain), in which case the necessary alarm is given by comparing the initial remaining battery charge level (A) with the remaining battery charge level (B) detected by the remaining battery level detection means during driving. Therefore, it is possible to more reliably prevent the occurrence of unexpected situations.
Further, 1/2 of the initial battery charge remaining amount (A) is compared with the battery charge remaining amount (B) detected by the battery charge remaining amount detecting means during traveling, and feedback is returned when A / 2> B. When a feedback alarm that prompts the user to output is appropriately output, the feedback alarm can be output in a state in which a battery charge remaining amount that can be returned is secured.
Further, the battery charge amount (α) corresponding to the safe travel distance is set to 1/2 of the initial battery charge remaining amount (A) and the battery charge remaining amount (B) detected by the battery charge remaining amount detecting means during traveling. When the added value is compared and a feedback alarm for prompting feedback is appropriately output when A / 2> B + α, the feedback alarm can be output with a sufficient margin.
Also, the remaining vehicle travelable distance calculated based on the vehicle initial travelable distance (X) calculated by the vehicle initial travelable distance calculating means and the vehicle travel distance (Y) calculated by the vehicle travel distance integrating means. If a display means for comparing and displaying is provided, a higher alerting effect can be expected in combination with the feedback alarm output.
In addition, a high alerting effect can be expected when the feedback alarm is output by turning on and blinking via the display means.
Although various vehicles are assumed, for example, an electric wheelchair for elderly people is conceivable. In this case, since the driver is an elderly person, it is extremely effective.

Hereinafter, an embodiment of the present invention will be described with reference to FIGS. This embodiment shows an example in which the present invention is applied to an electric wheelchair for elderly people referred to as “senior car (trade name, registered trademark of Suzuki Motor Corporation)”.
First, an overall schematic configuration of the electric wheelchair will be described with reference to FIG. There is a vehicle body 1, and one front wheel 3 is attached to the front portion of the vehicle body 1. A pair of rear wheels 5 and 5 are attached to the rear portion of the vehicle body 1 (only one rear wheel 5 is shown in FIG. 1).

  A driver's seat 7 and a backrest 9 are installed at the rear of the vehicle body 1. Further, an electric motor (not shown in FIG. 1 but indicated by reference numeral 12 in FIG. 3) and a rotation of the electric motor 12 in the cover 11 below the driver seat 7 are rotated by the pair of rear wheels. A rotation transmission mechanism and the like for transmitting to the fifth and fifth sides are accommodated and arranged. A handle support shaft 11 is installed at the front of the vehicle body 1, and an operation box 13 is installed at the upper end of the handle support 11. An operation handle 15 is attached to the operation box 13. A battery 16 is built in the cover 11 and in the vicinity of the electric motor 12. The electric motor 12 is driven by the electric power charged in the battery 16.

  When the handle support shaft part 11, the operation box part 13, and the operation handle 15 are viewed from above, the structure is as shown in FIG. First, a charger 17 is disposed on the handle spindle 11. The battery 16 is charged with electric power through the charger 17. That is, at home, an electric cord (not shown) is inserted into the charger 17 and a household outlet. Thereby, the battery 16 is charged. When the operation box section 13 is viewed, an operation section 23 and a display section 25 are installed on the surface of the operation box section 13. In the operation unit 23, operation switches 27, 29, 31, 33, and 35 are arranged. The display unit 25 includes a vehicle initial travelable distance display unit 37 and a remaining vehicle travelable distance display unit 39.

  As shown in FIGS. 3, 7, and 8, the vehicle initial travelable distance display unit 37 is displayed by lighting a plurality of lamps 37a. The longer the travelable distance is, the more lamps are displayed. 37a is lit. Similarly, the remaining vehicle travelable distance display section 39 is also displayed by lighting of a plurality of lamps 39a. In this case, the number of lamps 39a to be lit gradually increases as the driving continues. It will decrease. That is, the number of lamps 39a corresponding to the remaining travelable distance is turned on.

  Next, the configuration of the control means will be described. FIG. 3 is a block diagram showing the configuration of the control means 41. The control means 41 includes a calculation unit 43, a display alarm control unit 45, a motor rotation number counting unit 47, a battery charging operation detection unit 49, and a remaining battery charge detection unit. 51, etc. The calculation unit 43 includes a vehicle initial travelable distance calculation unit 42, an initial battery charge remaining amount storage unit 44, a vehicle travel distance integration unit 46, and the like. The motor rotation number counting unit 49 counts the rotation number based on a signal from the electric motor 12. Then, the vehicle travel distance integration unit 46 integrates the travel distance based on the count value. The battery charging operation detector 49 detects that a battery charging operation has been executed based on a signal from the charger 17. The remaining battery charge detection unit 51 detects the remaining battery charge based on a signal from the battery 16. The vehicle initial travelable distance calculation unit 42 calculates the vehicle initial travelable distance based on the signal from the battery charge remaining amount detection unit 51 when the battery charging operation is performed. The initial battery charge remaining amount value is stored in the initial battery charge remaining amount storage unit 44.

  The calculation unit 43 performs necessary calculation processing based on each input signal. Then, a control signal is output to the display / alarm controller 45. As a result, a predetermined character is displayed on the vehicle initial travelable distance display unit 37 and the remaining vehicle travelable distance display unit 39 of the display unit 25, and a predetermined feedback alarm display is executed. . In this embodiment, the predetermined alarm display is made by switching the display of the remaining vehicle travelable distance display section 39 from a simple lighting display to a lighting / flashing display.

The operation will be described with reference to the flowcharts of FIGS. 4 and 5 based on the above configuration. In FIG. 4, first, the operation is started. The above operation start means that the battery 16 is charged through the charger 17 and then the operation is started. In step S1, the battery initial charge remaining amount (A) of the battery 16 is detected. Further, the vehicle initial travelable distance (X) is calculated based on the detected battery initial charge remaining amount (A) (step S2). The calculated vehicle initial travelable distance (X) is displayed on the vehicle initial travelable distance display unit 37 (step S3).
The detected battery initial charge remaining amount (A) is stored in the initial battery charge remaining amount storage unit 44.

  Next, running is started after the charging operation to the battery 16 is completed. When traveling is started, the number of revolutions of the electric motor 12 is counted (step S4), and the vehicle traveling distance (Y) that the electric wheelchair has actually traveled is integrated based on the counted value (step S5). Then, the process proceeds to step S6, where the vehicle initial travelable distance (X) is compared with the actual vehicle travel distance (Y). That is, a comparison is made between ½ of the initial travelable distance (X) and the actual vehicle travel distance (Y) (step S6).

  If X / 2> Y, the process proceeds to step S7. If it is determined that X / 2 ≦ Y, the process proceeds to step S8. In step S8, a warning display for prompting the user to return home is performed. On the other hand, in step S7, the remaining charge (B) of the battery 16 at that time is detected. Then, the process proceeds to step S9, where the initial battery charge remaining amount (A) is compared with the current battery charge remaining amount (B).

That is, a value obtained by adding 1/2 of the initial battery charge remaining amount (A) and the current battery charge remaining amount (B) to the battery charge amount (α) corresponding to the safe travel distance, that is, (B + α) is compared. To do. If it is determined that A / 2> B + α, the process proceeds to step S10. On the other hand, if it is determined that A / 2 ≦ B + α, the process proceeds to step S8 described above, and a predetermined warning display is executed. In step S <b> 10, the remaining vehicle travelable distance is displayed via the remaining vehicle travelable distance display unit 39.
The warning display is executed in the form of lighting / flashing of the remaining vehicle travelable distance display unit 39.
Hereinafter, the same cycle is repeated.

  Further, as shown in FIG. 5, when the battery 16 is subsequently charged, the total travel distance is reset (step S11). Further, the operations in steps S1 and S2 in FIG. 4 are also executed again.

  The contents described in FIGS. 4 and 5 will be confirmed with reference to the characteristic diagram of FIG. FIG. 6 is a diagram showing the range in which the home warning display is executed, with the horizontal axis indicating the vehicle initial travelable distance (X) and the vertical axis indicating the initial remaining battery charge amount (A). First, when viewed in the direction of the horizontal axis, the return home warning display is executed when half of the vehicle initial travelable distance (X) has passed. Further, when viewed in the vertical axis direction, the return home warning display is executed when the value obtained by adding the α amount to half of the initial battery charge remaining amount (A) is passed.

In FIG. 6, a diagram a shows an example in which the forward path is a runway from a mountain to a valley and the return path is a run from a valley to a mountain. In the case of an outward trip, since the vehicle travels from a high place to a low place, the battery consumption is relatively small. However, the vehicle travel distance (Y) is half the initial vehicle travel distance (X). If this happens, an alarm is output.
Next, as shown in the diagram b, this is a case where the vehicle is running on a flat place, and thus the battery consumption is always constant. In this case as well, an alarm is output if the vehicle travel distance (Y) is half the initial vehicle travel distance (X).
Next, diagram c shows an example in which the forward path is a runway from the valley to the mountain, and the return path is a runway from the mountain to the valley. In the case of an outward trip, since the vehicle travels from a low place to a high place, the battery consumption is relatively large. In this case, an alarm is not output when the vehicle initial travelable distance (X) is compared with the actual vehicle travel distance (Y), but 1/2 of the initial remaining battery charge (A) and the current In comparison with (B + α), a value obtained by adding the battery charge amount (α) corresponding to the safe travel distance to the remaining battery charge amount (B), it is determined that an alarm output is necessary. .

  The display contents on the display unit 25 are shown in FIGS. First, FIG. 7 is a diagram showing a normal state before the return home warning display is output, and the desired travelable distance display section 37 has a number corresponding to the initial travelable distance. The lamp 37a is lit. On the other hand, the remaining vehicle travelable distance display unit 39 is in a state where a number of lamps 39a corresponding to the remaining travelable distance are lit. The number of lamps 39a that are lit decreases as the travel distance increases.

On the other hand, although it is FIG. 8, this has shown the state in which the return warning display is performed. First, the number of lamps 37a corresponding to the initial travelable distance is lit on the vehicle initial travelable distance display section 37, which is the same as that shown in FIG. On the other hand, the remaining vehicle travelable distance display unit 39 is in a state in which the number of lamps 39a corresponding to the remaining travelable distance is lit, but the amount is below a predetermined amount, The lamp 39a is lit / flashing. Thus, the return home warning is displayed.
When the remaining travelable distance becomes “0”, all the lamps are turned off.

As described above, according to the present embodiment, the following effects can be obtained.
First, since the vehicle initial travelable distance (X) is compared with the accumulated vehicle travel distance (Y) so as to prompt the user to return as appropriate, the remaining charge of the battery 16 is reduced. Even if it can be recognized, it is possible to prevent a situation in which it is impossible to return to the home at that time.
At that time, since a vehicle warning distance (Y) is compared with a vehicle travel distance (Y), a feedback alarm for prompting feedback is output when X / 2> Y. A feedback alarm can be output when possible.
In addition, since the initial battery charge remaining amount (A) and the battery charge remaining amount (B) detected during traveling are compared, a feedback alarm for prompting feedback is output as appropriate. A feedback alarm is output by double check of the feedback alarm output based on the comparison between the travelable distance (X) and the vehicle travel distance (Y), and the occurrence of an unexpected situation is prevented with a higher probability. Can do.
At that time, the battery charge amount (α) corresponding to the safe travel distance is set to 1/2 of the initial battery charge remaining amount (A) and the battery remaining charge (B) detected by the battery remaining amount detecting means during traveling. Compared with the added value, when A / 2> B + α, a feedback alarm for prompting feedback is appropriately output, so that the feedback alarm can be output with a sufficient margin.
In addition, since the vehicle initial travelable distance display unit 37 and the remaining vehicle travelable distance display unit 39 are provided for comparison and display, sufficient alerting can be performed in combination with the feedback alarm output.

The present invention is not limited to the one embodiment.
In the one embodiment, the electric wheelchair for elderly people has been described as an example of the vehicle. However, the present invention is not limited thereto, and can be similarly applied to various vehicles that run using a battery. is there.
Moreover, what kind of value should be determined as appropriate for the safety factor.
Various warning means are envisaged. For example, it is conceivable to perform warning by outputting sound together with display.

  The present invention appropriately outputs a feedback alarm that prompts the user to return home by comparing the initial vehicle travelable distance calculated from the remaining charge amount when the charging operation for the mounted battery is executed and the actual vehicle travel distance. For example, the present invention is applicable to a vehicle control device for controlling a vehicle such as an electric wheelchair for elderly people called “Senia Car (trade name, registered trademark of Suzuki Motor Corporation)”. .

It is a figure which shows one embodiment of this invention, and is a side view which shows the whole structure of an electric wheelchair. It is a figure which shows one embodiment of this invention, and is a partial perspective view which shows the operation handle | steering-wheel of an electric wheelchair, and the structure of the vicinity. It is a figure which shows one embodiment of this invention, and is a block diagram which shows the structure of the control apparatus of an electric wheelchair. It is a figure which shows one embodiment of this invention, and is a flowchart which shows the control content by the control apparatus of an electric wheelchair. It is a figure which shows one embodiment of this invention, and is a flowchart which shows the control content by the control apparatus of an electric wheelchair. It is a figure which shows one embodiment of this invention, and is a figure which shows the relationship between a battery residual amount and a vehicle travelable distance. It is a figure which shows one embodiment of this invention, and is a figure which shows an example of the display by a display part at the time of normal. It is a figure which shows one embodiment of this invention, and is a figure which shows an example of the display by a display part at the time of alarm output.

Explanation of symbols

16 Battery 17 Charger 23 Operation unit 25 Display unit 37 Vehicle initial travelable distance display unit 39 Vehicle travel distance display unit
41 Control means 43 Calculation unit 45 Display alarm control unit 47 Rotational speed counting unit 49 Charging signal detection unit 51 Battery remaining amount measurement unit

Claims (8)

Battery charging operation detecting means for detecting that a charging operation of a battery mounted on the vehicle has been executed;
Battery charge remaining amount detection means for detecting the remaining charge amount of the battery mounted on the vehicle;
When the battery charging operation detecting means detects that the battery charging operation has been executed, an initial vehicle travelable distance (X) estimated from the battery remaining charge detected by the remaining battery charge detecting means is calculated. Vehicle initial travelable distance calculating means,
Motor rotation number counting means for counting the rotation number of the motor mounted on the vehicle;
The vehicle travel distance (Y) is integrated from the motor rotation speed counted by the motor rotation speed counting means, and when the battery charging operation detecting means detects that the battery charging operation has been executed, the integration up to that time is performed. Vehicle mileage integrating means for resetting and newly starting integration;
The vehicle initial travelable distance (X) calculated by the vehicle initial travelable distance calculating means is compared with the vehicle travel distance (Y) integrated by the vehicle travel distance integrating means, and a feedback alarm that prompts feedback is output as appropriate. Feedback alarm output means,
A vehicle control device comprising: The vehicle control device according to claim 1,
The feedback alarm output means includes a vehicle initial travelable distance (X) calculated by the vehicle initial travelable distance calculation means and a vehicle travel distance (Y) calculated by the vehicle travel distance integration means. In contrast, the vehicle control apparatus is characterized in that a feedback warning for urging the feedback is output when X / 2> Y. In the vehicle control device according to claim 1 or 2,
Initial battery charge remaining storage means for storing the initial battery charge remaining amount (A) detected by the battery charge remaining amount detection means when the battery charge operation detection means detects that the battery charge operation has been executed; Provided,
The feedback alarm output means uses the initial battery charge remaining amount (A) stored by the initial battery charge remaining amount storage means and the battery charge remaining amount (B) detected by the battery charge remaining amount detection means during traveling. A vehicle control device characterized in that a feedback alarm for prompting feedback in comparison is output as appropriate. The vehicle control device according to claim 3, wherein
The feedback alarm output means compares A / 2 of the initial battery charge remaining amount (A) with the battery charge remaining amount (B) detected by the battery charge remaining amount detection means during traveling. A vehicle control device that appropriately outputs a feedback alarm for prompting a return when> B. In the vehicle control device according to claim 3,
The feedback alarm output means is configured to charge the battery in accordance with the safe travel distance by 1/2 of the initial battery charge remaining amount (A) and the remaining battery charge (B) detected by the battery charge remaining amount detection means during traveling. A vehicle control device, which compares with a value obtained by adding an amount (α) and appropriately outputs a feedback alarm for prompting feedback when A / 2> B + α. In the vehicle control device according to any one of claims 1 to 5,
The vehicle remaining travelable distance calculated based on the vehicle initial travelable distance (X) calculated by the vehicle initial travelable distance calculating means and the vehicle travel distance (Y) calculated by the vehicle travel distance integrating means A vehicle control device comprising a display means for comparative display. The vehicle control device according to claim 6, wherein
The vehicle control device according to claim 1, wherein the feedback alarm output means outputs a feedback alarm by turning on and blinking via the display means. In the vehicle control device according to any one of claims 1 to 7,
A vehicle control device, wherein the vehicle is an electric wheelchair for elderly people.

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