JP2003202926A - Vehicle operating device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle operating device capable of making an operation member inoperable by inhibiting the generation of any reaction to the operation member corresponding to the displacement position of the operation member when a traveling vehicle collides. <P>SOLUTION: This vehicle operating device is provided with an operation lever 10 to be operated by a driver, a right and left reaction generating mechanism 20 for generating a reaction to the operation lever 10 corresponding to the displacement position of the operation lever 10, and a forward and backward reaction generating mechanism 30. In addition, this vehicle operating device is provided with acceleration sensors 40a and 40b for detecting the collision of a vehicle and an electric controller 41, and the electric controller 41 controls the right and left reaction generating mechanism 20 and the forward and backward reaction generating mechanism 30 to make the operation lever 10 inoperable in response to the detection of the collision of the vehicle by the acceleration sensors 40a and 40b. <P>COPYRIGHT: (C)2003,JPO

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention
Of the operating member according to the displacement position of the operating member
The present invention relates to a vehicle operating device that generates a force. 2. Description of the Related Art Conventionally, for example, Japanese Patent Application Laid-Open No. H11-171
No. 025, the joystick
Joystick to the vehicle body
To tilt the vehicle left and right and back and forth to accelerate, brake and
And a vehicle that steers. [0003] However, the conventional
In a vehicle, for example, an object such as
, The joystick is movable,
Holding the joystick with the momentum of the collision ahead of the vehicle
You may rush to the side. Also, due to vehicle collision
If the impact is large, the projecting
Isticks can be a barrier to the driver. SUMMARY OF THE INVENTION The present invention seeks to address the above problems.
If a moving vehicle collides, the operating member
Change the reaction force control mode of the
Providing a vehicle operation device that can properly maintain the state
The purpose is to do. In order to achieve the above object, the present invention
The characteristic of the vehicle operating device is that it is operated by the driver.
Member and an operation member corresponding to the displacement position of the operation member.
Reaction force generating means for generating a reaction force and detecting collision of a vehicle
For collision detection means and vehicle collision detection by the collision detection means
Reaction force control mode that changes the control mode of the reaction force generating means in response
And means for changing the state. [0006] The vehicle operation device of the present invention configured as described above.
According to the arrangement, if the vehicle is in a normal running state, the operating member
Operation force is generated in the operation member according to the displacement position of
Is stable, and when the collision detection means detects a vehicle collision,
The force control mode changing means changes the control mode of the reaction force generating means.
I do. To change this control mode, the reaction force
And the operating members are biased by the driver's weight.
If an operation member does not move,
Operation members can move without resistance without reaction force against the material
And so on. [0007] Therefore, the driver of the vehicle collision,
The driver can lean forward and backward or left and right
Moves the body to the driver's seat by catching the operating member
Can be maintained. Conversely, the operation member
To eliminate the reaction force and tilt the operating member freely.
Operating members protruding closer to the driver's seat may cause driver obstruction
Can be prevented. In this case, the strength of the operating member is low.
To break or bend by impact
Preferably. A vehicle operating device according to the present invention will be described below.
An embodiment will be described with reference to the drawings. This vehicle operation equipment
The operating lever (operating lever) as an operating member shown in FIG.
(Stick) 10. The operation lever 10 is
Installed near the driver's seat in the vehicle's console box
And the driver moves forward as indicated by the arrow in FIG.
It is tilted backward and left and right. FIG. 2 shows an operation lever including an operation lever 10.
FIG. 2 shows a schematic perspective view of the device. The operating lever 10 is a circle
A pillar-shaped rod 10a and a fixed upper outer periphery of the rod 10a
And a fixed cylindrical holding portion 10b. Soshi
The rod 10a has a spherical portion 10c at a substantially central portion.
And the left and right with respect to the vehicle body by the spherical portion 10c.
It is supported rotatably in the front-rear direction. The operating lever device is used when the vehicle is started.
Next, a return force to make the operation lever 10 stand alone at the initial position is provided.
(The dash-dot line in FIG. 2)
Out of the force to move from the specified position to the position indicated by the solid line
) And the vehicle travels.
At times, the operation lever 10 is
Force (running the vehicle from the neutral position
Generation of a reaction force in the left-right direction that generates a force that opposes the operation force of the diver
A mechanism 20 is provided. This left-right reaction force generating mechanism 20
Are a guide plate 21, a rotating shaft 22, a first gear 23,
Second gear 24, left and right reaction force electric motor 25 and operation
A position sensor 26 is provided. The guide plate 21 is bent in an L-shape.
The surface fixed to the rotating shaft 22 is a vertical surface
On the horizontal surface.
Has a width slightly larger than the diameter of the door 10a, and
A groove 21a having a longitudinal direction is provided. And
The rod 10a passes through the inside of the groove 21a. Axis of rotation
Reference numeral 22 denotes a state in which the axis of the
Hold the body so that it passes through the center of the spherical portion 10c of the lever 10.
And rotatably supported, with the first gear 23 integrated in the center
Are prepared. This first gear 23 is
It meshes with the second gear 24 fixed to the rotating shaft. The operation position sensor 26 is provided at an end of the rotating shaft 22.
Position, and is fixed to the vehicle body side.
It is detected as a displacement position of the operation lever 10 in the left-right direction.
The value of the displacement position, which is the output of the operation position sensor 26,
When the operation lever 10 is in the neutral position in the left-right direction
It has been adjusted to be "0". [0013] Further, the operation lever device is provided when the vehicle is started.
Next, a return force to make the operation lever 10 stand alone at the initial position is provided.
(The dash-dot line in FIG. 2)
Out of the force to move from the specified position to the position indicated by the solid line
The vehicle running)
Sometimes, the operation lever 10 is opposed to tilting in the vehicle longitudinal direction.
Force (running from the neutral position
Generation of reaction force in the front-rear direction that generates a force that opposes the operation force of the diver
A mechanism 30 is provided. This longitudinal reaction force generating mechanism 30
Are a guide plate 31, a rotating shaft 32, a third gear 33,
A fourth gear 34, an electric motor 35 for front / rear reaction force,
A working position sensor 36 is provided. The guide plate 31 is bent in an L-shape.
The surface fixed to the rotating shaft 32 is a vertical surface
On the horizontal surface.
With a width slightly larger than the diameter of the pad 10a
Is provided with a groove 31a having a longitudinal direction. Soshi
The rod 10a penetrates the groove 31a. Ma
In addition, when the axis of the rotation shaft 32 is along the left-right direction of the vehicle,
First, pass through the center of the spherical portion 10c of the operation lever 10.
Supported rotatably with respect to the vehicle body, and a third gear in the center
33 are integrally provided. The third gear 33 is an electric motor.
Meshing with the fourth gear 34 fixed to the rotation shaft of the motor 35
I have. The operation position sensor 36 is provided at an end of the rotating shaft 32.
Position and is fixed to the vehicle body side, and the rotation angle of the rotation shaft 32 is
It is detected as the operation position of the operation lever 10 in the front-back direction.
The value of the displacement position, which is the output of the operation position sensor 36, is
When the operation lever 10 is in the neutral position in the front-rear direction
It has been adjusted to be "0". Note that the left and right direction
The force generating mechanism 20 and the longitudinal reaction force generating mechanism 30
A bright reaction force generating means is configured. [0016] A collision detecting means is provided at a substantially central portion of the vehicle.
As a step, the acceleration in the longitudinal and lateral directions of the vehicle is detected.
There is an acceleration sensor for
The magnitude of the impact when the vehicle collides from the detection value of the degree sensor
And the acceleration direction due to the collision can be determined. This acceleration
The sensor is a longitudinal acceleration sensor that detects longitudinal acceleration.
And a lateral acceleration sensor for detecting lateral acceleration.
It is composed of a support 40b (see FIG. 3). And FIG.
As shown in the figure, the operation position sensors 26 and 36, longitudinal acceleration
The sensor 40a and the lateral acceleration sensor 40b are electrically controlled.
It is connected to the device 41. The electric control unit 41 includes a CPU 41a, an RO
Microcomputer having M41b, RAM41c, etc.
Operation position sensors 26 and 36
The engine controller 42 and the brake
The control device 43 and the steering control device 44 are controlled.
You. The reaction force control mode changing means of the present invention includes
Detected by acceleration sensor 40a and lateral acceleration sensor 40b
Control the electric motors 25 and 35 in accordance with the detected value
You. The engine control unit 42 includes an operation position sensor
Based on the displacement position of the operation lever 10 detected by the
The throttle opening is controlled by the air control device 41.
Driving the throttle actuator 45 to be controlled
To operate the engine system to control the vehicle acceleration.
You. The operation lever 10 is arranged in the front-rear direction of the vehicle.
As the vehicle is displaced backward from the neutral position, the acceleration of the vehicle increases.
Increase the acceleration of the vehicle as it moves toward the neutral position
Is set to be small.
The speed is set to “0”. The brake control device 43 includes an operation position sensor
Based on the displacement position of the operation lever 10 detected by the
Controlled by the air control device 41 to apply braking force to the vehicle
The brake actuator 46 is driven. to this
Therefore, the brake system operates to control the braking of the vehicle.
You. The operation lever 10 is arranged in the front-rear direction of the vehicle.
As the vehicle is displaced forward from the neutral position, the braking force of the vehicle increases.
Increase the braking force of the vehicle as it moves toward the neutral position
Is set to be small, and in the neutral position,
The power is set to “0”. The steering control device 44 controls the operation of the driver.
Move the operating lever 10 in the left and right direction of the vehicle
The steering actuator 47 to control the vehicle.
Steer left and right. That is, the electric control device 41
The displacement of the operation lever 10 in the left-right direction from the position sensor 26
Input the position and perform steering according to the input displacement position.
Calculate the corner. The steering angle is determined by the displacement position of the operation lever 10.
Is set to “0” when is in the neutral position,
0 is displaced to the right of the vehicle from its neutral position
As the steering angle increases to the right, the vehicle turns right and the neutral position
The steering angle increases to the left as the vehicle is displaced to the left
As a result, the vehicle is set to turn left. Soshi
Then, the electric control device 41 applies the calculated steering control signal to the steering control signal.
Output to the tearing control device 44 and the tearing control device 4
Reference numeral 4 denotes a steering actuator in response to the steering control signal.
Steering system by controlling eta 47
Is operated to steer the vehicle left and right. Next, the vehicle operating device constructed as described above will be described.
Operation when a collision occurs while the vehicle is running.
Operation such as acceleration, braking, and steering of the vehicle in response to the operation of the bar 10
The rotation control will be described with reference to the flowchart of FIG.
You. FIG. 4 shows the CPU 4 of the electric control device 41 shown in FIG.
1a shows a program to be executed.
The program is stored in the RO of the memory provided in the electric control device 41.
It is stored in M41b. And this program
Means that the ignition switch is turned on by the driver's operation
After being set, it is executed repeatedly every predetermined short time
Is done. First, the program proceeds to step S100.
And the CPU 41a proceeds to step S102.
To determine whether the collision flag GaF is “0”.
I do. When the collision flag GaF is set to “1”, the vehicle
After the collision is detected and the collision
Indicates that the vehicle is in a collision state until the time elapses, and “0”
Represents the other state by
Has been set to “0” by the initialization processing. But
Therefore, it is determined "YES" in step S102.
Then, the process proceeds to step S104. In step S104
To measure the time elapsed since the collision of the vehicle.
The count value m is reset to “0”. Then, the process proceeds to step S106, where
In step S106, the longitudinal acceleration sensor 40a and the lateral
The acceleration G of the vehicle detected by the acceleration sensor 40b indicates that the collision
Is smaller than the acceleration threshold value Ga for determining
Determine whether or not. This threshold value Ga corresponds to the vehicle shown in FIG.
The relationship between the elapsed time from both collisions and the measured value of the acceleration G of the vehicle
Is a value obtained based on a graph showing the relationship
If G exceeds the threshold value Ga, it is determined that the vehicle has collided.
You. Here, the vehicle has not collided and the acceleration G is
If it is smaller than the threshold value Ga, the process proceeds to step S106.
Is determined to be “YES”, and the process proceeds to step S108.
In step S108, the operation position sensor 26,
The displacement position of the operation lever 10 detected by 36 is input.
Next, in step S110, the operation position sensor 2
6 and 36, the acceleration A, the braking force B,
The steering angle θ is calculated. Then, the operation of the calculated value
The value of the steering angle θ is temporarily stored in the RAM 41c of the electric control device 41.
To memorize it. Then, in step S112
Output of the acceleration A, the braking force B, and the steering angle θ,
Normal vehicle operation is performed. In this case, the operation position sensor 2
6, 36 according to the displacement position of the operating lever 10 detected
The vehicle is accelerated, braked and steered. That is, the operation lever is operated by the driver.
-10 is displaced in the front-back direction at the part behind the neutral position
Then, the operation position sensor 36 detects the displacement position, and
A signal corresponding to the displacement position of the
The electric control device 41 sends a signal to the engine control device 42.
It outputs a signal for opening the rottle. And d
The engine control device 42 controls the throttle actuator 45
By controlling, according to the displacement position of the operation lever 10
The vehicle accelerates. The operation lever 1 is operated by the driver.
0 is displaced in the front-rear direction at the part ahead of the neutral position
And the operation position sensor 36 detects the displacement position,
A signal corresponding to the displacement position is supplied to the electric control device 41.
You. The electric control device 41 is located at the displacement position of the operation lever 10.
Calculate the corresponding braking force, and send the control signal to the brake control
Output to the device 43. Then, the brake control device 43
By controlling the rake actuator 46,
The vehicle is braked according to the displacement position of the lever 10. Further, the operation lever 10 is turned left by the driver.
Side, the displacement position is determined by the operation position sensor 26.
Is detected, and a signal corresponding to the displacement position is transmitted to the electric control device 4.
1 is supplied. The electric control device 41 includes the operation lever 10
Calculate the steering angle according to the displacement position of the
Output to the tearing control device 44. And Steari
The vehicle turns left under the control of the steering control device 44. Ma
When the operation lever 10 is operated to the right, the vehicle turns right.
Turn. Thus, the vehicle responds to the operation of the operation lever 10.
The vehicle travels under normal operating control. And step
Proceeding to step S114, the program ends once. After a lapse of a predetermined time, the process proceeds from step S100.
When the execution of the program is started again, the CPU 15
a is the determination of the collision flag GaF in step S102.
Perform regular processing. Here, the collision flag GaF is set to “0”.
Since it is still set, it is determined as “YES” and the
After performing the process of step S104, the process proceeds to step S106.
In this case, the acceleration G of the vehicle is smaller than the threshold value Ga.
It is determined whether or not. At this time, the vehicle is
And the acceleration G becomes larger than the threshold value Ga
If there is, it is determined "NO" in step S106.
Then, the process proceeds to step S116. In step S116
The collision flag GaF indicating the collision state is set to "1"
Is done. Then, the program proceeds to step S118
And, in step S118, the vehicle
The direction of the acceleration that occurs is detected. Detection of this direction
The rear acceleration sensor 40a and the lateral acceleration sensor 40b
Judgment of front-back and left-right acceleration
The value is, for example, the value of the square of the acceleration in the longitudinal direction.
And the sum of the squares of the lateral acceleration and the squared value
You. In this case, the vehicle was hit by another vehicle from behind.
The acceleration direction of the vehicle is forward. And step
In S120, the count value m indicates that the vehicle
The time corresponding to the time when it can be determined that the acceleration change has disappeared
It is determined whether the value is not the same as the count value M. The count value M corresponds to the time T in FIG.
a, that is, after the vehicle collision, the longitudinal acceleration sensor 40a and the
And the acceleration G detected by the lateral acceleration sensor 40b is a threshold.
Time ta after the collision is determined to have reached the value Ga and the collision has occurred.
Can determine that the acceleration change due to the vehicle collision has disappeared.
The time corresponding to the time tb after the collision
When the collision value m reaches the count value M,
This indicates that the time Ta has elapsed. For example, this
It takes 10msec to execute the program once
Then, the product of the count value M and 10 msec is equal to the time Ta.
It becomes difficult. The count value m is smaller than the count value M
If the count value m is not equal to the count value M,
In step S120, “YES” is determined, and the
Proceed to step S122. In this case, the vehicle will crash and become unstable
The driver's body is in a state of collision and the vehicle is accelerating.
It is in a state of retreating backward in the opposite direction. others
In step S122 and thereafter, the displacement position of the operation lever 10
Prohibits vehicle driving control according to
Both operation controls are performed. First, in step S122, the operation
Minimize the reaction force of the vehicle to the bar 10 in the acceleration direction (forward).
Control to increase is performed. This is the electric control device 41
The operation lever 10 is moved forward by the control to the electric motor 35.
Current that maximizes the reaction force
It is done by being done. This allows the electric motor
When the motor 35 is driven, a reaction force against the operation lever 10 is generated.
Therefore, the driver must firmly hold the operation lever 10
To the rear of the vehicle due to the momentum of the vehicle collision
Body can be maintained in the driver's seat. That is, driving
The person retreats by the force of the collision,
To the rear, but the operation lever 10
The driver leans backward because a reaction force that is opposite to the force is being generated.
The body can be maintained in that position without defeating.
As a result, the driver can maintain the posture at the time of the collision and
Strong collision with the back can be prevented. Next, the process proceeds to step S124, where
In step S124, the brake command value F is
Output to the device 43. This brake instruction value F is set in advance.
This is required from the data mapped
The backup data is stored in the ROM 41b. brake
The indicated value F is based on the longitudinal acceleration sensor 40a and the lateral acceleration sensor.
The vehicle speed is determined based on the acceleration G of the vehicle detected by the sensor 40b.
Degree is obtained, and brake instructions are issued as vehicle speed increases
The value F can also be set to be large. Also,
It can be set to the maximum value of the brake output uniformly.
You. The vehicle is braked according to the output of the brake command value F.
It is. Next, the program proceeds to step S126.
And the accelerator is fully closed in step S126.
You. This is because the electric control device 41 is
To drive the throttle actuator 45
This is done by closing the throttle. Next,
Proceeding to step S128, the process in step S110
The steering angle θ calculated and stored in the RAM 41c is calculated.
As the steering target value θ to the steering control device 44
Output. As a result, the steering angle θ of the vehicle is
It is maintained in the state at the time. That is, this process is performed when the vehicle
The steering angle of the vehicle at the time of the collision and the determination of the collision was made
is to maintain θ as it is. Then, in step S130, the count
The value obtained by adding “1” to the default value m is set as the new count value m.
After the setting, the program proceeds to step S114 and the program
End the day. When the program is executed again,
The collision flag GaF was set at the time of the previous program execution.
It is determined in step S116 that “1” has been set.
Therefore, it is determined “NO” in step S102,
Proceed to step S120, and in step S120,
Determines whether the count value m is equal to the count value M
You. Here, the count value m still reaches the count value M.
And the count value m is different from the count value M
If “YES” is determined in the step S120,
To step S122.
After performing the processing of steps S130 to S130, the process proceeds to step S114.
Then the program ends. Thereafter, the program starts from step S100.
Even when execution is started, the count value m reaches the count value M
If the state has not continued, the above-described step S10
0, S102, S120-S130, S114
repeat. Then, the time t after the collision when the collision is determined
The time Ta has elapsed since a, and the time tb has been reached after the collision.
When it is determined that the effect of the collision on acceleration is no longer
In step S120, it is determined “NO” and the
Proceeding to S132, in step S132 the collision flag
GaF is set to “0”. Then, step S108
And thereafter, the processes of steps S108 to S112 are performed.
As a result, the communication according to the displacement position of the operation lever 10 is performed.
Operation control is performed by a normal operation. This allows the car
Both respond to the displacement position of the operating lever 10 at the time of collision
Normal operation control
Return to your state. Then, the program proceeds to step S11
Go to 4 and end. Thereafter, in step S106, the acceleration
As long as G is determined to be smaller than the threshold value Ga,
Normal operation when the vehicle is normal in steps S108 to S112.
Operation control by the operation is performed, and steps S100 to S11 are performed.
Step 4 is repeated. And a collision occurs in the vehicle
Then, if "NO" is determined in the step S106,
Proceeding to step S116, the following will
The processing based on the operation control is performed. At this time, the vehicle collides with another vehicle from behind.
Instead of being hit by a vehicle or object ahead
In this case, the reaction force against the operation lever 10 goes to the rear side of the vehicle.
Rushing toward the front of the vehicle
Support the body of the diver. Also, if the left side of the vehicle is
Vehicle detected by the lateral acceleration sensor 40b after colliding with an object or the like
If the acceleration direction of the vehicle is to the right of the vehicle,
The electric motor 25 is driven by the control of the device 41 to operate
The reaction force to move the lever 10 rightward is large.
It supports the driver trying to lean to the left.
Also, the right side of the vehicle collides and the vehicle accelerates in the left direction.
, The operation lever 10 is moved to the left.
Reaction force increases and tries to tilt to the right
Support the driver. As described above, the vehicle operating device according to the present embodiment is
When the vehicle is running normally, the operating lever
The operation of the vehicle is controlled according to the displacement position of the
If a collision occurs between the two, it is determined that the collision has continued.
During operation, the operation of the vehicle by the operation lever 10 is disabled.
As a result, the vehicle stops accelerating and is braked,
The steering angle at the time of detection is maintained. Operation lever 1
For 0, a large reaction force is generated along the acceleration direction of the vehicle.
Live. This allows the driver to push the operating lever 10.
The posture collapses due to the impact of the vehicle collision by gripping
It is safe to maintain your body in the driver's seat without having to
Is secured. In the present invention, the impact due to the collision
If the acceleration after collision exceeds the specified value,
Return to normal operation control by operating the operation lever 10
And the operation lever 10 can be operated even after the time tb has elapsed after the collision.
It is impossible to control the operation according to the displacement position by the operation.
You can also carry it. Also, if the impact is large like this,
If the strength of the operation lever 10 is set to a small
When a large load is applied to the operation lever 10, the operation lever 10 may break.
In addition to making a bend, the flow chart of FIG.
Instead of the processing in step S122 in the
It is necessary to perform processing to make all reaction forces against bar 10 "0".
Can also be. According to this, after a vehicle collision, driving
Even if the person's body collides with the operation lever 10, the operation lever 10
The operating lever is used to easily break or bend.
10 prevents the driver from being hurt
You. In FIG. 5, the acceleration G is defined as a positive value.
And the acceleration G when the vehicle is collided from behind
, The acceleration G depends on whether the vehicle
If the vehicle collides, the vehicle is decelerated to a negative value. On the spot
In this case, the graph of FIG. 5 appears vertically symmetrically. Also, the implementation
In the embodiment, the longitudinal acceleration sensor is used as the collision detecting means.
Using the acceleration sensor 40a and the lateral acceleration sensor 40b,
Although the sensors 40a and 0b are provided at substantially the center of the vehicle body,
The collision detection means is not limited to this, and may be used for airbags.
The use of an impact sensor or the like is also preferred. Further, the location for mounting the sensor is also changed as appropriate.
Can be changed and the number of sensors
It is possible to constitute a collision detecting means capable of detecting a collision in a direction.
preferable. Also, acceleration that can detect front-back, left-right acceleration
A single sensor may be used. Ma
In the above embodiment, the reaction force in the acceleration direction is
When set to the maximum, the operation lever 10 moves in the acceleration direction.
The reaction force is applied by the driver
Make the reaction force equal to the weight to be added, and
The position of 10 may maintain the position before the collision.
No.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic perspective view showing an operation lever of a vehicle operation device according to an embodiment of the present invention. FIG. 2 is a schematic perspective view of an operation lever device including the operation lever shown in FIG. FIG. 3 is a block diagram showing an electric control device of the vehicle operating device according to the embodiment of the present invention. 4 is a flowchart showing a program executed by a CPU shown in FIG. FIG. 5 is a graph showing a relationship between vehicle acceleration and time after a collision. [Description of Signs] 10 ... operation lever, 20 ... left / right direction reaction force generation mechanism, 2
6, 36 ... operation position sensor, 25, 35 ... electric motor,
Reference numeral 30: a longitudinal reaction force generating mechanism; 40a, a longitudinal acceleration sensor; 40b, a lateral acceleration sensor; 41, an electric control device;
2 ... Engine control device, 43 ... Brake control device, 44
... Steering control device.

Continued on the front page (51) Int.Cl. ⁷ Identification code FI Theme coat II (Reference) G05G 9/047 G05G 9/047 F term (Reference) 3D033 CA14 CA17 CA27 CA31 3D037 EA08 EB03 EB16 3D054 EE06 EE14 EE19 EE20 EE21 EE34 EE35 3J070 AA04 BA04 BA19 BA35 BA47 CC42 CC71 CD01 CE01 CE04 DA01 EA12

Claims (1)

Claims: 1. An operation member operated by a driver, reaction force generating means for generating a reaction force on the operation member according to a displacement position of the operation member, and detecting a collision of a vehicle. A vehicle operating device comprising: a collision detecting unit that performs collision detection; and a reaction force control mode changing unit that changes a control mode of the reaction force generating unit in response to detection of a vehicle collision by the collision detecting unit.