JP2010000918A - Accelerator pedal reaction force control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an accelerator pedal reaction force control device capable of adequately and rapidly reflecting the driving intention of a driver in the adjustment of the reaction force to be applied to an accelerator pedal. <P>SOLUTION: The accelerator pedal reaction force control device 10 determines that the automatic travel is under execution when the speed change of one's own vehicle is equal to or less than a predetermined value, and the pedal stroke position of an accelerator pedal is fixed and maintained for a predetermined time by the step-in operation of a driver, and sets the footrest reaction force which is changed so as to be gradually increased from a predetermined minimum footrest reaction force as the time is elapsed to the pedal reaction force at a predetermined pedal stroke position (that is, a pedal stroke position from a footrest position Pr to a pedal stroke open position (fully opened position) Pf) as the footrest reaction force. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an accelerator pedal reaction force control device.

2. Description of the Related Art Conventionally, for example, a control device is known that sets a footrest reaction force by increasing a reaction force applied to an accelerator pedal during execution of automatic traveling control of the vehicle and functions the accelerator pedal as a footrest (for example, Patent Document 1). reference).
JP 2000-54860 A

By the way, according to the control device according to the above prior art, the execution of the automatic traveling control is started and stopped according to the switch operation of the operator, and accordingly, the footrest reaction force is set and released. However, switching between starting and stopping execution of automatic travel control by switch operation is complicated, and there is a problem that the driver's driving intention cannot be reflected appropriately and quickly in the adjustment of the reaction force applied to the accelerator pedal. .
The present invention has been made in view of the above circumstances, and provides an accelerator pedal reaction force control device capable of appropriately and quickly reflecting the driver's intention to drive the reaction force applied to the accelerator pedal. It is an object.

  In order to solve the above-described problems and achieve the object, the accelerator pedal reaction force control device according to the first aspect of the present invention is mounted on a vehicle capable of automatic traveling, and an accelerator pedal reaction that applies reaction force to the accelerator pedal. When the speed change of the host vehicle is equal to or less than a predetermined change and the pedal stroke position of the accelerator pedal is fixed and maintained for a predetermined time by the driver's stepping operation, the automatic control is executed. Automatic travel determination means (step S03 in the embodiment) for determining that the vehicle is in the middle, the change in speed of the host vehicle is equal to or less than a predetermined change, and the pedal stroke position of the accelerator pedal is set to a predetermined time by the driver's stepping operation Footrest reaction force setting means for setting the footrest reaction force to the reaction force (steps S06 to S06 in the embodiment). Tsu equipped with a flop S14) and.

  Further, in the accelerator pedal reaction force control device according to the second aspect of the present invention, the footrest reaction force setting means uses the reaction force at a predetermined pedal stroke position as the footrest reaction force with a predetermined minimum with time. Sets the footrest reaction force that changes from the footrest reaction force to an increasing tendency.

  Further, in the accelerator pedal reaction force control device according to the third aspect of the present invention, the footrest reaction force setting means sets the footrest reaction force to the reaction force and the driver depresses the accelerator pedal. When the reaction is performed, a normal reaction force smaller than the footrest reaction force is set as the reaction force.

  Further, in the accelerator pedal reaction force control device according to the fourth aspect of the present invention, the footrest reaction force setting means determines the time required for reducing the reaction force from the footrest reaction force to the normal reaction force. And change according to the distance between vehicles.

  According to the accelerator pedal reaction force control device of the first aspect of the present invention, the speed change of the host vehicle is equal to or less than the predetermined change, and the pedal stroke position of the accelerator pedal is set over a predetermined time by the driver's stepping operation. When it is fixed and maintained, it is judged that automatic driving is being executed and the footrest reaction force is set on the accelerator pedal, so it is applied to the accelerator pedal without requiring complicated operations such as switch operation by the operator. The driver's driving intention can be appropriately and quickly reflected in the adjustment of the reaction force.

  Furthermore, according to the accelerator pedal reaction force control device according to the second aspect of the present invention, the reaction force at the predetermined pedal stroke position changes from the predetermined minimum footrest reaction force to an increasing tendency as time passes, as the footrest reaction force. Since the footrest reaction force to be set is set, it is possible to prevent the driver from feeling uncomfortable when adjusting the reaction force applied to the accelerator pedal.

  Furthermore, according to the accelerator pedal reaction force control device according to the third aspect of the present invention, the reaction force applied to the accelerator pedal is smaller than the normal reaction force smaller than the footrest reaction force in response to the accelerator pedal depressing operation by the driver. Therefore, the driver's intention to drive can be appropriately and quickly reflected in the adjustment of the reaction force applied to the accelerator pedal without requiring a complicated operation such as a switch operation by the operator. .

  Furthermore, according to the accelerator pedal reaction force control device according to the fourth aspect of the present invention, the accelerator pedal reaction force control device is applied to the accelerator pedal in accordance with the inter-vehicle distance from the preceding vehicle (for example, the presence or absence of the preceding vehicle or the distance to the preceding vehicle). Reaction force can be adjusted. For example, when there is a preceding vehicle, it is determined that there is a high possibility of continuing execution of automatic traveling control such as following traveling, and the time required to reduce the reaction force from the footrest reaction force to the normal reaction force is increased. By doing so, it is possible to prevent the driver from feeling uncomfortable with the sudden disappearance of the footrest reaction force. Further, for example, when there is no preceding vehicle, or when the distance between the preceding vehicle and the host vehicle is long, for example, it is determined that the driver is likely to perform an acceleration operation, and the reaction force is reduced to the footrest. By shortening the time required to reduce the reaction force to the normal reaction force (for example, shortening the time as the distance to the preceding vehicle increases), the footrest reaction force disappears quickly and smooth acceleration by the driver Is possible.

Hereinafter, an accelerator pedal reaction force control device according to an embodiment of the present invention will be described with reference to the accompanying drawings.
The accelerator pedal reaction force control device 10 according to the present embodiment transmits the driving force of the internal combustion engine (E) to the driving wheels (not shown) of the vehicle via the transmission (T / M), for example, as shown in FIG. Mounted on a vehicle, and includes an external sensor 11, a vehicle state sensor 12, a speed control device 14, a speed change control device 15, an internal combustion engine control device 16, a motor control device 17, and a pedal reaction force motor 18. Configured.

The external sensor 11 includes a beam scan type radar 21 and a radar control unit 22 using electromagnetic waves such as millimeter waves, for example.
For example, the radar control unit 22 divides the detection target area set in front of the traveling direction of the host vehicle into a plurality of areas in the angular direction, and transmits each electromagnetic wave transmission signal so as to scan each area. A reflection signal generated by reflecting each transmission signal by an object (for example, a preceding vehicle) outside the host vehicle is received and output to the speed control device 14.

  The vehicle state sensor 12 includes, for example, a speed sensor 31 that detects the speed (vehicle speed) of the host vehicle, and a brake pedal sensor 32 that detects whether or not the driver depresses the brake pedal and an operation amount as vehicle information of the host vehicle. And an accelerator pedal opening sensor 33 for detecting an operation amount (accelerator opening) of the accelerator pedal by the driver, and a torque sensor 35 for detecting a torque acting on the accelerator pedal AP by the driver's depression. Has been.

For example, as shown in FIG. 2, the lower part of the accelerator pedal AP is pivotally attached to the bottom of the vehicle body, and the accelerator pedal AP is placed against the surface pressed by the driver's foot. One end of an accelerator rod AR is connected to the back surface, and the upper part of the accelerator pedal AP can be tilted. The accelerator rod AR is fixed to the rotating shaft of the pedal reaction force motor 18, and an accelerator wire AW is connected to the other end of the accelerator rod AR.
When the driver depresses the accelerator pedal AP, the upper portion of the accelerator pedal AP tilts, and when one end and the other end of the accelerator rod AR rotate around the rotation axis, the accelerator wire AW is pulled out from the wire holding portion (not shown), The opening degree of a throttle valve (not shown) of the internal combustion engine (E) is operated.
Further, the rotational driving force is transmitted to the accelerator rod AR by the rotational driving of the pedal reaction force motor 18, so that a pedal reaction force that resists the depression of the accelerator pedal AP by the driver is applied to the accelerator pedal AP via the accelerator rod AR. It has come to be.

  In this embodiment, the throttle valve is operated by the accelerator wire AW. However, the present invention is not limited to this. The throttle valve opening (throttle opening) is electronically controlled by DBW (Drive By Wire). May be. In this DBW, the rotation angle or stroke amount of the accelerator pedal AP is electrically detected by a sensor (not shown) or the like, and when the electric signal of this detection result is input to the processing device (not shown), the processing device A control current is supplied to an electromagnetic actuator (for example, a throttle valve drive motor) that drives the valve, and the throttle valve is electronically controlled so that the valve opening degree is in accordance with the rotation angle or stroke amount of the accelerator pedal AP.

The speed control device 14 follows the preceding vehicle as the automatic traveling of the vehicle according to the signal output from the external sensor 11 and the signal output from the vehicle state sensor 12 or constant speed at the target speed. A command signal for instructing execution and stop of any one of the traveling is output, and the speed change control device 15 and the internal combustion engine control device 16 are used to control the speed in the automatic traveling by either the following traveling or the constant speed traveling. A command signal is output to.
The transmission control device 15 controls the transmission operation of the transmission (T / M) according to the command signal output from the speed control device 14.
The internal combustion engine control device 16 controls the operation of the internal combustion engine (E) according to the command signal output from the speed control device 14.

The motor control device 17 outputs a signal output from the vehicle state sensor 12 and a command signal output from the speed control device 14 (that is, a command signal instructing execution of either follow-up traveling or constant speed traveling). Accordingly, the pedal reaction force motor 18 is controlled to apply a pedal reaction force against the accelerator pedal to the accelerator pedal.
The motor control device 17 sets a predetermined pedal stroke position of the accelerator pedal in advance as a set threshold position Pt, and a constant pedal whose speed change of the host vehicle is equal to or less than the predetermined change and shallower than the set position Pt by the driver's stepping operation. When the stroke position is maintained for a predetermined time, it is determined that automatic traveling is being executed, and this fixed pedal stroke position is set as the footrest position Pr.

The set threshold position Pt is a stroke position that is sufficient for the accelerator pedal to be depressed when the driver intends to accelerate the vehicle (for example, a stroke position that is about 1/4 of the throttle opening degree or the like). ).
Further, the footrest position Pr may be fixed in advance to a predetermined pedal stroke position. That is, when the speed change of the host vehicle is equal to or less than the predetermined change and the predetermined pedal stroke position is maintained for a predetermined time by the driver's stepping operation, the predetermined pedal stroke position is set as the footrest position Pr. It may be set.
The state in which the speed change of the host vehicle is equal to or less than the predetermined change includes not only the case where the speed is greater than zero (that is, the running state) but also the case where the speed is zero (that is, the stopped state). When the vehicle travels in a traffic jam in an automatic running state following the vehicle, the speed of the host vehicle is controlled to zero in accordance with the stop state of the preceding vehicle. In this way, you can keep your foot on the accelerator pedal even when it is stopped, so that the driver's intention to start (that is, stepping on the accelerator pedal) is accurately and smoothly reflected in the vehicle behavior. It becomes possible to make it.

Then, the pedal reaction force at the footrest position Pr from the pedal stroke release position (that is, the position where the pedal stroke becomes zero) is increased as a footrest reaction force larger than the normal pedal reaction force according to the predetermined normal pedal stroke characteristics. Thus, the accelerator pedal is caused to function as a footrest at the footrest position Pr.
The footrest reaction force is set so as to change in an increasing tendency from a predetermined minimum footrest reaction force to a predetermined maximum footrest reaction force as time elapses until a reaction force reduction process described later is started. . For example, in FIG. 3, the pedal reaction force from the pedal stroke release position to the footrest position Pr is first set to a pedal reaction force corresponding to a predetermined minimum footrest reaction force characteristic that is larger than a pedal reaction force corresponding to a normal pedal stroke characteristic. Thereafter, the pedal reaction force is set so as to gradually increase to a pedal reaction force corresponding to a predetermined maximum footrest reaction force characteristic as time elapses.

In the normal pedal stroke characteristic, for example, a reaction force that smoothly increases as the pedal stroke position changes from a shallow position to a deep position is set as the normal pedal reaction force.
In the minimum footrest reaction force characteristic, the minimum footrest reaction force βmin larger than the normal pedal reaction force α is set at least at the footrest position Pr. The pedal reaction force is set so as to increase smoothly from the minimum footrest reaction force βmin.
In the maximum footrest reaction force characteristics, a predetermined maximum footrest reaction force βmax larger than the minimum footrest reaction force βmin is set at least at the footrest position Pr. For example, the pedal stroke position is changed from the footrest position Pr to the pedal stroke release position (fully open position). Along with the change to Pf, the pedal reaction force is set to increase smoothly from the maximum footrest reaction force βmax.

  As a result, when the host vehicle is running automatically, the pedaling force exceeding the footrest reaction force larger than the normal pedal reaction force (that is, the pedal reaction force between the minimum footrest reaction force βmin and the maximum footrest reaction force βmax) is When the accelerator pedal is input by depressing the accelerator pedal, the pedal stroke position of the accelerator pedal starts to change from the footrest position Pr toward the fully open position Pf, and the vehicle is accelerated (manual acceleration).

Further, the motor control device 17 performs a step-back operation of the accelerator pedal by the driver in a state where the footrest reaction force larger than the normal pedal reaction force is set as the pedal reaction force from the pedal stroke release position to the footrest position Pr. When this occurs, the pedal reaction force is reduced from the footrest reaction force to the normal pedal reaction force.
At this time, the time required to reduce the pedal reaction force (or the speed to be reduced) is changed according to the presence / absence of the preceding vehicle, the inter-vehicle distance between the preceding vehicle and the host vehicle, and the like. For example, when there is a preceding vehicle, the time required to reduce the pedal reaction force from the footrest reaction force to the normal pedal reaction force is judged as being highly likely to continue execution of automatic traveling control such as following traveling By making the length longer, it is possible to prevent the driver from feeling uncomfortable with the sudden disappearance of the footrest reaction force.
Further, for example, when there is no preceding vehicle or when the inter-vehicle distance between the preceding vehicle and the host vehicle is long, for example, it is determined that the driver is likely to perform an acceleration operation, and the pedal reaction force By reducing the time required to reduce the footrest reaction force from the normal pedal reaction force (for example, shortening the time as the inter-vehicle distance increases), the footrest reaction force disappears quickly and smooth acceleration by the driver Is possible.

  The accelerator pedal reaction force control device 10 according to the present embodiment has the above-described configuration. Next, the operation of the accelerator pedal reaction force control device 10 will be described.

First, for example, in step S01 shown in FIG. 4, the speed of the host vehicle is acquired.
Next, in step S02, the pedal stroke position of the accelerator pedal is acquired.
In step S03, whether or not the speed change of the host vehicle is equal to or less than a predetermined change including zero and whether or not the predetermined pedal stroke position is maintained for a predetermined time by the driver's depression operation of the accelerator pedal. Determine.
If this determination is “NO”, the flow proceeds to the end, and the process ends.
On the other hand, if the determination result is “YES”, it is determined that the vehicle is traveling automatically, and the process proceeds to step S04.

In step S04, it is determined whether there is a preceding vehicle (that is, whether the presence of the preceding vehicle is detected).
If this determination is “NO”, the flow proceeds to the end, and the process ends.
On the other hand, if this determination is “YES”, the flow proceeds to step S 05.
In step S05, it is determined whether the inter-vehicle distance between the preceding vehicle and the host vehicle is constant.
If this determination is “NO”, the flow proceeds to the end, and the process ends.
On the other hand, if this determination is “YES”, the flow proceeds to step S 06.

In step S06, the pedal reaction force from the pedal stroke release position (that is, the position where the pedal stroke becomes zero) to the footrest position Pr is set to a predetermined value larger than the normal pedal reaction force corresponding to a predetermined normal pedal stroke characteristic. The pedal reaction force is determined according to the minimum footrest reaction force characteristics.
In step S07, the pedal reaction force at the footrest position Pr from the pedal stroke release position (that is, the position at which the pedal stroke becomes zero) is gradually increased from a predetermined minimum footrest reaction force as time elapses.

In step S08, it is determined whether or not the driver has depressed the accelerator pedal.
If this determination is “NO”, the flow proceeds to step S 09.
On the other hand, if this determination is “YES”, the flow proceeds to step S11.
In step S08, it is determined whether or not the pedal reaction force has reached a pedal reaction force corresponding to a predetermined maximum footrest reaction force characteristic.
If this determination is “NO”, the flow returns to step S 07 described above.
On the other hand, if the determination is “YES”, the flow proceeds to step S10.
In step S10, when the determination result is “YES”, the pedal reaction force at the time is maintained, the process proceeds to the end, and the process is terminated.

In step S11, it is determined whether there is a preceding vehicle (that is, whether the presence of the preceding vehicle is detected).
When the determination result is “NO”, the process proceeds to step S12. In step S12, the pedal reaction force is reduced from the footrest reaction force to the normal pedal reaction force at a predetermined reduction speed, and the process proceeds to the end. Exit.
On the other hand, if the determination is “YES”, the flow proceeds to step S13.

In step S13, the inter-vehicle distance between the preceding vehicle and the host vehicle is acquired.
Then, in step S14, the pedal reaction force is reduced from the footrest reaction force to the normal pedal reaction force at a reduction speed according to the inter-vehicle distance, for example, a reduction speed that changes in an increasing tendency as the inter-vehicle distance increases, and the process proceeds to the end. The process is terminated.

  As described above, according to the accelerator pedal reaction force control device 10 according to the present embodiment, the speed change of the host vehicle is equal to or less than the predetermined change, and the pedal stroke position of the accelerator pedal is set to the predetermined time by the driver's stepping operation. When it is fixed and maintained over a period of time, it is determined that automatic running is being executed and the footrest reaction force is set on the accelerator pedal, so that for example, a complicated operation such as a switch operation by the operator is not required. The driver's driving intention can be appropriately and quickly reflected in the adjustment of the pedal reaction force applied to the accelerator pedal.

  Furthermore, as a pedal reaction force at a predetermined pedal stroke position (that is, a pedal stroke position between the footrest position Pr and the pedal stroke release position (fully open position) Pf), a footrest reaction force is set to a predetermined minimum with time. Since the footrest reaction force that changes so as to gradually increase from the footrest reaction force is set, it is possible to prevent the driver from feeling uncomfortable when adjusting the pedal reaction force applied to the accelerator pedal.

Furthermore, the pedal reaction force applied to the accelerator pedal is reduced to a normal reaction force that is smaller than the footrest reaction force in response to the accelerator pedal depressing operation by the driver. Thus, the driver's intention to drive can be appropriately and quickly reflected in the adjustment of the pedal reaction force applied to the accelerator pedal without requiring a simple operation.
Further, for example, the pedal reaction force applied to the accelerator pedal can be adjusted according to the presence or absence of the preceding vehicle or the inter-vehicle distance to the preceding vehicle. Judging that it is highly possible to continue running control, increase the time required to reduce the pedal reaction force from the footrest reaction force to the normal reaction force (or slow down the pedal reaction force) Thus, it is possible to prevent the driver from feeling uncomfortable with the sudden disappearance of the footrest reaction force. Further, for example, when there is no preceding vehicle or when the inter-vehicle distance to the preceding vehicle is relatively long, it is determined that there is a high possibility that the driver performs an acceleration operation, and the pedal reaction force is changed from the footrest reaction force to the normal reaction force. By shortening the time required to reduce the force to the force (or increasing the speed at which the pedal reaction force is reduced), the footrest reaction force is quickly lost, and the driver can smoothly accelerate.

It is a block diagram of the accelerator pedal reaction force control apparatus which concerns on embodiment of this invention. It is a block diagram of the accelerator pedal and pedal reaction force motor which concern on embodiment of this invention. It is a graph which shows an example of the correspondence of the pedal stroke position and pedal reaction force which concern on embodiment of this invention. It is a flowchart which shows operation | movement of the accelerator pedal reaction force control apparatus which concerns on embodiment of this invention.

Explanation of symbols

10 accelerator pedal reaction force control device step S03 automatic travel determination means step S06 to step S14 footrest reaction force setting means

Claims (4)

An accelerator pedal reaction force control device that is mounted on a vehicle capable of automatic traveling and applies reaction force to the accelerator pedal,
Automatic that determines that automatic travel is being performed when the speed change of the host vehicle is less than or equal to the predetermined change and the pedal stroke position of the accelerator pedal is fixed and maintained for a predetermined time by the driver's stepping operation Traveling determination means;
A footrest that sets a footrest reaction force to the reaction force when the speed change of the host vehicle is equal to or less than a predetermined change and the pedal stroke position of the accelerator pedal is fixed and maintained for a predetermined time by a driver's stepping operation An accelerator pedal reaction force control device comprising reaction force setting means. The footrest reaction force setting means sets a footrest reaction force that changes from a predetermined minimum footrest reaction force to an increasing tendency over time as the footrest reaction force to the reaction force at a predetermined pedal stroke position. The accelerator pedal reaction force control device according to claim 1. The footrest reaction force setting means is smaller than the footrest reaction force when the accelerator pedal is depressed by the driver while the footrest reaction force is set to the reaction force. The accelerator pedal reaction force control device according to claim 1 or 2, wherein a normal reaction force is set. The said footrest reaction force setting means changes the time required to reduce the reaction force from the footrest reaction force to the normal reaction force according to the inter-vehicle distance from the preceding vehicle. The accelerator pedal reaction force control device described.

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