JP2007022395A - Control device for pedal reaction force - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve operability of a vehicle by eliminating unnatural feeling imparted to a driver during pedal operation because of transmission of backlash, tooth contact, variation in torque and inertial force of a reaction force mechanism even when pedaling reaction force from the reaction force mechanism is not added. <P>SOLUTION: The control device 1 for pedal reaction force is provided with: a pedal member which is rotated by pedaling of the driver; a state amount detection means for detecting state amount of the vehicle; and a reaction force adding means for adding reaction force to the pedal member based on the state amount detected by the state amount detection means. The reaction force adding means has: an engagement part which is engaged with the pedal member with one end fixed and the other end rotated; a drive part which rotates the engagement part; and a control part which controls rotation of the drive part. The control part is switched to a reaction force adding state in which rotation of the drive part is controlled to add the reaction force by engagement of the engagement part with the pedal member, and a non reaction force state in which rotation of the drive part is controlled not to engage the engagement part with the pedal member. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a pedal reaction force control device that controls a pedal reaction force generated when a driver steps on a pedal of a vehicle.

  Conventionally, an alarm device is known in which a main control unit varies an operation reaction force of an accelerator pedal based on an output of an inter-vehicle distance detection means (see, for example, Patent Document 1). In the apparatus, an operation reaction force of the accelerator pedal is applied by two urging means, and the urging force of one of the urging means is configured to be adjustable.

  There is also known an accelerator pedal device in which a servo motor is connected to an accelerator pedal via a planetary speed reducer and a reaction force corresponding to the degree of Rix is applied to the accelerator pedal (see, for example, Patent Document 2). Switching is performed between when the reaction force control is performed by short-circuiting or conducting the terminals of the servo motor and when the reaction force control is not performed.

  Furthermore, an accelerator pedal device is known that increases the depressing reaction force of the accelerator pedal based on the wearing of the seat belt (see, for example, Patent Document 3). In this device, the stepping reaction force is adjusted by adjusting the tension of the return spring of the accelerator pedal.

There is known an accelerator operation amount detection device capable of obtaining a stable hysteresis characteristic with respect to an accelerator operation by suppressing variations in frictional resistance in a sliding plate that slides during an accelerator operation (for example, Patent Documents). 4).
Japanese Patent Laid-Open No. 10-166890 JP 2004-17935 A JP 2004-149110 A JP 2003-27971 A

  However, in the above-described prior art, a reaction force mechanism for adding a stepping reaction force is always connected to the accelerator pedal lever or the accelerator pedal. Therefore, even when the stepping reaction force from the reaction force mechanism is not applied, rattling, tooth contact, torque fluctuation, and inertial force of this reaction force mechanism are transmitted, and there is a possibility that the driver feels uncomfortable when operating the pedal.

  The present invention has been made to solve such problems, and its main object is to improve the operability of the vehicle.

The object is as described in claim 1.
A pedal member that rotates when the driver depresses,
State quantity detection means for detecting the state quantity of the vehicle;
A pedal reaction force control device comprising: a reaction force addition means for adding a reaction force to the pedal member based on the state quantity detected by the state quantity detection means;
The reaction force adding means has one end fixed and the other end rotated to engage with the pedal member, a drive unit for rotating the engagement unit, and rotation of the drive unit. A control unit for controlling,
The control unit includes a reaction force application state in which the engagement unit is engaged with the pedal member and the rotation of the drive unit is controlled to apply the reaction force, and the engagement unit is applied to the pedal member. This is achieved by a pedal reaction force control device that switches to a reaction force non-addition state in which the rotation of the drive unit is controlled so as not to engage.

  In the present invention, the control unit includes a reaction force application state in which the engagement unit is engaged with the pedal member and the rotation of the drive unit is controlled so as to apply a reaction force, and the engagement unit does not engage with the pedal member. It is switched to the reaction force non-addition state for controlling the rotation of the drive unit. As a result, the state in which the engagement portion and the drive portion are not engaged with the pedal member is maintained in the reaction force non-addition state. Therefore, when the driver operates the pedal member, the engaging portion and the drive portion do not affect the pedal member, and the operation feeling is improved, so that the operability is improved. On the other hand, in the reaction force addition state, the engagement portion engages with the pedal member and the reaction force is applied to the pedal member, so that a warning or the like can be given to the driver, for example.

In this case, as described in claim 2, the pedal reaction force control device according to claim 1,
Further comprising a depression amount detecting means for detecting a depression amount of the pedal member;
The control unit may control the rotation of the driving unit based on the stepping amount detected by the stepping amount detection unit.

Further, as described in claim 3, the pedal reaction force control device according to claim 1 or 2,
The engaging portion has a pusher that engages with the pedal member in the reaction force addition state,
It is preferable that the control unit controls the rotation of the drive unit so that the distance between the pusher and the pedal member is maintained at a predetermined distance in the state where the reaction force is not added. For example, when the predetermined distance is maintained at a short distance, the time from when the reaction force is not added to the pedal member to the state where the reaction force is added to the pedal member is reduced. Can do. That is, the control response of the pedal member can be improved.

Further, as described in claim 4, the pedal reaction force control device according to claim 3,
The pusher is preferably provided with an elastic member. By this elastic member, it is possible to prevent the impact generated when the pusher is engaged with the pedal member from being absorbed and transmitted to the pedal member. Thereby, the uncomfortable feeling of pedal operation with respect to a driver | operator can be relieved, and operativity improves.

As described in claim 5, the pedal reaction force control device according to claim 3,
The drive unit is an electric motor;
It is preferable that the control unit controls the rising gradient of the current supplied to the electric motor to be equal to or less than a predetermined gradient when the pusher is engaged with the pedal member. Thereby, since the drive force with respect to the engaging part by a drive part is suppressed below to predetermined value, the impact which arises when a pusher engages with a pedal member is suppressed. Therefore, vibrations transmitted to the pedal member are suppressed, the driver's feeling of strangeness in the pedal operation can be alleviated, and the operability is improved.

Further, as described in claim 6, the pedal reaction force control device according to any one of claims 1 to 5,
The state quantity of the vehicle may be selected from at least one of a group consisting of an inter-vehicle distance to a preceding vehicle, a relative speed with respect to the preceding vehicle, a load state of the vehicle, and a running state of the vehicle. For example, the reaction force adding means may add the reaction force to the pedal member when the inter-vehicle distance to the preceding vehicle detected by the state quantity detection means is a predetermined distance or less. Thereby, for example, a warning can be given to the driver. Note that the load state of the vehicle refers to, for example, the running resistance of the vehicle, the inclination angle of the running path, the running acceleration, and the like. Further, the traveling state of the vehicle refers to, for example, a road surface friction coefficient of the traveling road.

Furthermore, as described in claim 7, the pedal reaction force control device according to any one of claims 1 to 6,
Basic reaction force adding means for applying a reaction force to the pedal member according to the amount of depression of the pedal member may be further provided. For example, the depressed pedal member can be returned to the original position by the reaction force of the basic reaction force adding means.

  According to the present invention, the operability of the vehicle can be improved.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the accompanying drawings. The basic concept of the vehicle control device and the like, the main hardware configuration, the operating principle, the basic control method, and the like are known to those skilled in the art and will not be described in detail.

  FIG. 1 is a schematic diagram showing a configuration of a pedal reaction force control apparatus according to an embodiment of the present invention. The pedal reaction force control apparatus 1 according to the present embodiment includes an accelerator pedal 3 on which a driver performs a stepping operation. One end of a pedal lever 5 is engaged with the accelerator pedal 3. The other end of the pedal lever 5 is connected to a lever shaft 7 that pivotally supports the pedal lever 5.

  The lever shaft 7 is provided with an accelerator position sensor 9 such as a stroke sensor, a potentiometer, and a rotary encoder for detecting the depression amount X of the accelerator pedal 3. The pedal lever 5 is also provided with a return spring 11 that urges the pedal lever 5 so that the accelerator pedal 3 returns to its original position after the user depresses the accelerator pedal 3. Note that when the amount of depression X of the accelerator pedal 3 increases, the urging force of the return spring 11 increases, and the reaction force against the depression of the accelerator pedal 3 increases.

  Connected to the upper end of the pedal lever 5 is an accelerator wire 13 that transmits the operation of the accelerator pedal 3 to an engine throttle valve (not shown).

  The pedal reaction force control device 1 includes an arcuate engagement member 15 in which a central portion 15a that is one end is connected to the lever shaft 7 and an arc portion 15b that is the other end is rotatable. A projecting pusher 17 is formed in the vicinity of the arc portion 15 b of the engaging member 15. When the engaging member 15 rotates about the lever shaft 7, the pusher 17 formed on the engaging member 15 contacts the pedal lever 5. An elastic member (not shown) such as a rubber material or a synthetic resin may be disposed on the outer periphery of the pusher 17. By this elastic member, it is possible to prevent an impact generated when the pusher 17 of the engaging member 15 comes into contact with the pedal lever 5 from being transmitted to the accelerator pedal 3. Thereby, the uncomfortable feeling of the accelerator operation for the driver is eased, and the operability is improved.

  On the outer periphery of the arc portion 15b of the engaging member 15, a tooth portion 15c formed in an uneven shape is formed. A gear 19 b connected to the drive shaft 19 a of the servo motor 19 is engaged with the tooth portion 15 c of the engaging member 15. The driving force output from the drive shaft 19 a of the servo motor 19 is decelerated via the gear 19 b and the tooth portion 15 c and transmitted to the engagement member 15.

  The servo motor 19 is connected to an ECU 21 that transmits a control signal and controls the servo motor 19. The ECU (Electronic Control Unit) 21 is composed of a microcomputer, and executes various processes in accordance with control and arithmetic programs, and controls each part of the apparatus (CPU (Central Processing Unit) 21a, CPU 21a). ROM (Read Only Memory) 21b for storing the execution program, RAM (Random Access Memory) 21c for storing operation results, timer (not shown), counter (not shown), input / output interface 21d, etc. Have. The timer and the counter are stored in the ROM 21b and realized by a program executed by the CPU 21a.

  For example, when the ECU 21 does not transmit a control signal and the servo motor 19 is not driven, the pusher 17 of the engaging member 15 and the pedal lever 5 are maintained in a separated state as shown in FIG. . Therefore, an additional stepping reaction force ΔF, which will be described later, is not added from the servo motor 19 to the accelerator pedal 3. Further, for example, even when the accelerator pedal 3 is depressed by the driver and the pedal lever is rotated in the clockwise direction CW, the pusher 17 of the engaging member 15 and the pedal lever 5 are maintained in a separated state. Therefore, an additional stepping reaction force ΔF, which will be described later, is not added from the servo motor 19 to the accelerator pedal 3.

  FIG. 2A is a diagram showing a state where the additional stepping reaction force ΔF is applied to the accelerator pedal 3 by the servo motor 19. FIG. 2B is a view of the pedal reaction force control device shown in FIG.

  The ECU 21 transmits a control signal to drive the drive shaft 19a of the servo motor 19 in the clockwise direction CW. When the servo motor 19 and the gear 19b are driven in the clockwise direction CW, the pusher 17 of the engaging member 15 rotates in the counterclockwise direction CCW around the lever shaft 7. As a result, the distance between the pusher 17 of the engaging member 15 and the pedal lever 5 decreases, and finally, the pusher 17 of the engaging member 15 contacts the pedal lever 5 (FIG. 2A). )). In this case, the pedal lever 5 receives a counterclockwise CCW force (rightward in FIG. 4), and this force is a reaction force against the depression of the accelerator pedal 3 (hereinafter referred to as an additional depression reaction force) ΔF. Become. Further, if the ECU 21 transmits a control signal to increase the driving force of the servo motor 19 in the clockwise direction CW, the additional stepping reaction force ΔF of the accelerator pedal 3 increases. In order to suppress an impact when the pusher 17 of the engaging member 15 contacts the pedal lever 5, the rising gradient of the current supplied to the servo motor 19 may be limited to a predetermined gradient or less. Thereby, the impact generated when the pusher 17 of the engaging member 15 contacts the pedal lever 5 is suppressed, and vibrations and the like generated in the accelerator pedal 3 can be mitigated.

  On the other hand, when the ECU 21 transmits a control signal to drive the drive shaft 19a of the servo motor 19 in the counterclockwise direction CCW, the additional stepping reaction force ΔF of the accelerator pedal 3 decreases. Further, when the ECU 21 transmits a control signal to drive the drive shaft 19a of the servo motor 19 in the counterclockwise direction CCW, the pusher 17 of the engagement member 15 and the pedal lever 5 are separated from each other, and the accelerator pedal 3 is The additional stepping reaction force ΔF becomes zero.

  Connected to the ECU 21 are an accelerator position sensor 9 for detecting the depression amount X of the accelerator pedal 3 and a shift position sensor 23 for detecting a shift position Q of the automatic transmission (AT). The ECU 21 is connected to a pressure sensor 25 that detects the negative pressure P in the intake pipe of the engine, a rotation speed sensor 27 that detects the rotation speed N of the engine, and a drive wheel sensor 29 that detects the drive wheel speed V. Has been.

  The input / output interface 21d includes a depression amount X from the accelerator position sensor 9, a shift position Q from the shift position sensor 23, a negative pressure P from the pressure sensor 25, a rotation speed N from the rotation speed sensor 27, and a driving wheel sensor. The driving wheel speed V from 29 is input. The CPU 21 a performs a predetermined calculation based on these input signals, and outputs the calculated control signal to the servo motor 19 via the drive circuit 31.

  Incidentally, the driver normally understands the amount of depression of the accelerator pedal 3 by the magnitude of the depression reaction force with respect to the depression of the accelerator pedal 3. Therefore, the driver usually understands from experience that the stepping reaction force can be obtained and how much acceleration can be obtained according to the car habit he owns. It is. In other words, the driver is driving according to his / her own habit while understanding his / her operation state by the stepping reaction force. For this reason, even in an ice burn or the like having a small road friction coefficient μ (hereinafter referred to as a low friction road surface), the driver inadvertently depresses the accelerator pedal 3 until a normal stepping reaction force is obtained with a normal saddle. There is.

  Therefore, in the present embodiment, as described above, the ECU 21 transmits a control signal to drive the servo motor 19 to add the additional stepping reaction force ΔF to the accelerator pedal 3. For example, if the additional stepping reaction force ΔF of the accelerator pedal 3 is increased from the servo motor 19, the driver feels that the driver has stepped on to a certain extent even if the accelerator pedal 3 is actually depressed a little. become. Thereby, the driver's depression of the accelerator pedal 3 on the low friction road surface can be suppressed.

  Next, the operation of this embodiment will be described.

  FIG. 3 is a flowchart showing a control processing flow by the ECU 21 of the pedal reaction force control device 1. The control processing routine shown in FIG. 3 is repeatedly executed every predetermined minute time, for example, every 64 ms.

  First, the ECU 21 determines the depression amount X from the accelerator position sensor 9, the shift position Q from the shift position sensor, the negative pressure P from the pressure sensor, the rotation speed N from the rotation speed sensor, the drive wheel speed V from the drive wheel sensor, and the like. The drive torque T is estimated based on the various sensor signals and the engine torque map set in the ROM 21b (S100). The engine torque map is a map in which a plurality of predetermined relationships between the negative pressure P in the intake pipe of the engine and the drive torque T are set in advance for each engine speed N.

  Next, the ECU 21 performs a correction process related to the shift position on the drive torque T based on the estimated drive torque T and the reduction ratio determined from the shift position Q from the shift position sensor 23, and the corrected drive torque T 'Is calculated (S110). Further, the ECU 21 calculates the difference between the currently input value and the previously input value for the driving wheel speed V from the driving wheel sensor 29, and calculates the driving wheel acceleration A based on the calculated difference. (S120).

  Further, the ECU 21 has a predetermined relationship among the driving wheel acceleration A, the correction driving torque T ′, the driving wheel acceleration A, the correction driving torque T ′, and a road surface friction coefficient (hereinafter referred to as a road surface friction coefficient) μ. Based on this, a road surface friction coefficient μ is calculated (S130). For example, when the correction drive torque T ′ is the same, the road surface is more likely to slip as the drive wheel acceleration A is larger.

  The predetermined relationship among the drive wheel acceleration A, the correction drive torque T ′, and the road surface friction coefficient μ is experimentally obtained in advance and set in the ROM 21b. Further, for the calculation processing for obtaining the road surface friction coefficient μ, for example, a conventional technique described in JP-A-2-19622 may be applied.

  Next, based on the calculated road surface friction coefficient μ, the ECU 21 determines whether the road surface friction coefficient μ of the traveling road surface is a predetermined value μ1 or less and the traveling road surface is a low friction road surface (S140). As the predetermined value μ1, a friction coefficient of a road surface that easily slips, such as an ice burn, is set in advance.

  When the ECU 21 determines that the road surface friction coefficient μ is equal to or less than a predetermined value μ1 and the traveling road surface is a low friction road surface, a characteristic map for traveling on a low friction road surface preset in the ROM 21b (hereinafter referred to as a characteristic map). Is referred to by the depression amount X from the accelerator position sensor 9. This characteristic map is a map that defines a predetermined relationship (for example, ΔF = f (X)) between the depression amount X from the accelerator position sensor 9 and the depression reaction force ΔF of the accelerator pedal 3. For example, the predetermined relationship of the low friction road surface has a non-linear characteristic that makes the driver feel a large stepping reaction force at the beginning of the depression of the accelerator pedal 3 as compared with the predetermined relationship of the asphalt road surface.

  The ECU 21 calculates an additional stepping reaction force ΔF of the accelerator pedal 3 based on the predetermined relationship (ΔF = f (X)) and the stepping amount X from the accelerator position sensor 9 (S150). The ECU 21 transmits a control signal to the servo motor 19 via the drive circuit 31 so that the calculated additional depression reaction force ΔF of the accelerator pedal 3 is obtained (S160).

  Based on the control signal, the servo motor 19 rotates the gear 19b in the clockwise direction CW, and rotates the pusher 17 of the engaging member 15 in the counterclockwise direction CCW around the lever shaft 7. When the pusher 17 of the engaging member 15 rotates in the counterclockwise CCW direction, it comes into contact with the pedal lever 5. Thus, the pedal lever 5 receives a counterclockwise CCW reaction force (rightward in FIG. 4) from the pusher 17 of the engagement member 15. The reaction force in the counterclockwise direction CCW becomes a resistance when the accelerator pedal 3 is depressed and the pedal lever 5 rotates in the clockwise direction CW. The stepping reaction force ΔF of the accelerator pedal 3 is added by the resistance when the pedal lever 5 rotates. Note that a stepping reaction force by a return spring 11 is applied to the accelerator pedal 3 in advance. Therefore, the accelerator pedal 3 generates a stepping reaction force obtained by adding the additional stepping reaction force ΔF by the servo motor 19 to the stepping reaction force by the return spring 11.

  On the other hand, when the ECU 21 determines that the road surface friction coefficient μ is larger than a predetermined value and the traveling road surface is a normal friction road surface (for example, asphalt road surface), the ECU 21 does not transmit a control signal to the servo motor 19. Therefore, the pusher 17 of the engagement member 15 does not contact the pedal lever 5, and the additional stepping reaction force ΔF is not applied to the accelerator pedal 3 from the servo motor 19 (S170). The accelerator pedal 3 is only applied with a stepping reaction force from the return spring 11.

  As described above, in the pedal reaction force control device 1 according to the present embodiment, when the additional stepping reaction force ΔF is not applied to the accelerator pedal 3, the pusher 17 of the engagement member 15 and the pedal lever 5 are maintained in a separated state. , Do not touch each other. Thereby, when the accelerator pedal 3 is depressed by the driver, the reaction force adding means including the engaging member 15, the pusher 17, the gear 19 b, the servo motor 19 and the like is mechanically separated from the accelerator pedal 3. Therefore, the transmission of the inertia of the servo motor 19 as the reaction force adding means, the tooth contact of the gear 19b, and the like to the accelerator pedal 3 is suppressed. On the other hand, in the prior art, even when the stepping reaction force is not applied to the accelerator pedal, the reaction force adding means for adding the stepping reaction force is connected to the accelerator pedal. May be transmitted, which may lead to a sense of incongruity when the accelerator pedal is operated. That is, the pedal reaction force control apparatus 1 according to the present embodiment improves the operability because the operation feeling of the accelerator pedal 3 is better than that of the prior art.

  Even when a foreign object is caught in the servo motor 19 or the gear 19b and locked, in the pedal reaction force control device 1 according to this embodiment, when the additional stepping reaction force ΔF is not applied to the accelerator pedal 3, as described above. The accelerator pedal 3 and the reaction force adding means are mechanically separated. Therefore, since the user can operate the accelerator pedal 3 as usual, the reliability is improved.

  As mentioned above, although the best mode for carrying out the present invention has been described using one embodiment, the present invention is not limited to such one embodiment, and within the scope not departing from the gist of the present invention, Various modifications and substitutions can be made to the above-described embodiment.

  For example, in the above-described embodiment, the pusher 17 of the engaging member 15 may be urged toward the pedal lever by the urging member 33 such as a spring (FIG. 4). For example, when the distance between the pusher 17 of the engaging member 15 and the pedal lever 5 is relatively large in a state where the accelerator pedal 3 is not depressed much (for example, a position where the accelerator opening is about 10%). There is. From this state, the time until the pusher 17 of the engagement member 15 is rotated and brought into contact with the pedal lever 5 is set so that the pusher 17 of the engagement member 15 is moved toward the pedal lever by the biasing member 33. It is shortened by energizing. Therefore, the control responsiveness of adding the additional stepping reaction force ΔF to the accelerator pedal 3 is improved. Further, by setting the urging force of the urging member 33 to be low, for example, the pusher 17 of the engaging member 15 abuts on the pedal lever 5 and the additional pedal reaction force ΔF is applied to the accelerator pedal 3. Thus, it is possible to suppress the vibration generated between the gear 19b of the servo motor 19 and the tooth portion 15c of the engaging member 15.

  In the above embodiment, when the additional stepping reaction force ΔF is not applied to the accelerator pedal 3, the distance between the pedal lever 5 and the pusher 17 of the engaging member 15 is set to a predetermined distance (for example, a short distance) D. You may make it maintain (FIG. 5). For example, even if the predetermined distance D is set in the ROM 21b in advance so that the angle between the line L connecting the pusher 17 and the rotation center of the engaging member 15 and the pedal lever 5 is about 2 °. Good.

  The ECU 21 is connected to an angle sensor 33 that detects the rotation angle of the drive shaft 19a of the servo motor 19, and the ECU 21 includes a depression amount of the accelerator pedal 3 from the accelerator position sensor 9, a rotation angle from the angle sensor 33, Based on a predetermined distance D set in advance, a control signal is transmitted to the servo motor 19 so that the distance between the pedal lever 5 and the pusher 17 of the engaging member 15 is maintained at the predetermined distance D. Based on the control signal transmitted from the ECU 21, the servo motor 19 rotates the gear 19 b to rotate the pusher 17 of the engagement member 15, and the pedal lever 5 and the pusher 17 of the engagement member 15. Is maintained at a predetermined distance D. Thereby, when the additional stepping reaction force ΔF is not applied to the accelerator pedal 3, the pusher 17 of the engaging member 15 maintains, for example, a short distance from the pedal lever 5 and rotates the pedal lever 5. Follow. Therefore, the time from when the additional stepping reaction force ΔF is not applied to the accelerator pedal 3 to when the pusher 17 of the engaging member 15 contacts the pedal lever 5 and the additional stepping reaction force ΔF is added. Can be shortened. That is, the control response of the accelerator pedal 3 can be improved. Further, since the speed difference between the pusher 17 and the pedal lever 5 when the pusher 17 of the engaging member 15 abuts against the pedal lever 5 can be suppressed, the pusher 17 of the engaging member 15 is The shock at the time of contacting 5 can be reduced, and the operation feeling of the accelerator pedal 3 is improved.

  In the above embodiment, the ECU 21 adds the additional stepping reaction force ΔF to the accelerator pedal 3 when the road surface friction coefficient μ is determined to be equal to or smaller than the predetermined value μ1, but the inter-vehicle distance from the preceding vehicle is equal to or smaller than the predetermined distance. When it is determined that the additional pedal reaction force ΔF may be added to the accelerator pedal 3. In this case, the ECU 21 is connected to an inter-vehicle distance sensor such as a laser radar that detects the inter-vehicle distance from the preceding vehicle. When the ECU 21 determines that the inter-vehicle distance detected by the inter-vehicle distance sensor is equal to or less than the predetermined distance, as described above, the ECU 21 transmits the control signal to the servo motor 19 to drive it so that the additional stepping reaction force ΔF is generated by the accelerator pedal 3. Append to By adding this additional stepping reaction force ΔF, for example, the driver can be warned that the vehicle is approaching the preceding vehicle.

  Further, the ECU 21 may add the additional stepping reaction force ΔF to the accelerator pedal 3 when determining that the relative speed with respect to the preceding vehicle is equal to or higher than the predetermined speed. In this case, for example, the ECU 21 performs a calculation process such as a differentiation process on the inter-vehicle distance detected by the inter-vehicle distance sensor and calculates a relative speed with respect to the preceding vehicle. When the relative speed with respect to the preceding vehicle is equal to or higher than the predetermined speed, for example, the driver can be warned that the vehicle is approaching the preceding vehicle by adding the additional stepping reaction force ΔF to the accelerator pedal 3.

  Furthermore, although the said one Example is applied to the accelerator pedal 3, it is applicable also to a brake pedal.

  The present invention can be used, for example, in a pedal reaction force control device that applies a reaction force to an accelerator pedal of a vehicle. The appearance, weight, size, running performance, etc. of the vehicle to be mounted are not limited.

FIG. 1 is a schematic diagram showing a configuration of a pedal reaction force control apparatus according to an embodiment of the present invention. (A) It is a figure which shows the state in which additional stepping reaction force is added to an accelerator pedal by a servomotor. (B) It is the figure which looked at the pedal reaction force control apparatus shown to Fig.2 (a) from the A direction. It is a flowchart which shows the control processing flow by ECU of a pedal reaction force control apparatus. It is a figure which shows the aspect which urges | biases the pushing element of an engaging member with a biasing member to a pedal lever direction. It is a figure which shows the aspect which maintained the predetermined distance D between the pedal lever and the pushing element of an engaging member.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Pedal reaction force control apparatus 3 Accelerator pedal 5 Pedal lever 9 Accelerator position sensor 15 Engagement member 17 Pusher 19 Servo motor 21 ECU

Claims (7)

A pedal member that rotates when the driver depresses,
State quantity detection means for detecting the state quantity of the vehicle;
A pedal reaction force control device comprising: a reaction force addition means for adding a reaction force to the pedal member based on the state quantity detected by the state quantity detection means;
The reaction force adding means has one end fixed and the other end rotated to engage with the pedal member, a drive unit for rotating the engagement unit, and rotation of the drive unit. A control unit for controlling,
The control unit includes a reaction force application state in which the engagement unit is engaged with the pedal member and the rotation of the drive unit is controlled to apply the reaction force, and the engagement unit is applied to the pedal member. The pedal reaction force control device is switched to a reaction force non-addition state in which the rotation of the drive unit is controlled so as not to be engaged. The pedal reaction force control device according to claim 1,
Further comprising a depression amount detecting means for detecting a depression amount of the pedal member;
The control unit controls the rotation of the drive unit based on the stepping amount detected by the stepping amount detection unit. The pedal reaction force control device according to claim 1 or 2,
The engaging portion has a pusher that engages with the pedal member in the reaction force addition state,
Pedal reaction force control, wherein the control unit controls the rotation of the drive unit so that a predetermined distance is maintained between the pusher and the pedal member in the reaction force non-addition state. apparatus. The pedal reaction force control device according to claim 3,
The pedal reaction force control device, wherein the pusher is provided with an elastic member. The pedal reaction force control device according to claim 3,
The drive unit is an electric motor;
The control unit controls the pedal reaction force control so that the rising gradient of the current supplied to the electric motor is equal to or lower than a predetermined gradient when the pusher is engaged with the pedal member. apparatus. The pedal reaction force control device according to any one of claims 1 to 5,
The vehicle state quantity is selected from at least one of a group consisting of an inter-vehicle distance to a preceding vehicle, a relative speed with respect to the preceding vehicle, a load state of the vehicle, and a running state of the vehicle. Reaction force control device. The pedal reaction force control device according to any one of claims 1 to 6,
A pedal reaction force control device, further comprising basic reaction force adding means for adding a reaction force to the pedal member in accordance with a depression amount of the pedal member.

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