JP2013237396A - Device and method to control acceleration/deceleration - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make a driver recognize that an operation to evade a vehicle behavior becoming unstable, and different from normal is performed when an operation different from normal is performed to an accelerator pedal.SOLUTION: When operation speed of an accelerator pedal is more than an operation speed threshold, a control device outputs each part, assuming that operation different from normal is performed, an accelerator pedal reaction force control amount to generate an operation reaction force that is smaller than the accelerator pedal operation amount SA equivalent amount (step S12), a non-normal operation time requested driving force to make non-acceleration (step S13), and a non-normal operation time requested braking force to generate the braking force to stop the vehicle (step S14). Since the operation reaction force of the accelerator pedal is smaller than the accelerator pedal operation amount SA equivalent amount, and gives a step omission feeling, the driver can recognize performing of operation different from normal, and as the braking force is generated, the vehicle behavior becoming unstable can be controlled, even if the accelerator pedal is operated by mistake.

Description

  The present invention relates to an acceleration / deceleration control device and an acceleration / deceleration control method.

Conventionally, a number of proposals have been made as a method for preventing erroneous depression of the accelerator pedal and the brake pedal.
For example, an acceleration operator is arranged on the brake operator, and the driver generates a braking force by stepping on the brake operator downward with the foot, while the driver pushes the foot so that the driver pushes the acceleration operator open. There has been proposed a pedal device that generates a driving force on the assumption that an acceleration operation is performed by moving in the right direction (see, for example, Patent Document 1).

  In this pedal device, the driver performs an acceleration operation and a braking operation by operations in different directions, such as a vertical operation of “depressing down” and a horizontal operation of “moving his foot to the right”. Thus, an operation error between the braking operation and the acceleration operation due to the vehicle is avoided, and the movement time of the driver's foot between the braking operation element and the acceleration operation element is shortened.

JP 2002-6969 A

  However, in the conventional pedal device, the braking operator and the acceleration operator are arranged on the braking operator, although the movement directions of the driver's feet during the braking operation and the acceleration operation are different. Therefore, depending on how the driver's feet are moved, the braking operation for the braking operator and the accelerating operation for the acceleration operator may be mistakenly performed at the same time, or the braking operator may be There is a possibility that an unintended acceleration operation may be performed, such as an operation of the acceleration operator accidentally intended to be operated.

  Therefore, the present invention has been made by paying attention to the above-mentioned conventional unsolved problems, and when an operation different from the normal operation is performed on the acceleration operator by the driver, An object of the present invention is to provide an acceleration / deceleration control device and an acceleration / deceleration control method capable of avoiding instability of vehicle behavior and allowing a driver to recognize that an unusual operation has been performed. .

In order to achieve the above object, in the present invention, a driving force corresponding to the operation amount of the acceleration operator is generated in the driving force generator, and an operation reaction force corresponding to the operation amount of the acceleration operator is generated in the acceleration operator. Generated by the reaction force control unit on the acceleration operator. Also, a braking force corresponding to the amount of operation of the braking operator is generated by the braking force generator.
At this time, when the operation speed of the acceleration operation element detected by the acceleration operation element operation speed detection unit is equal to or higher than the operation speed threshold value, for example, the intention to operate the brake operation element is accidentally operated, so the acceleration operation element is suddenly accelerated. If it is determined that the acceleration operator has been operated differently than usual, such as when the acceleration operator is operated, the operation reaction of a magnitude different from the operation reaction force according to the operation amount of the acceleration operator Force is generated by the accelerating operator reaction force control unit, the generation of the driving force by the driving force generating unit is prohibited, and the braking force during non-normal operation is generated by the braking force generating unit.

  According to the present invention, when the driver performs an operation different from the normal operation for the acceleration operator, that is, when the driver operates the braking operator and the acceleration operator by mistake, the operation by the acceleration operator is performed. Since the reaction force does not become the operation reaction force according to the operation amount of the acceleration operation element, and no driving force is generated, the driver has performed an operation different from the normal operation on the acceleration operation element. Can be recognized. Further, at this time, since the braking force during non-normal operation is forcibly generated regardless of the operation of the brake operator, it is possible to stabilize the vehicle behavior when the accelerator operator is erroneously operated.

It is a block diagram which shows an example of the acceleration / deceleration control apparatus to which this invention is applied. It is explanatory drawing for demonstrating the outline | summary of driving force control. It is a characteristic map which shows the relationship between accelerator pedal operation amount SA and driver request | requirement driving force Fa. It is explanatory drawing for demonstrating the outline | summary of braking force control. It is a characteristic map which shows the relationship between brake-pedal operation amount SB and driver request | requirement braking force Fb. It is a block diagram which shows the function structure of a controller. It is a flowchart which shows an example of the process sequence of the process with respect to the accelerator pedal operation performed with a controller. It is a flowchart which shows an example of the process sequence of reaction force control amount and the braking / driving force change process performed by step S6 of FIG. It is a flowchart which shows an example of the process sequence of reaction force control amount and braking / driving force change process in 2nd Embodiment. It is a flowchart which shows an example of the process sequence of reaction force control amount and braking / driving force change process in 3rd Embodiment.

Hereinafter, an embodiment of the present invention will be described.
(First embodiment)
First, a first embodiment of the present invention will be described.
(Constitution)
FIG. 1 is a block diagram showing an example of the acceleration / deceleration control apparatus 100 of the present invention.
As shown in FIG. 1, the acceleration / deceleration control device 100 drives an accelerator pedal stroke sensor 1, a brake pedal stroke sensor 2, a controller 3, an accelerator pedal reaction force control device 4, and an accelerator pedal reaction force control device 4. A servo motor 4M, a brake pedal reaction force control device 5, a servo motor 5M for driving the brake pedal reaction force control device 5, a driving force control device 6, and a braking force control device 7. .

  The controller 3 includes a CPU and CPU peripheral components such as a ROM and a RAM, and controls the entire acceleration / deceleration control device 100. The controller 3 performs an unintended sudden start operation by the driver when it is determined from the operation state of the accelerator pedal 1a as an acceleration operation element that the accelerator pedal operation is performed at a speed higher than the normal accelerator pedal operation. It is assumed that the driver is willing to brake instead of accelerating, and the vehicle shifts to braking control without executing the vehicle acceleration control, and notifies the driver that acceleration control is not performed.

The accelerator pedal reaction force control device 4 controls the torque generated by the servo motor 4M incorporated in the link mechanism of the accelerator pedal 1a according to the accelerator pedal reaction force control amount output from the controller 3. The servo motor 4M controls the reaction force generated according to the command signal from the accelerator pedal reaction force control device 4, and can arbitrarily control the pedaling force generated when the driver operates the accelerator pedal 1a.
The accelerator pedal stroke sensor 1 detects the operation amount of the accelerator pedal 1a converted into the rotation angle of the servo motor 4M via the link mechanism. The accelerator pedal stroke sensor 1 outputs the detected accelerator pedal operation amount SA to the controller 3 and the driving force control device 6, respectively.

The brake pedal reaction force control device 5 controls the torque generated by the servo motor 5M incorporated in the link mechanism of the brake pedal 2a as a brake operator according to the brake pedal reaction force control amount output from the controller 3. . The servo motor 5M controls the reaction force generated according to the command value from the brake pedal reaction force control device 5, and can arbitrarily control the pedaling force generated when the driver operates the brake pedal 2a. Here, the reaction force of the brake pedal is controlled by the servo motor 5M. However, the present invention is not limited to this. For example, the brake assist force can be generated using hydraulic pressure controlled by a computer.
The brake pedal stroke sensor 2 detects the operation amount of the brake pedal 2a converted into the rotation angle of the servo motor 5M via the link mechanism. The brake pedal stroke sensor 2 outputs the detected brake pedal operation amount SB to the controller 3 and the braking force control device 7, respectively.

The driving force control device 6 calculates a control command signal to the engine.
FIG. 2 shows a block diagram of driving force control in the driving force control device 6. FIG. 3 shows a characteristic map that defines the relationship between the accelerator pedal operation amount SA and the driver-requested driving force Fa.
As shown in FIG. 2, for example, the driving force control device 6 includes a driver request driving force calculation unit 6a, a switching unit 6b, and an engine controller 6c.
The driver required driving force calculation unit 6a calculates the driver required driving force Fa according to the accelerator pedal operation amount SA using a characteristic map as shown in FIG. That is, calculation is performed so that the driver required driving force Fa increases as the accelerator pedal operation amount SA increases.

The switching unit 6b receives the driver request driving force Fa calculated by the driver request driving force calculation unit 6a and outputs the driver request driving force Fa to the engine controller 6c as the target driving force. Is input, instead of the driver required driving force Fa, the non-normal operation required driving force Fai from the controller 3 is output as the target driving force to the engine controller 6c.
The engine controller 6c calculates a control command to the engine according to the target driving force.

The braking force control device 7 outputs a brake fluid pressure command.
FIG. 4 shows a block diagram of the braking force control in the braking force control device 7. FIG. 5 shows a characteristic map that defines the relationship between the brake pedal operation amount SB and the driver-requested braking force Fb.
As shown in FIG. 4, for example, the braking force control device 7 includes a driver request braking force calculation unit 7a, a switching unit 7b, and a brake fluid pressure controller 7c.
The driver requested braking force calculation unit 7a calculates a driver requested braking force Fb according to the brake pedal operation amount SB using a characteristic map as shown in FIG. That is, calculation is performed so that the driver required braking force Fb increases as the brake pedal operation amount SB increases.

  The switching unit 7b receives the driver requested braking force Fb calculated by the driver requested braking force calculating unit 7a and outputs it as a target braking force to the brake fluid pressure controller 7c. When the power Fbi is input, the required braking force Fbi at the time of non-normal operation from the controller 3 is output to the brake hydraulic pressure controller 7c as the target braking force instead of the driver required braking force Fb.

The brake fluid pressure controller 7c outputs a brake fluid pressure command according to the target braking force. In response to a command from the brake fluid pressure controller 7c, a brake device (not shown) provided on each wheel is operated.
FIG. 6 is a block diagram showing the internal and peripheral configuration of the controller 3.
The controller 3 configures, for example, an accelerator operation speed determination unit 3a, an operation speed threshold update unit 3b, a braking / driving force change unit 3c, and a reaction force calculation unit 3d according to the software form of the CPU.

  The accelerator operation speed determination unit 3a compares the accelerator operation speed with the operation speed threshold value of the accelerator operation speed, and uses the comparison result as the operation speed determination result as the operation speed threshold update unit 3b, the braking / driving force change unit 3c, and the reaction force calculation. Output to unit 3d. The accelerator operation speed is calculated from the accelerator pedal operation amount SA, for example. The operation speed threshold value of the accelerator operation speed is a threshold value for determining whether the operation of the accelerator pedal 1a is performed at the operation speed that is normally performed on the accelerator pedal 1a. When the accelerator operation speed is equal to or higher than the operation speed threshold, it is determined that the accelerator pedal 1a has been operated faster than during normal operation, so it can be considered that an accelerator pedal operation different from the normal operation has been performed, For example, it can be considered that a sudden start operation is performed, or that the accelerator pedal 1a is operated by mistake with the brake pedal 2a. That is, sudden operation of the accelerator pedal 1a leads to sudden start and acceleration, so a general driver does not suddenly operate the accelerator pedal 1a, and tends to operate the accelerator pedal 1a with ease, Normally, an operation that depresses the accelerator pedal 1a to the maximum is not performed. Therefore, when the accelerator pedal 1a is suddenly operated, it may be considered that the driver accidentally suddenly operated the accelerator pedal 1a rather than the driver suddenly operating the accelerator pedal 1a with the intention of performing rapid acceleration. it can.

  The operation speed threshold update unit 3b changes the operation speed threshold in the accelerator operation speed determination unit 3a according to the accelerator operation speed when the accelerator operation speed is smaller than the operation speed threshold as a result of the comparison in the accelerator operation speed determination unit 3a. To do. Specifically, the operation speed threshold is changed so as to increase as the accelerator operation speed decreases. That is, if the accelerator operation speed during normal operation is relatively slow, and the operation speed threshold is set to be low, the accelerator pedal 1a is operated even when the accelerator pedal 1a is operated at the normal accelerator operation speed. It becomes easy for the operation speed of 1a to exceed the operation speed threshold. That is, it may be erroneously determined that a sudden start operation has been performed or that the driver has erroneously operated the accelerator pedal 1a for the purpose of a braking operation.

Conversely, when the operation speed of the accelerator pedal 1a during normal operation is high, if the operation speed threshold is set high, the operation speed of the accelerator pedal 1a will not easily exceed the operation speed threshold. There is a possibility that it is difficult to determine that the sudden start operation has been performed even though the sudden start operation has been performed.
Accordingly, by setting an operation speed threshold according to the operation speed of the accelerator pedal 1a, normal operation such as whether the sudden start operation is performed or the accelerator pedal is erroneously operated with the intention of the braking operation is performed. It is possible to accurately determine whether or not this has been done.

  When the accelerator operation speed is equal to or higher than the operation speed threshold value as a result of the comparison by the accelerator operation speed determination unit 3a, the braking / driving force change unit 3c performs an unintended sudden transmission operation by the driver or makes a braking intention to the driver. In spite of this, it is determined that the accelerator pedal has been operated by mistake, and a driving force different from the driving force corresponding to the driver's accelerator pedal operation is generated and a braking force is forcibly generated.

  Specifically, the braking / driving force changing unit 3c includes a driving force control unit c1 and a braking force control unit c2. As a result of the comparison by the accelerator operation speed determination unit 3a, the driving force control unit c1 sets zero as the non-normal operation required driving force Fai when the accelerator operation speed is equal to or higher than the operation speed threshold. When the accelerator operation speed is equal to or higher than the operation speed threshold, the braking force control unit c2 calculates a braking force sufficient to stop the vehicle, and sets this as a required braking force Fbi during non-normal operation.

Then, the driving force control unit c1 and the braking force control unit c2 use the driving force control device 6 and the braking force control device 7 for the non-normal operation request driving force Fai and the non-normal operation request braking force Fbi set in this way. Respectively.
On the other hand, if the accelerator operation speed is smaller than the operation speed threshold as a result of comparison by the accelerator operation speed determination unit 3a, it is determined that the normal accelerator pedal operation is being performed, and the driving force control unit c1 and the braking force The control unit c2 does not calculate the non-normal operation required driving force Fai and the non-normal operation required braking force Fbi, and does not output the driving force control device 6 and the braking force control device 7.

The reaction force calculation unit 3d calculates a brake pedal reaction force control amount corresponding to the brake pedal operation amount SB. For example, it is acquired from a preset characteristic map that indicates the correspondence between the brake pedal operation amount SB and the brake pedal reaction force control amount.
In addition, the reaction force calculation unit 3d calculates an accelerator pedal reaction force control amount according to the comparison result in the accelerator operation speed determination unit 3a.
Specifically, when it is determined that the accelerator pedal operation speed is smaller than the operation speed threshold as a result of comparison by the accelerator operation speed determination unit 3a, an accelerator pedal reaction force control amount corresponding to the accelerator pedal operation amount SA is calculated. . For example, it is acquired from a preset characteristic map that represents the correspondence between the accelerator pedal operation amount SA and the accelerator pedal reaction force control amount.

  On the other hand, when it is determined that the accelerator pedal operation speed is equal to or higher than the operation speed threshold value as a result of the comparison by the accelerator operation speed determination unit 3a, the driver has made a sudden start operation or the driver has an intention to brake. In spite of the fact, it is determined that the accelerator pedal 1a is operated by mistake, and the accelerator pedal reaction force control amount is decreased. That is, an operation reaction force smaller than the operation reaction force of the accelerator pedal 1a corresponding to the accelerator pedal operation amount SA is generated. As a result, the driver is made aware that acceleration operation is not accepted, that is, acceleration control is not performed.

Specifically, for example, the accelerator pedal reaction force control amount corresponding to the accelerator pedal operation amount SA is acquired from the characteristic map. Then, the accelerator pedal reaction force control amount at the time of non-normal operation is calculated by multiplying the acquired accelerator pedal reaction force control amount by a preset suppression coefficient smaller than “1”.
Then, the brake pedal reaction force control amount calculated in this way is output to the brake pedal reaction force control device 5, and the accelerator pedal operation amount SA is determined depending on whether or not the accelerator pedal operation speed is equal to or higher than the operation speed threshold value. The accelerator pedal reaction force control amount or the accelerator pedal reaction force control amount at the time of non-normal operation is output to the accelerator pedal reaction force control device 4 according to the above.

(Specific processing in the controller 3 for accelerator pedal operation)
Next, an example of processing for accelerator pedal operation executed by the controller 3 will be described with reference to a flowchart shown in FIG.
In the controller 3, the processing for the accelerator pedal operation shown in FIG. 7 is performed at a preset fixed period.
In the controller 3, first, in step S1, the running state is read. That is, the accelerator pedal operation amount SA and the brake pedal operation amount SB are read from the accelerator pedal stroke sensor 1 and the brake pedal stroke sensor 2, respectively.

Next, it is determined whether the accelerator pedal 1a is depressed based on the accelerator pedal operation amount SA (step S2). Specifically, when the accelerator pedal operation amount SA is equal to or larger than a preset threshold value, it is determined that the accelerator pedal is depressed.
When the accelerator pedal is depressed, the routine proceeds to step S3a, where the operation speed of the accelerator pedal is calculated from the accelerator pedal operation amount SA, and it is determined whether this operation speed is equal to or higher than the operation speed threshold (step S3b).

  When the operation speed of the accelerator pedal 1a is smaller than the operation speed threshold, the process proceeds to step S4, and the operation speed threshold is changed according to the operation speed of the accelerator pedal 1a at this time. Specifically, the operation speed threshold is changed so that the operation speed threshold decreases as the operation speed of the accelerator pedal 1a increases. At this time, the operation speed threshold value is changed to a smaller value within a range that does not overlap with a general acceleration / deceleration operation speed.

  Next, the process proceeds to step S5, where an accelerator pedal reaction force control amount corresponding to the accelerator pedal operation amount SA is calculated. Further, when the accelerator pedal 1a is operated, the brake pedal 2a is not operated, so the brake pedal reaction force control amount is set to “0”. Then, the calculated accelerator pedal reaction force control amount and brake pedal reaction force control amount are output to the accelerator pedal reaction force control device 4 and the brake pedal reaction force control device 5, respectively. Then, the process ends.

On the other hand, when the operation speed of the accelerator pedal 1a is equal to or higher than the operation speed threshold, the process proceeds from step S3b to step S6, and the reaction force control amount and the braking / driving force for changing the accelerator pedal reaction force control amount and the braking / driving force are changed. Perform the change process.
Specifically, in the reaction force control amount and braking / driving force change processing, as shown in FIG. 8, first, the brake pedal reaction force control amount is set to “0” in step S11.

  Next, the process proceeds to step S12, and an accelerator pedal reaction force control amount during non-normal operation that is smaller than the accelerator pedal operation amount corresponding to the accelerator pedal operation amount SA is calculated. For example, an accelerator pedal reaction force control amount corresponding to the accelerator pedal operation amount SA is calculated, and this is multiplied by a preset suppression coefficient smaller than “1”. This multiplication result is used as an accelerator pedal reaction force control amount during non-normal operation.

Next, the process proceeds to step S13, and the required driving force for non-acceleration is set as the required driving force during non-normal operation. That is, for example, the required driving force during non-normal operation = 0.
Next, the process proceeds to step S14, and a required braking force for stopping the vehicle is calculated as a required braking force during non-normal operation. For example, based on the vehicle speed detected by a vehicle speed sensor (not shown), a braking force required to stop the vehicle is calculated, and this is used as a braking force required during non-normal operation.

  Then, the process proceeds to step S15, where the brake pedal reaction force control amount set in step S11 and the accelerator pedal reaction force control amount in the non-normal operation calculated in step S12 are used as the accelerator pedal reaction force control device 4 and the brake pedal reaction force. Each is output to the control device 5. Further, the emergency required driving force set in step S13 and the emergency required braking force calculated in step S14 are output to the driving force control device 6 and the braking force control device 7, respectively. Then, the process ends.

  Returning to FIG. 7, when the accelerator pedal 1a is not depressed in step S2, that is, when the accelerator pedal 1a is not depressed more than the threshold value, the routine proceeds to step S7, where the brake pedal reaction force control according to the brake pedal operation amount SB is performed. Calculate the quantity. The calculated brake pedal reaction force control amount is output to the brake pedal reaction force control device 5. Further, since the accelerator pedal 1 a is not depressed, the accelerator pedal reaction force control amount is set to “0”, and this is output to the accelerator pedal reaction force control device 4. Then, the process ends.

(Operation)
Next, the operation of the first embodiment of the present invention will be described.
The controller 3 executes processing for the accelerator pedal operation shown in FIG. 7 at a preset fixed period.
First, the accelerator pedal operation amount SA and the brake pedal operation amount SB of the accelerator pedal stroke sensor 1 and the brake pedal stroke sensor 2 are read.
Here, when the vehicle is traveling at a constant speed or accelerating, the accelerator pedal 1a is depressed, so that the process proceeds from step S1 to step S3 in FIG. 7 to step S3a. When the vehicle is traveling at a constant speed or when the driver operates the accelerator pedal 1a with the intention of accelerating, the driver performs the same acceleration operation as the normal operation on the accelerator pedal 1a.

  Therefore, the operation speed of the accelerator pedal 1a is lower than the operation speed threshold (step S3b). Therefore, the process proceeds from step S3b to step S4, and the operation speed threshold is changed according to the operation speed of the accelerator pedal 1a obtained in step S3a within a range that does not overlap with a general acceleration operation speed. For example, the correspondence between the actual operation speed of the accelerator pedal 1a and the operation speed threshold value is set and stored in advance, and the operation speed threshold value corresponding to the operation speed of the accelerator pedal 1a obtained in step S3a is specified from this correspondence. This is set as an operation speed threshold value used for determination.

Then, an accelerator pedal reaction force control amount corresponding to the accelerator pedal operation amount SA is calculated, and the brake pedal reaction force control amount = 0 is output to the accelerator pedal reaction force control device 4 and the brake pedal reaction force control device 5, respectively. (Step S5).
Therefore, the accelerator pedal reaction force control device 4 generates a reaction force corresponding to the accelerator pedal operation amount SA.

On the other hand, in the brake pedal reaction force control device 5, the driver does not operate the brake pedal 2a, and the brake pedal reaction force control is “0”, so no reaction force is generated.
Further, in the controller 3, since the operation speed of the accelerator pedal 1a is lower than the operation speed threshold value and the normal accelerator pedal operation is performed, the driving force control device 6 uses the driving force during non-normal operation and the braking force during non-normal operation. And it does not output to the braking force control device 7.

For this reason, in the driving force control device 6, the driver required driving force calculation unit 6a calculates the required driving force according to the accelerator pedal operation amount SA from the accelerator pedal stroke sensor 1, and this required driving force is used as the target driving force for the engine. Output to the controller 6c and a drive amount corresponding to the driver's accelerator pedal operation is generated.
On the other hand, in the braking force control device 7, since the brake pedal 2a is not operated by the driver, no braking force is generated.

Accordingly, since the driver generates a reaction force corresponding to the accelerator pedal operation amount SA and a driving force corresponding to the accelerator pedal operation amount SA when the accelerator pedal 1a is depressed, the accelerator pedal operation is performed. It can be recognized that the traveling control is performed according to the amount SA.
For example, when the driver operates the brake pedal 2a, it is not determined that the accelerator pedal 1a is operated. Therefore, the controller 3 shifts from step S2 to step S7, and the brake pedal of the brake pedal 2a A brake pedal reaction force control amount corresponding to the operation amount SB is calculated and output to the brake pedal reaction force control device 5.

In this case, since the non-normal time required braking force is not output to the braking force control device 7, the braking force control device 7 uses the driver required braking force corresponding to the brake pedal operation amount SB as the target braking force to control the braking force. I do.
For this reason, a brake pedal reaction force corresponding to the driver's brake pedal operation amount SB is generated, and a braking force corresponding to the brake pedal operation amount SB is generated, resulting in normal operation of the brake pedal operation.

On the other hand, when the driver mistakes the brake pedal 2a and suddenly operates the accelerator pedal 1a, the operating speed of the accelerator pedal 1a becomes faster than the normal operating speed for the accelerator pedal 1a, and exceeds the operating speed threshold (FIG. 7 steps S3a, S3b).
Therefore, the controller 3 performs a reaction force control amount and braking / driving force change process (step S6). That is, the accelerator pedal reaction force control amount corresponding to the accelerator pedal operation amount SA is multiplied by a preset suppression coefficient to obtain an accelerator pedal reaction force control amount (step S12 in FIG. 8). On the other hand, since the brake pedal 2a is not operated, the brake pedal reaction force control amount is set to zero (step S11 in FIG. 8). Further, a required driving force (= 0) for non-acceleration of the vehicle is set as a required driving force during non-normal operation (step S13 in FIG. 8), and a request for stopping the vehicle as a required braking force during non-normal operation. The braking force is calculated (step S14 in FIG. 8).

The accelerator pedal reaction force control amount, the brake pedal reaction force control amount, the non-normal operation request driving force, and the non-normal operation request braking force are respectively set to the accelerator pedal reaction force control device 4 and the brake pedal reaction force control device. 5. Output to driving force control device 6 and braking force control device 7.
For this reason, unlike the case where the operation reaction force of the accelerator pedal 1a is normally depressed with respect to the accelerator pedal 1a, the operation reaction force becomes weaker and gives the driver a feeling of stepping on the pedal. . Therefore, the driver can recognize that the acceleration operation is not performed.

  Further, in the driving force control device 6 and the braking force control device 7, the required driving force during non-normal operation and the required braking force during non-normal operation are notified from the controller 3, so that the driver required driving force and the driver required braking force are included. Instead, the engine controller 6c and the brake fluid pressure controller 7c are controlled using the required driving force during non-normal operation as the target driving force and the required braking force during non-normal operation as the target braking force.

For this reason, no driving force is generated, and on the contrary, a deceleration force for stopping the vehicle is generated, so that the vehicle eventually stops.
As described above, when an accelerator pedal operation different from the normal operation is performed on the accelerator pedal 1a, that is, the driver performs a sudden start operation, or the driver has a willingness to brake. Regardless of this, if it is predicted that the accelerator pedal operation has been erroneously performed, the traveling safety of the vehicle can be further improved by stopping the vehicle.

Further, the controller 3 sets an operation speed threshold value for determining whether or not an accelerator pedal operation different from the normal operation has been performed according to the actual operation speed of the accelerator pedal 1a, and the actual operation speed is the operation speed. If it is smaller than the threshold value (steps S3a and S3b in FIG. 7), the operation speed threshold value is changed in accordance with the operation speed of the accelerator pedal 1a obtained in step S3a within a range not overlapping the general acceleration operation speed. Yes. Therefore, the operation speed threshold is an operation speed threshold corresponding to the characteristics of the operation speed when the driver operates the accelerator pedal 1a.
Therefore, by setting the operation speed threshold according to the characteristics of the operation speed of the driver with respect to the accelerator pedal 1a as described above, it is possible to accurately determine whether or not an accelerator pedal operation different from the normal operation has been performed on the accelerator pedal 1a. Can be determined.

In particular, a driver unfamiliar with driving or an elderly driver may erroneously operate the accelerator pedal 1a and the brake pedal 2a, and a driver unfamiliar with such driving or an elderly driver. In such a case, the driver does not drive like an advanced driver who frequently operates the accelerator pedal 1a suddenly, and the operation speed becomes a fixed value to some extent depending on the characteristics of the driver. On the other hand, the situation where the accelerator pedal 1a and the brake pedal 2a are erroneously operated is often a situation where it is necessary to perform sudden braking. Therefore, the operation speed for the accelerator pedal 1a is relatively large, and the normal operation for the accelerator pedal 1a is performed. It becomes larger than the operation speed.
Therefore, in this way, it is particularly unfamiliar with driving by determining whether an accelerator pedal operation different from the normal operation is performed based on the operation speed threshold value according to the operation speed of the accelerator pedal 1a during the normal operation. This is suitable for detecting an erroneous operation of the accelerator pedal 1a by a driver or an elderly driver.

  Further, when an accelerator pedal operation different from the normal operation is performed, the braking force is forcibly generated even when the brake pedal 2a is not operated, so that the vehicle behavior is stabilized as described above. Can do. Further, for example, when the driver accidentally operates the accelerator pedal, the accelerator is recognized when the driver recognizes that the driver himself has operated the accelerator pedal different from the normal from the feeling of stepping on the accelerator pedal 1a. Although the foot is moved from the pedal 1a to the brake pedal 2a, the braking force is already generated regardless of the operation of the brake pedal 2a before the brake pedal 2a is depressed. The braking force can be generated prior to.

  Further, when a driver unfamiliar with driving or an elderly driver operates the accelerator pedal 1a with the intention of accelerating, the driver does not know whether the accelerator pedal 1a is depressed or not, and operates the accelerator pedal 1a at an operation speed at which sudden acceleration occurs. In such a case, sudden acceleration is performed unintentionally. However, even when the driver performs an acceleration operation with an intention to accelerate, when a sudden acceleration is predicted to occur, that is, when the operation speed of the accelerator pedal 1a exceeds the operation speed threshold, an operation different from the normal operation is performed. Since the operation reaction force of the accelerator pedal 1a is suppressed and the braking force is forcibly generated, the driver can be notified that the sudden start operation has been performed. The vehicle behavior can be stabilized.

  In addition, when the operation speed of the accelerator pedal 1a exceeds the operation speed threshold, the acceleration / deceleration control apparatus 100 forcibly generates a braking force regardless of the operation of the brake pedal 2a and stops the vehicle. Therefore, a driver who understands the operation of the acceleration / deceleration control device 100 can also be used to suddenly operate the accelerator pedal 1a for the purpose of generating a braking force. A braking force can be generated at a stage before switching from 1a to the brake pedal 2a, and the time required until the braking force is generated can be shortened.

  Here, in the first embodiment, the accelerator pedal 1a corresponds to the acceleration operator, the driving force control device 6 corresponds to the driving force generation unit, and the accelerator pedal reaction force control device 4 corresponds to the acceleration operator reaction force control unit. Correspondingly, the braking force control device 7 corresponds to the braking force generator, the processing in step S3a in FIG. 7 corresponds to the acceleration operator operating speed detection unit, and the processing in step S3b in FIG. The reaction force calculation unit 3d corresponds to the reaction force calculation unit, the driving force control unit c1 corresponds to the driving force control unit, the braking force control unit c2 corresponds to the braking force control unit, and the operation speed threshold value. The update unit 3b corresponds to the operation speed threshold value update unit.

(Effect of 1st Embodiment)
(1) When the operation speed of the accelerator pedal 1a is equal to or higher than the operation speed threshold, operations such as a sudden start operation or an operation of the accelerator pedal 1a that is mistaken for the brake pedal 2a are different from normal operations. Is determined to have been performed, the generation of the driving force is prohibited, the braking force is forcibly generated, and an accelerator pedal reaction force different from this is generated instead of the accelerator pedal reaction force according to the accelerator pedal operation amount SA. I tried to make it.

Since the accelerator pedal reaction force for the operation of the accelerator pedal 1a is different from the normal one, the driver can recognize that the operation different from the normal operation is performed on the accelerator pedal 1a, and the operation different from the normal operation is performed. Therefore, it is possible to recognize that the acceleration is not performed and the deceleration control is performed.
Further, when it is determined that the driver has performed an operation different from the normal operation on the accelerator pedal 1a, the accelerator pedal is decelerated without being accelerated and the vehicle is stopped. Therefore, the accelerator pedal is mistaken for the brake pedal 2a. It is possible to improve safety when an accelerator pedal operation different from the normal operation is performed, for example, when 1a is operated or when a sudden start operation is performed.

(2) At this time, an operation reaction force smaller than the operation reaction force corresponding to the accelerator pedal operation amount SA is generated as the accelerator pedal operation reaction force. Therefore, it is possible to easily recognize that an operation different from the normal operation has been performed.

(3) Also, when the accelerator pedal operation speed is smaller than the operation speed threshold, that is, when it is not determined that the accelerator pedal 1a is operated by mistake in sudden start operation or the brake pedal 2a, that is, for the accelerator pedal 1a Since the operation speed threshold is updated based on the actual operation speed of the accelerator pedal 1a when it is determined that the normal operation is being performed, the operation characteristics of the driver during the normal operation with respect to the accelerator pedal 1a are obtained. A corresponding operation speed threshold value can be set. For this reason, it is possible to more accurately determine whether or not a normal operation has been performed on the accelerator pedal 1a according to the operation characteristics of the driver.

(Second Embodiment)
Next, a second embodiment of the present invention will be described.
The second embodiment is the same as the first embodiment except that the reaction force control amount and the braking / driving force changing process executed in step S6 in FIG. 7 are different from those in the first embodiment. Therefore, detailed description of the same part is omitted.
In the second embodiment, the accelerator pedal 1a is made to reduce the reaction force of the accelerator pedal 1a so that the driver recognizes that acceleration is not performed, and the accelerator pedal 1a is operated when the operation speed of the accelerator pedal 1a becomes equal to or higher than the operation speed threshold. The driver is made to recognize that braking is started by raising the operation reaction force 1a.

FIG. 9 is a flowchart illustrating an example of a processing procedure of reaction force control amount and braking / driving force change processing in the second embodiment.
First, in step S21, the brake pedal reaction force control amount is set to “0”, and then the process proceeds to step S22 to determine whether or not the accelerator pedal operation amount SA is greater than or equal to a preset accelerator pedal operation amount threshold value. To do.
The accelerator pedal operation amount threshold value is set to a value about the time before the accelerator pedal operation amount SA is maximized.
If the accelerator pedal operation amount SA does not exceed the accelerator pedal operation amount threshold value, the process proceeds to step S23. First, an accelerator pedal reaction force control amount corresponding to the accelerator pedal operation amount SA is calculated, and the calculated accelerator pedal reaction amount is calculated. The force control amount is multiplied by a preset suppression coefficient, and the multiplication result is used as an accelerator pedal reaction force control amount during non-normal operation.

Next, the process proceeds to step S24, and the non-normal operation required driving force is set to “0” in order to make non-acceleration regardless of the accelerator pedal operation amount SA (step S24).
Next, the process proceeds to step S25, and since no braking force is generated at this point, the required driving force during non-normal operation is set to “0”.
Then, the process proceeds to step S26, the brake pedal reaction force control amount set in step S21, the accelerator pedal reaction force control amount calculated in step S23, the non-normal operation required driving force set in step S24, and step S25. Is output to the brake pedal reaction force control device 5, the accelerator pedal reaction force control device 4, the driving force control device 6, and the braking force control device 7, respectively.

On the other hand, if the accelerator pedal operation amount SA exceeds the accelerator pedal operation amount threshold value in step S21, the process proceeds to step S27, and the accelerator pedal operation reaction force is quickly raised. That is, the accelerator pedal operation reaction force set value is set as the accelerator pedal reaction force control amount during the non-normal operation.
The accelerator pedal reaction force set value is changed from a state in which the accelerator pedal reaction force calculated in step S23 is applied to a state in which an accelerator pedal reaction force equivalent to the accelerator pedal reaction force is applied. Sometimes, the change of the accelerator pedal operation reaction force is set to a value that can be sufficiently recognized by the driver.

Next, the process proceeds to step S28, where the required braking force for stopping the vehicle is calculated as the required braking force during non-normal operation. After the required driving force during non-normal operation is set to “0” in step S29, The process proceeds to S26, the brake pedal reaction force control amount set in step S21, the accelerator pedal reaction force control amount set in step S27, the non-normal operation required braking force calculated in step S28, and the non-normal operation set in step S29. The hourly required driving force is output to the brake pedal reaction force control device 5, the accelerator pedal reaction force control device 4, the braking force control device 7, and the driving force control device 6, respectively.
(Operation)
Therefore, in the second embodiment, when the operation speed of the accelerator pedal 1a is equal to or higher than the operation speed threshold (step S3 in FIG. 7), as shown in FIG. 9, the operation amount of the accelerator pedal 1a is small. The accelerator pedal reaction force control amount that suppresses the accelerator pedal reaction force in accordance with the accelerator pedal operation amount SA is calculated (step S23 in FIG. 9), and the non-accelerated required driving force for non-acceleration is calculated (step S23). S24), the required braking force during non-normal operation is set as “0” (step S25). For this reason, the accelerator pedal reaction force according to the amount of operation of the accelerator pedal 1a by the driver is not generated, and the driving force according to the amount of operation of the accelerator pedal 1a is not generated. Since the driver can feel a sense of stepping over and is not accelerated, the driver can recognize that acceleration control is not performed.

When the driver further depresses the accelerator pedal 1a from this state and the accelerator pedal operation amount SA becomes equal to or greater than the accelerator pedal operation amount threshold, a preset accelerator pedal reaction force set value is set as the accelerator pedal reaction force control amount. (Step S27).
Further, for example, a required braking force for stopping the vehicle is set as the required braking force during non-normal operation (step S28). Further, the non-normal operation required driving force for non-acceleration is set (step S29).

  For this reason, when the accelerator pedal operation amount SA becomes equal to or greater than the accelerator pedal operation amount threshold, the driver feels that the accelerator pedal 1a has been stepped down, but the driver has a sufficient reaction force. In addition, braking force control for stopping the vehicle is started at this point. Therefore, for example, when the driver mistakes the brake pedal 2a and operates the accelerator pedal 1a, the braking force is reduced even though the driver operates the brake pedal 2a (actually the accelerator pedal 1a). When the brake pedal 2a (actually the accelerator pedal 1a) is further depressed, the reaction force of the brake pedal 2a (actually the accelerator pedal 1a) is suddenly felt. A braking force is generated. Thus, the driver can recognize that the accelerator pedal 1a and the brake pedal 2a are erroneously operated because the operation differs from the normal operation when the brake pedal 2a is operated.

  Further, for example, when the driver suddenly operates the accelerator pedal 1a such as a sudden start operation, the driver feels a sense of stepping off and then suddenly feels a reaction force. At this point, braking control is started. Can recognize that the braking force control has started when a sudden reaction force is felt, that is, if the driver makes an unexpected start operation, the braking force control is activated. Accordingly, the driver can be made aware that the accelerator pedal has been operated suddenly. On the contrary, when the driver does not intend the sudden start operation but quickly operates the accelerator pedal 1a, the driver can recognize that the braking force control has been started by operating the accelerator pedal too quickly. .

In other words, in the second embodiment, the driver is notified of an operation mistake between the accelerator pedal 1a and the brake pedal 2a while allowing the accelerator pedal 1a to operate suddenly, and the braking force is forcibly generated to stop the vehicle. , Can ensure safety.
Also in this case, when a driver who understands the operation of the acceleration / deceleration control apparatus 100 suddenly operates the accelerator pedal 1a with a braking intention, a braking force for stopping the vehicle is generated. Thus, the braking force can be generated at a stage that is faster by the time corresponding to the changeover time from the brake pedal 2a to the brake pedal 2a.

(Effect of 2nd Embodiment)
(1) In the second embodiment, when the operation speed of the accelerator pedal 1a is equal to or higher than the operation speed threshold, the generation of driving force is prohibited and not the accelerator pedal operation reaction force according to the accelerator pedal operation amount SA. A different accelerator pedal operation reaction force is generated, and a braking force corresponding to the required braking force during non-normal operation is generated.

The driver can recognize that an operation different from the normal operation is performed on the accelerator pedal 1a because the reaction force of the accelerator pedal operation with respect to the operation of the accelerator pedal 1a is different from the normal operation. It can be recognized that the acceleration is not performed because the operation is performed.
Further, when it is determined that the driver has performed an operation different from the normal operation on the accelerator pedal 1a, acceleration is not performed. Therefore, when the accelerator pedal 1a is operated mistakenly for the brake pedal 2a, or a sudden start operation is performed. The safety when the accelerator pedal operation different from the normal operation is performed can be improved.

(2) Further, at this time, as long as the accelerator pedal operation amount SA does not exceed a threshold value set near the maximum value of the accelerator pedal operation amount, the accelerator pedal operation reaction force is reduced, and further, When the operation amount SA exceeds the threshold value, the accelerator pedal operation reaction force corresponding to the accelerator pedal operation reaction force set value is generated. Therefore, after giving the driver a feeling of stepping over the pedal operation, the driver can suddenly feel the reaction force of the operation, that is, the driver recognizes that the driver has definitely performed an unusual operation. Can be made. Furthermore, since the brake control is started when the operational reaction force is suddenly felt after giving a feeling of stepping through in this way, the driver is made aware that the brake control is started. After that, the braking control can be started.

(3) Also in this case, when the accelerator pedal operation speed is smaller than the operation speed threshold, that is, when it is not determined that the accelerator pedal 1a is operated by mistake in sudden start operation or the brake pedal 2a, that is, the accelerator Since the operation speed threshold is updated based on the actual operation speed of the accelerator pedal 1a when it is determined that the pedal 1a is normally operated, the driver during normal operation with respect to the accelerator pedal 1a. An operation speed threshold value can be set according to the operation characteristics. For this reason, it is possible to more accurately determine whether or not a normal operation has been performed on the accelerator pedal 1a according to the operation characteristics of the driver.

(Third embodiment)
Next, a third embodiment of the present invention will be described.
The third embodiment is the same as the first embodiment except that the reaction force control amount and the braking / driving force changing process executed in step S6 of FIG. 7 are different from those of the first embodiment. Therefore, detailed description of the same part is omitted.
In the third embodiment, by reducing the operation reaction force of the accelerator pedal 1a and applying an operation reaction force that vibrates the accelerator pedal 1a, the driver is made aware that acceleration control is not performed and performs braking control. Is made to recognize the driver.

Specifically, as shown in the flowchart of FIG. 10, first, “0” is set as the brake pedal reaction force control amount in step S31.
Next, the process proceeds to step S32, where the accelerator pedal reaction force control amount corresponding to the accelerator pedal operation amount SA is multiplied by a preset suppression coefficient smaller than “1”, and this is used as the reference accelerator pedal reaction force control amount. To do.

  Next, the process proceeds to step S33, and the reference accelerator pedal reaction force control amount is increased / decreased by a preset increase / decrease amount around the reference accelerator pedal reaction force control amount calculated in step S32. Accelerator pedal reaction force control amount. The increase / decrease width is determined based on whether the accelerator pedal operation reaction force corresponding to the accelerator reaction force control amount during non-normal operation in which the reference accelerator reaction force control amount is increased / decreased by the increase / decrease width is given to the driver. The width is set such that the operation reaction force can be sufficiently recognized that it is vibrating.

Next, the process proceeds to step S34, and “0” is set as the required driving force at the time of non-normal operation in order not to accelerate regardless of the accelerator pedal operation amount SA. Also, the required braking force during non-normal operation for generating a predetermined braking force is calculated. For example, the required braking force during non-normal operation for stopping the vehicle is calculated (step S35).
Next, the process proceeds to step S36, the brake pedal reaction force control amount set in step S31, the accelerator pedal reaction force control amount in the non-normal operation calculated in step S33, the non-normal operation request driving force set in step S34, The non-normal operation required braking force calculated in step S35 is output to the brake pedal reaction force control device 5, the accelerator pedal reaction force control device 4, the driving force control device 6, and the braking force control device 7, respectively. Then, the process ends.

(Operation)
Therefore, in the third embodiment, when the operation speed of the accelerator pedal 1a is larger than the accelerator pedal operation speed threshold (step S3 in FIG. 7), the accelerator pedal reaction force control amount corresponding to the accelerator pedal operation amount SA. The reference accelerator pedal reaction force control amount is suppressed, and at this time, the operation reaction force increases or decreases around the reference accelerator pedal reaction force control amount. Thereby, the vibration of the accelerator pedal 1a is transmitted to the driver who puts his foot on the accelerator pedal 1a. For this reason, the driver feels that the accelerator pedal 1a is stepped down and feels the vibration of the accelerator pedal 1a. At this time, the driver recognizes that the acceleration operation is not performed and executes the braking control. I can recognize that. Also in this case, when the brake pedal 2a and the accelerator pedal 1a are operated by mistake, control different from the braking force control for the operation of the normal brake pedal 2a (actually the accelerator pedal 1a) is performed. Therefore, it is possible to make the driver recognize that the brake pedal 2a and the accelerator pedal 1a are erroneously operated. Similarly, even when a sudden start operation is performed at the driver's intention, if the operation speed of the accelerator pedal 1a exceeds the operation speed threshold, the driver feels stepping and feels the vibration of the accelerator pedal 1a. It is possible to easily recognize that the braking force control is performed without acceleration according to the accelerator pedal operation amount.

  Further, by depressing the accelerator pedal 1a at an operation speed faster than normal, the required braking force during non-normal operation is generated, so that the vehicle can be stopped. Accordingly, by suddenly depressing the accelerator pedal 1a with a braking intention, for example, the accelerator pedal 1a can be stopped without replacing the foot from the brake pedal 1b, so that it is not necessary to change the foot. The braking force can be generated promptly and the safety can be further improved.

(Effect of the third embodiment)
(1) It is determined that the operation speed of the accelerator pedal 1a is different from the normal operation on the accelerator pedal 1a, the generation of the driving force is prohibited, the braking force is forcibly generated, and the accelerator pedal operation is further performed. Instead of the accelerator pedal reaction force corresponding to the amount SA, an accelerator pedal reaction force different from this is generated.
Since the accelerator pedal reaction force for the operation of the accelerator pedal 1a is different from the normal, the driver can recognize that the operation different from the normal is performed on the accelerator pedal 1a, and the operation different from the normal operation is performed. Therefore, it is possible to recognize that the acceleration is not performed and the deceleration control is performed.

  Further, when it is determined that the driver has performed an operation different from the normal operation on the accelerator pedal 1a, the accelerator pedal is decelerated without being accelerated and the vehicle is stopped. Therefore, the accelerator pedal is mistaken for the brake pedal 2a. It is possible to improve safety when an accelerator pedal operation different from the normal operation is performed, for example, when 1a is operated or when a sudden start operation is performed.

(2) At this time, as the accelerator pedal operation reaction force, the operation reaction force is increased or decreased with a reference accelerator pedal reaction force control amount smaller than the accelerator pedal reaction force control amount corresponding to the accelerator pedal operation amount SA as a center. As a result, the driver can feel a feeling of stepping over and the vibration of the accelerator pedal 1a. Therefore, it is possible to reliably recognize that the driver has performed an accelerator pedal operation different from the normal operation.

(3) Also, when the accelerator pedal operation speed is smaller than the operation speed threshold, that is, when it is not determined that the accelerator pedal 1a is operated by mistake in sudden start operation or the brake pedal 2a, that is, for the accelerator pedal 1a Since the operation speed threshold is updated based on the actual operation speed of the accelerator pedal 1a when it is determined that the normal operation is being performed, the operation characteristics of the driver during the normal operation with respect to the accelerator pedal 1a are obtained. A corresponding operation speed threshold value can be set. For this reason, it is possible to more accurately determine whether or not a normal operation has been performed on the accelerator pedal 1a according to the operation characteristics of the driver.

(Modification)
In each of the embodiments described above, after generating an operation reaction force smaller than the operation reaction force corresponding to the accelerator pedal operation amount SA as the accelerator pedal operation reaction force, the operation reaction force is suddenly increased or vibrated. Thus, although a case has been described in which the driver is made to recognize that an accelerator pedal operation different from the normal operation has been performed, the present invention is not limited to this. If there is no operation reaction force corresponding to the amount of accelerator pedal operation, the driver can recognize that the accelerator pedal operation is different from the normal operation pedal. Also good.

  For example, as in the third embodiment, the accelerator pedal 1a is not vibrated by increasing or decreasing the operation reaction force around the operation reaction force that is smaller than the operation reaction force corresponding to the accelerator pedal operation amount. The accelerator pedal 1a may be vibrated by increasing or decreasing the operation reaction force around the operation reaction force according to the amount.

Moreover, although the case where the braking force for stopping the vehicle is set as the required braking force during the non-normal operation has been described, the present invention is not limited to this, and the braking force that can ensure the running stability of the vehicle is also possible. Well, it can be set arbitrarily.
Moreover, although the case where the operation speed of the accelerator pedal 1a is calculated from the change amount per unit time of the accelerator pedal operation amount SA has been described, the present invention is not limited to this, and any operation speed of the accelerator pedal can be detected. Such a method may be used.

Moreover, in the said embodiment, although the case where the accelerator pedal 1a and the brake pedal 2a were arrange | positioned independently was demonstrated, it does not restrict to this. As described above, since it is determined whether or not a normal operation has been performed on the accelerator pedal from the operation speed on the accelerator pedal, the brake pedal (braking) is applied as described in the background art, for example. The present invention can be applied even when an accelerator pedal (acceleration operation element) is arranged on the operation element).
In the above embodiment, the case where the accelerator pedal 1a and the brake pedal 2a are applied as the acceleration operator and the braking operator has been described. However, the present invention is not limited to this, and an operation for performing an acceleration operation or a braking operation is described. Even a child can be applied.

1 accelerator pedal stroke sensor 2 brake pedal stroke sensor 3 controller 4 accelerator pedal reaction force control device 5 brake pedal reaction force control device 6 driving force control device 7 braking force control device 100 acceleration / deceleration control device

Claims (7)

A driving force generator for generating a driving force according to the operation amount of the acceleration operator;
An accelerating operator reaction force control unit that causes the accelerating operator to generate an operation reaction force according to the input acceleration operator reaction force control amount;
A braking force generator for generating a braking force according to the amount of operation of the braking operator;
An acceleration operator operation speed detection unit for detecting an operation speed of the acceleration operator;
An acceleration operator operation speed determination unit that determines whether the acceleration operator operation speed detected by the acceleration operator operation speed detection unit is equal to or higher than an operation speed threshold;
A reaction force calculation unit for calculating the acceleration operator reaction force control amount according to the operation amount of the acceleration operator;
A driving force control unit capable of controlling the driving force separately from the operation amount of the acceleration operator;
A braking force control unit capable of controlling the braking force separately from the operation amount of the braking operator;
With
When the acceleration operation element operation speed determination unit determines that the acceleration operation element operation speed is equal to or greater than the operation speed threshold, the reaction force calculation unit operates the operation reaction force according to the operation amount of the acceleration operation element. The acceleration operating element reaction force control amount for generating an operation reaction force having a magnitude different from that of the driving force is calculated, and the driving force control unit is driven during non-normal operation for prohibiting the generation of the driving force by the driving force generation unit. A force control signal is output to the driving force generation unit, and the braking force control unit outputs a braking force control signal during non-normal operation that generates a braking force during non-normal operation preset by the braking force generation unit. Output to
The driving force generation unit stops the generation of driving force when the driving force control signal for non-normal operation is input,
The braking force generation unit generates a braking force according to the braking force control signal during the non-normal operation instead of the braking force according to the amount of operation of the braking operator when the braking force control signal during the non-normal operation is input. An acceleration / deceleration control device characterized in that   When the acceleration operator operation speed determination unit determines that the acceleration operator operation speed is smaller than the operation speed threshold, the operation speed threshold is updated based on the acceleration operator operation speed. The acceleration / deceleration control apparatus according to claim 1, further comprising a unit. The reaction force calculation unit
When the acceleration operation element speed determination unit determines that the acceleration operation element operation speed is equal to or higher than the operation speed threshold, an operation reaction force is generated that suppresses an operation reaction force according to the operation amount of the acceleration operation element. 3. The acceleration / deceleration control apparatus according to claim 1, wherein the acceleration operating element reaction force control amount is output. The reaction force calculation unit
After the suppressed operation reaction force is generated, when the operation amount of the acceleration operation element becomes equal to or greater than the acceleration operation element operation amount threshold, the operation reaction force is larger than the operation reaction force being generated. 4. The acceleration / deceleration control apparatus according to claim 3, wherein the acceleration manipulator reaction force control amount to be increased is output. The reaction force calculation unit
4. The acceleration / deceleration control apparatus according to claim 3, wherein the acceleration manipulator reaction force control amount for increasing or decreasing the operation reaction force is output based on the suppressed operation reaction force. The braking force control unit
When it is determined by the acceleration operator speed determination unit that the acceleration operator operation speed is equal to or higher than the operation speed threshold, non-braking is performed when the operation amount of the acceleration operator is smaller than the acceleration operator operation threshold. 5. The acceleration / deceleration control device according to claim 4, wherein when the operation amount of the acceleration operation element is equal to or greater than the acceleration operation element operation amount threshold value, the braking force control signal for generating the braking force is output. A driving force generator for generating a driving force according to the operation amount of the acceleration operator;
An acceleration operator reaction force control unit that causes the acceleration operator to generate an operation reaction force according to an operation amount of the acceleration operator;
A braking force generator for generating a braking force according to the amount of operation of the braking operator;
An acceleration / deceleration control method in an acceleration / deceleration control device comprising:
When the operation speed of the acceleration operator is detected and the detected acceleration operator operation speed is equal to or higher than a threshold value, an operation reaction force generated by the acceleration operator reaction force control unit is controlled according to the acceleration operator operation amount. The operation force is changed to a magnitude different from the reaction force, the generation of the driving force at the driving force generation unit is prohibited, and a braking force at the time of non-normal operation set in advance by the braking force generation unit is generated. An acceleration / deceleration control method characterized by the above.

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