JP2003081120A - Vehicle operating device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle operating device for reducing operation force by a driver by decreasing reaction generated in an operation part of a vehicle when the vehicle travels with substantially no changes in control input. SOLUTION: The vehicle operating device comprises an operation lever 10 for operating the vehicle, a control input sensor 26 for detecting control input of the operation lever 10, reaction generating mechanisms 20, 30 for generating reaction at the operation lever 10, and a CPU41a. The CPU41a determines a change in the control input detected by the control-input sensor 26. When the determination result has been within a predetermined value and a predetermined time has lapsed since the determination result entered the predetermined value, the reaction generating mechanisms 20, 30 change the reaction to reduce the generating reaction. Further, there is also provided a vehicle speed sensor 45 for detecting a vehicle speed to allow control of changing the predetermined time to start reducing the reaction according to the vehicle speed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle operating device in which a reaction force that opposes the operation is applied to an operating portion for a driver to operate a vehicle.

[0002]

2. Description of the Related Art Conventionally, in a vehicle using a joystick, a reaction force is applied to the joystick in accordance with the operation amount of the joystick operated by the driver. I try to stabilize the operation. When the reaction force generated on the joystick is larger than necessary, control is performed to weaken the reaction force. As an apparatus for performing such control, for example, Japanese Patent Laid-Open No. 11-
There is a drive operating device disclosed in Japanese Patent No. 192960.

In this drive operating device, the amount of operation or the operating force of the joystick is smaller when the arm of the driver who operates the joystick is moved away from the body than when the arm is moved closer to the body. In this way, the operation characteristics are changed. As a result, the burden on the driver when the arm operating the joystick is operated to move away from the driver's body is reduced.

[0004]

However, according to the above-mentioned conventional technique, the operation load (reaction force) is the same even if the joystick is operated in either the left or right direction.
Even if the joystick operation amount does not change, such as when the vehicle runs in a certain state, if the joystick is held in the same position, the driver continues to receive the reaction force according to the joystick operation amount. There is a problem of fatigue.

[0005]

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and its purpose is to drive a vehicle in a state where there is almost no change in the operation amount of an operating portion of the vehicle, that is, a substantially constant value. It is an object of the present invention to provide a vehicle operation device that can reduce the reaction force generated in the operation unit and reduce the operation force by the driver when the vehicle travels in this state.

In order to achieve the above-mentioned object, the features of the vehicle operating device according to the present invention are: an operating portion for the driver to operate the vehicle; an operation amount detecting means for detecting the operation amount of the operating portion; A reaction force generating means for generating a reaction force against the operation force when the person operates the operation part, and the change in the operation amount detected by the operation amount detecting means is within a predetermined value, and the change in the operation amount. It is provided with reaction force control means for changing the reaction force so as to weaken the reaction force generated by the reaction force generation means when the time after is within the predetermined value exceeds the predetermined time.

In this case, the change in the operation amount of the operation unit being within a predetermined value means a case where the change in the operation amount of the operation unit operated by the driver is hardly recognized and the traveling state is substantially constant. For example, when driving in a straight line on a highway,
This is the case, for example, when the vehicle keeps traveling on a curve with a certain angle. However, since the person who operates the operation unit is a person and the operation unit cannot be completely stationary, the change in the operation amount of the operation unit is set with an appropriate displacement width. In addition, the predetermined time after the change in the operation amount of the operation unit is within the predetermined value, considering the time until it is recognized that the running state of the vehicle is constant,
It can be set appropriately.

According to the configuration of the present invention configured as described above, a change in the operation amount of the operation unit is changed to a predetermined value by changing the traveling direction or speed of the vehicle by the operation of the operation unit by the driver. When it exceeds, the reaction force generation means generates a reaction force according to the operation force when the driver operates the operation unit. As a result, the driver can perform a stable operation of the operation unit. Then, when the vehicle is in a constant running state with no change, the change in the operation amount of the operation unit is within a predetermined value, and when the time after the change within the predetermined value has passed a predetermined time, the reaction force control means However, the control for changing the reaction force is performed so as to weaken the reaction force generated by the reaction force generation means. As a result, the reaction force when the driver holds the operation unit in a constant state is weakened, and the fatigue of the driver is reduced.

Further, the structural feature of the vehicle operating device according to another embodiment of the present invention is that in the vehicle operating device,
Further, the vehicle speed detecting means for detecting the traveling speed of the vehicle is provided, and the predetermined time is shortened as the detected traveling speed of the vehicle is higher. According to this
The higher the vehicle speed, the earlier the reaction force can be weakened to reduce the operating force of the driver. That is, the reaction force generated by the reaction force generation means is generally set to increase as the vehicle speed increases, so shortening the time during which the reaction force increases increases fatigue of the driver. Can be reduced.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of a vehicle operating device according to the present invention will be described below with reference to the drawings. This vehicle operation device includes an operation lever (joystick) 10 as an operation unit shown in FIG. The operation lever 10 is provided in the vicinity of the driver's seat of the vehicle, and is tilted (rotated) as a whole in the front-rear direction and the left-right direction by the driver's operation, as indicated by an arrow in FIG.

FIG. 2 is a schematic perspective view of an operation lever device including the operation lever 10. The operating lever 10 includes a rod 10a having a cylindrical rod shape, and a cylindrical grip portion 10b fixed to an outer periphery of an upper portion of the rod 10a. The rod 10a includes a spherical portion 10c at a substantially central portion thereof. It is supported by the portion 10c so as to be rotatable in the left-right and front-rear directions with respect to the vehicle body. Further, the operation lever device generates a reaction force against the rotation of the operation lever 10 in the left-right direction of the vehicle (a force that opposes the operation force of the driver who attempts to rotate the operation lever 10 in the left-right direction of the vehicle). Force generation mechanism 20
Is equipped with. The left-right reaction force generation mechanism 20 includes a guide plate 21, a rotary shaft 22, a first gear 23, a second gear 24, an electric motor 25 for left-right reaction force, and an operation amount sensor 26 as an operation amount detecting means. ing.

The guide plate 21 is composed of a plate-like member bent in an L shape, and is arranged such that the surface fixed to the rotating shaft 22 is a vertical plane, and the surface of the rod 10a is arranged on the surface arranged horizontally. A groove 21a having a width slightly larger than the diameter and having a longitudinal direction in the vehicle front-rear direction is provided. And
The rod 10a is configured to penetrate through the groove 21a. The rotating shaft 22 is rotatably supported with respect to the vehicle body so that its axis extends along the vehicle front-rear direction and passes through the center of the spherical portion 10c of the operating lever 10, and is integrally provided with a first gear 23 at the center thereof. ing. The first gear 23 meshes with a second gear 24 fixed to the rotating shaft of the electric motor 25.

The operation amount sensor 26 is fixed to the vehicle body side at the end position of the rotating shaft 22 and detects the rotation angle of the rotating shaft 22 as the operation amount of the operating lever 10 in the left-right direction. The value of the operation amount output from the operation amount sensor 26 is adjusted to be “0” when the operation lever 10 is at the neutral position in the left-right direction.

Further, the operating lever device is the operating lever 1
A front-rear direction reaction force generation mechanism 30 that generates a reaction force of 0 (a force that opposes a driver's operation force to tilt the vehicle in the vehicle front-rear direction from the neutral position) is provided. The front-rear direction reaction force generation mechanism 30 includes a guide plate 31, a rotary shaft 32, a third gear 33, a fourth gear 34, an electric motor 35 for front-rear reaction force, and an operation amount sensor 36.

The guide plate 31 is composed of a plate-like member bent in an L shape, and is arranged such that the surface fixed to the rotating shaft 32 is a vertical plane, and the rod 10a is arranged on the surface arranged in the horizontal direction. A groove 31a having a width slightly larger than the diameter and having a longitudinal direction in the vehicle left-right direction is provided. Then, the rod 10a is configured to penetrate through the groove 31a. The axis of rotation of the rotary shaft 32 extends along the vehicle left-right direction, and the spherical portion 10c of the operating lever 10 operates.
It is rotatably supported with respect to the car body so that it passes through the center of
A third gear 33 is integrally provided in the central portion. This third
The gear 33 meshes with a fourth gear 34 fixed to the rotating shaft of the electric motor 35.

The operation amount sensor 36 is fixed to the vehicle body side at the end position of the rotating shaft 32, and detects the rotation angle of the rotating shaft 32 as the operation amount of the operation lever 10 in the front-rear direction. The value of the operation amount output from the operation amount sensor 36 is adjusted to be “0” when the operation lever 10 is at the neutral position in the front-rear direction. It should be noted that as the operation amount sensor 26 and the operation amount sensor 36, the same ones may be used, and the rotation amount of the rotary shafts 22, 32 may be converted into a linear motion and the converted linear movement amount may be detected as the operation amount. Alternatively, a change in the rotation angle of the other member of the left-right direction reaction force generating mechanism 20 or the front-rear direction reaction force generating mechanism 30 that moves with the rotation of the rotation shafts 22 and 32 may be detected as the operation amount.

Next, the electric control device of the vehicle operating device is
This will be described with reference to FIG. Note that, in FIG. 3, for simplification of description, the electric motor 25 of the left-right direction reaction force generating mechanism 20 is
Although the steering angle control mechanism is shown, the electric motor 35 of the front-rear direction reaction force generation mechanism 30 is omitted. The electric control device 40 includes a microcomputer 41, a drive circuit 42 for supplying a predetermined current to the electric motor 25,
The steering electric motor 43 is provided with a drive circuit 44 for supplying a predetermined current.

The microcomputer 41 includes a CPU 41
a, an input interface 41b, an output interface 41c, a memory 41d, and an EEPROM 41e
The CPU 41a includes a timer 41f. The input interface 41b is connected to the CP via the bus.
The U41a is connected to the operation amount sensor 26 and the vehicle speed sensor 45 for detecting the vehicle speed, and the detection values of these sensors are supplied to the CPU 41a.

The output interface 41c is connected to the CPU 41a via a bus and is also connected to the drive circuits 42 and 44, and sends out a signal for changing these states based on a command from the CPU 41a.

The memory 41d is composed of a ROM that stores programs and map data, and a RAM that temporarily stores calculated values when the CPU 41a executes the programs. The EEPROM 41e is a storage unit that stores and retains data even when it receives no power from the battery, and is connected to the CPU 41a via a bus. And, with power being supplied, CP
Stores the data supplied from U41a and
The data held in response to the request from the PU 41a is stored in the CPU
41a.

The drive circuit 42 is provided with four switching elements (not shown), and in response to a command from the CPU 41a sent via the output interface 41c.
The switching elements are selectively turned on so that a predetermined current flows through the electric motor 25. As a result, the electric motor 25 rotates in one direction or the other direction to generate a reaction force on the operation lever 10.

The drive circuit 44 has the same structure as the drive circuit 42, and the output interface 4
A predetermined current is supplied to the steering motor 43 in response to a command from the CPU 41a sent via the 1c.
As a result, when the steering motor 43 rotates, the steering mechanism 4
8 is actuated and a predetermined turning angle is achieved.

Next, reaction force control of the vehicle operating device equipped with the electric control device will be described with reference to FIG. FIG. 4 shows a flow chart of a program executed by the CPU 41a shown in FIG. 3, and this program is repeatedly executed every predetermined short time while the vehicle operation is performed. In addition, this program is executed sequentially from step S100 after the ignition switch is turned on by the driver's operation and the vehicle can be operated by operating the operation lever 10, and is stored in the ROM of the memory 41d. It is stored and executed by the CPU 41a.

First, the program is started in step S100, and the CPU 41a inputs the operation amount A of the operation lever 10 operated by the driver in step S102. This input is the operation lever 1 operated by the driver.
The operation amount A of 0 (the distance that the operation lever 10 has moved in the left-right direction or the front-rear direction from the neutral position) is set as the operation amount sensor 26.
Is detected, and this operation amount A is sent as a signal to the CPU 41a via the input interface 41b.
This is done by storing it in d.

Next, in step S104, the manipulated variable change ΔA is calculated. This manipulated variable change ΔA is
This is the difference value obtained by subtracting the previous operation amount Aold from the operation amount A input in step S102. The previous operation amount Aold is the operation amount A detected at the time of executing the previous program by the next process and stored in the memory 41d. After the processing of these steps S102 to S106, the process proceeds to step S108.

In step S108, the manipulated variable change ΔA
Is smaller than the manipulated variable change reference value ΔA ₀ . This operation amount change reference value ΔA ₀ is obtained by the operation lever 1
It is determined on the basis of a state in which it can be determined that the driver's hand operating 0 is substantially stationary and the operation amount A of the operation lever 10 remains in a constant state. However,
The operation lever 10 cannot be completely stationary, and is set with an appropriate width in consideration of the shaking of the operation lever 10 which is received from the vibration of the vehicle, the shaking of the driver's hand in a natural state, and the like. Here, if the operation amount change ΔA is larger than the operation amount change reference value ΔA ₀ while the operation lever 10 is moved by the operation, it is determined as “NO” in step S108, and the process proceeds to step S110.

In step S110, the CPU 41a
By outputting a signal to the power supply motors 25 and 35 via the output interface 41c and the drive circuit 42, the reaction force B corresponding to the operation amount A is applied to the operation lever 10.
Is output. The reaction force B corresponding to the operation amount A is set in advance and is set according to the position of the operation lever 10 and the vehicle speed. Also, the reaction force B to the operation lever 10
Is generated by driving the electric motors 25 and 35, and the direction of the reaction force B is the drive circuit 4
2 and the drive circuits (not shown) of the electric motors 35 are switched to change the rotation directions of the electric motors 25 and 35.

For example, when the driver operates the operation lever 10 to the left, the electric motor 25 rotates to one side to move the operation lever 10 to the right against the operation force of the driver. Generates a reaction force that causes the driver to operate the operation lever 1
When 0 is operated to the right, the drive circuit 42 is switched, the electric motor 25 rotates to the other, and a reaction force that tends to move the operation lever 10 to the left against the operation force of the driver. Generate.

Similarly, when the driver operates the operation lever 10 in the forward direction, the electric motor 35 rotates in one direction to move the operation lever 10 in the backward direction against the operation force of the driver. When the driver operates the operation lever 10 in the backward direction by generating a reaction force that tends to cause the electric motor 35
The drive circuit is switched, and the electric motor 35 rotates to the other side to generate a reaction force for moving the operation lever 10 in the forward direction against the operation force of the driver.

Further, the magnitude of the reaction force at that time changes depending on the operation amount of the operation lever 10, and the larger the operation amount detected by the operation amount sensor 26 (the farther from the neutral position), the larger the reaction force. Is set to. Then, the reaction force is generated by the CPU 41a receiving the signal from the operation amount sensor 26 and driving the electric motors 25 and 35.

Then, from step S110 to step S
112, and in step S112 the flag T _ON
Is set to "0". The flag T _ON indicates a state in which the timer 41f is measuring elapsed time by “1”, indicates other states by “0”, and is initially set to “0”. Furthermore, step S
The program proceeds from step 112 to step S114, where the flag LPF is set to "0", then proceeds to step S116, and the program ends. The flag LPF is
“1” represents a state in which a small reaction force αB is applied to the operation lever 10, “0” represents other states, and is initially set to “0”.

After the elapse of the predetermined time, the step S10 is performed again.
The execution of the program is started from 0, and the operation amount A of the operation lever 10 is detected and the operation amount A is input in step S102. Next, in step S104, the operation amount change ΔA, which is the difference between the operation amount A input in step S102 and the previously detected operation amount Aold, is calculated, and then the newly detected operation amount A in step S106.
Is set as the manipulated variable Aold, and the process proceeds to step S108.

In step S108, the manipulated variable change ΔA
Is smaller than the manipulated variable change reference value ΔA ₀ . In this case, when the driver operates the operation lever 10, the operation amount change ΔA is changed to the operation amount change reference value Δ.
As long as it is larger than A ₀ , step S108
Then, the determination is “NO”, the process proceeds to step S110, and the normal reaction force B corresponding to the operation amount of the operation lever 10 by the driver is generated in the operation lever 10. When the operation lever 10 is stationary and the operation amount change ΔA is smaller than the operation amount change reference value ΔA ₀ , it is determined as “YES” in step S108 and the process proceeds to step S118.

In step S118, it is determined whether the flag LPF is "1". This flag LPF
Is set to "0" by the process of step S114 at the time of the previous program execution,
When it is determined to be "NO" in 118, the process proceeds to step S120, and it is determined whether or not the timer flag T _ON is "1". This flag T _ON is set in the last program execution.
Since it is set to "0" by the process of step S112, it is determined to be "NO" in step S120, the process proceeds to step S122, and the timer 41f is reset and started. Then, the process proceeds to step S124 and the flag T
After setting _ON to "1", the process proceeds to step S116 to end the program once.

Further, after a predetermined time has elapsed, the execution of the program is started again from step S100, and then step S100.
At 102, the operation amount A of the operation lever 10 is detected and the operation amount A is input. Then, the process proceeds to step S104 and, as described above, the operation amount change Δ in step S102.
After calculating A, the manipulated variable Aold is updated in step S106, and the process proceeds to step S108. Step S108
In the operation amount change .DELTA.A is but one less or not than MV change reference value .DELTA.A ₀ is determined, this time, still, MV change .DELTA.A is a smaller state than MV change reference value .DELTA.A ₀ If there is, it is determined to be "YES" in step S108, and the process proceeds to step S118.

Here, since the flag LPF remains set to "0", "NO" in step S118.
Then, the process proceeds to step S120, and it is determined whether the flag T _ON is “1”. This flag T _ON is
Since "1" was set in step S124 at the previous program execution, "Y" is selected in step S120.
ES ”, the process proceeds to step S126. In step S126, the timer 41f in step S122
Elapsed time t from when the vehicle was reset and started
Is determined to be longer than the determination time T ₀ .

The determination time T ₀ is a time for determining the timing of weakening the reaction force applied to the operating lever 10, and is set to a time at which it can be determined that the driver's hand operating the operating lever 10 has stopped. . Where time t is
If it is shorter than the determination time T ₀ , it is determined to be “NO” in step S126, the process proceeds to step S116, and the program ends.

Then, the program is sequentially executed again from step S100 to input the manipulated variable A, calculate the manipulated variable change ΔA, and set the manipulated variable Aold. Then, the process proceeds to step S108, and at step S108, If the manipulated variable change ΔA is smaller than the manipulated variable change reference value ΔA ₀ , “YE” is determined in step S108.
S ", and the steps S108 to S11.
After 8 and step S120, the process proceeds to step S126.

Next, in step S126, it is determined whether the elapsed time t is longer than the determination time T _{0. If} the elapsed time t is shorter than the determination time T ₀ ,
The program ends in step S116. Even if the program is executed again from step S100, the operation amount change ΔA is smaller than the operation amount change reference value ΔA ₀ , so that it is determined as “YES” in step S108. Further, in step S126, the elapsed time t
Is shorter than the determination time T ₀ , this routine is repeated as long as the determination is “NO”, and only the elapsed time t increases.

Then, in step S126, if the elapsed time t is longer than the determination time T ₀ , "YE
S ”is determined and the process proceeds to step S128. Step S
At 128, the reaction force αB having a value obtained by multiplying the reaction force B by the coefficient α is set as the reaction force of the operation lever 10. This coefficient α is
It is a coefficient less than 1 set to weaken the reaction force B generated in the operating lever 10, and is preferably set arbitrarily in the range of about 0.5 to 0.9. Then, the CPU 41a calculates the value of the reaction force based on the coefficient,
The output values to the electric motors 25 and 35 are changed appropriately.

As a result, the reaction force of the operating lever 10 is weakened, so that the operating force of the operating lever 10 by the driver (in this case, the force for holding it in the same position) can be weakened, and the driver's burden is reduced. Is reduced. Furthermore, step S
In 130, the flag LPF is set to "1", then in S116, the program ends. In addition, returning to step S100 again, the program is sequentially executed from step S100. In step S108, if the manipulated variable change ΔA is still smaller than the manipulated variable change reference value ΔA ₀ , step S100 is performed.
Proceed to 118. In this case, since the flag LPF is "1", it is determined to be "YES" in step S118, the process proceeds to step S116, and the program ends.

Then, even if the program is executed again,
As long as the manipulated variable change ΔA is smaller than the manipulated variable change reference value ΔA ₀ in step S108, the program proceeds from step S108 to step S118 and step S116, during which the reaction force generated on the operating lever 10 is The weakened reaction force αB is maintained. When the driver moves the operation lever 10 while the program is being executed and the operation amount change ΔA becomes larger than the operation amount change reference value ΔA ₀ , step S108.
In step S110, the process proceeds to step S110, and the reaction force B corresponding to the operation amount A is output.

As described above, in this vehicle operating device, when the driver frequently moves the operation lever 10 to operate the vehicle, the reaction force B corresponding to the operation amount A is applied to the operation lever 1.
If the operation of the driver is stopped and the operation lever 10 is held at the same position,
The reaction force applied to the operation lever 10 is weakened to the reaction force αB.
As a result, when the operation lever 10 is moved,
A stable driving operation can be performed, and when the operation lever 10 is not moved, the operating force is reduced and a comfortable driving operation becomes possible.

Further, in this vehicle operating device, the operation amount change ΔA of the operating lever 10 and the operating lever 10 described above are used.
In addition to the elapsed time t after the stop, the reaction force control can be performed by further considering the vehicle speed. Since the reaction force of the operation lever 10 is set to be large when the vehicle speed is high, it is effective to weaken the reaction force early to reduce the operation force of the driver during high-speed traveling. . On the other hand, when the vehicle is traveling at a low speed, the reaction force of the operation lever 10 is not so large, and the operation lever 10 is often moved to perform the operation. There is also.

Therefore, when traveling at high speed, the determination time T
_{The value 0} is set to be short, and the determination time T ₀ is set to be long when the vehicle is traveling at a low speed. First, data of the determination time T ₀ corresponding to the vehicle speed v shown in FIG. 5 is created, and this data is mapped and stored in the ROM of the memory 41d, and in the flowchart of FIG. Step S
Between 122 and step S124, the vehicle speed v shown in FIG.
This is performed by providing step S132 for inputting the value of S and step S134 for setting the determination time T ₀ determined according to the vehicle speed. In this case, when it is determined in step S108 that the manipulated variable change ΔA is smaller than the manipulated variable change reference value ΔA ₀ in the first program execution,
In step 122, the timer 41f is reset and started. Next, in step S132, the value of the vehicle speed v detected by the vehicle speed sensor 45 is input, and then in step S134, the determination time T ₀ according to the vehicle speed is set.

When the next program is executed, the actual elapsed time t is compared with the set judgment time T ₀ in step S126 of FIG. 4, and if the elapsed time t is longer, the process proceeds to step S128. Then, the reaction force of the operating lever 10 is weakened, and if the elapsed time t is shorter, the process proceeds to step S116, and the program ends. The other processing processes that are subsequently executed are the same as those described above. As described above, according to this method, the time to weaken the reaction force according to the vehicle speed is the input of the vehicle speed v in step S132 and the vehicle speed v in step S134.
Depending on the setting of the determination time T ₀ determined in accordance with the above, it becomes possible to change it appropriately, and more appropriate reaction force control can be performed.

As shown in FIG. 7, the reaction force control in consideration of the vehicle speed is step S13 of inputting the value of the vehicle speed v between steps S108 and S118 of FIG.
6 and step S138 for setting the determination time T ₀ determined according to the vehicle speed can also be provided. In this case, when it is determined in step S108 that the manipulated variable change ΔA is smaller than the manipulated variable change reference value ΔA ₀ in the first program execution, step 10 is performed.
Following the execution of step 6, the value of the vehicle speed v is input, and then the determination time T ₀ according to the vehicle speed is set.

During the subsequent program execution, in step S126 of FIG. 4, the actual elapsed time t is compared with the set judgment time T _{0. If} the elapsed time t is longer,
In step S128, the reaction force is weakened and the elapsed time t
Is shorter, the process proceeds to step S116 and the program ends. Then, when the program is executed again, the vehicle speed value v at that time is newly input, and the determination time T ₀ corresponding to the vehicle speed is also newly set. Therefore, in step S126, the time elapses. At the same time, the vehicle speed changes, and the determination is performed based on the determination time T ₀ that changes according to the vehicle speed. In this case, finer control becomes possible. Other effects are similar to those of the above-described embodiment.

[Brief description of drawings]

FIG. 1 is a schematic perspective view showing an operating lever of a vehicle operating 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 machine control device of a vehicle operating device according to an embodiment of the present invention.

FIG. 4 is a flowchart showing reaction force control executed by the CPU shown in FIG.

FIG. 5 is a graph showing the relationship between vehicle speed and determination time.

FIG. 6 is a flowchart illustrating vehicle speed input and determination time setting.

FIG. 7 is a flowchart illustrating vehicle speed input and determination time setting.

[Explanation of symbols]

10 ... Operation lever, 20 ... Left-right reaction force generating mechanism, 2
5, 35 ... Electric motor, 26, 36 ... Operation amount sensor, 3
0 ... Front-rear direction reaction force generation mechanism, 40 ... Electric control device, 41
a ... CPU, 41d ... Memory, 41f ... Timer, 45 ...
Vehicle speed sensor.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) // B62D 101: 00 B62D 101: 00 113: 00 113: 00 F term (reference) 3D030 DB95 3D032 CC08 CC21 DA03 DA23 DB02 DB03 DC08 DC09 DC33 DC34 EB11 EB12 EC23 3D033 CA13 CA16 CA21 3J070 AA04 AA24 BA19 CC02 CC71 DA01 EA12

Claims (2)

[Claims] 1. An operation unit for a driver to operate a vehicle, an operation amount detection means for detecting an operation amount of the operation unit, and an anti-operation force against the operation force when the driver operates the operation unit. The reaction force generating means for generating a force and the change in the operation amount detected by the operation amount detecting means are within a predetermined value, and the time after the change in the operation amount is within the predetermined value is a predetermined time. And a reaction force control means for changing the reaction force so as to weaken the reaction force generated by the reaction force generation means. 2. The vehicle operating apparatus according to claim 1, further comprising a vehicle speed detecting means for detecting a traveling speed of the vehicle, and the predetermined time is shortened as the detected traveling speed of the vehicle is higher. The vehicle operation device adapted to do.