JP2015021472A - Drive force control device of vehicle and drive force control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a drive force control device of a vehicle which can control a drive force generated at a drive source so as to be a target drive force which is set according to an operation of an accelerator pedal in accordance with an operation state of an inherent accelerator pedal at each driver, and a drive force control method.SOLUTION: A physical amount based on an operation of an accelerator pedal by a driver is detected at each preset sampling time, an accelerator operation static data distribution being a distribution of the detected physical amount is calculated, and when a variation value Ag of an opening of an accelerator pedal within a physical amount reference period Tlim which is set within a period longer than the sampling time exceeds an opening threshold Ax, and when a change direction of the opening of the accelerator pedal within the physical amount reference period Tlim is a positive direction and a negative direction, a drive force control characteristic being a control characteristic of a target drive force which is set according to an operation of an accelerator operator is changed by using the accelerator operation static data distribution.

Description

  The present invention relates to a vehicle driving force control device and a driving force control method for controlling a driving force generated by a driving source so as to be a target driving force set in accordance with an operation of an accelerator operator by a driver.

Conventionally, as a technique for controlling a driving force generated by a driving source such as an engine so as to be a target driving force set according to an operation of an accelerator operator (accelerator pedal) by a driver, for example, described in Patent Document 1 There is a technology that has been.
In the technique described in Patent Document 1, the operation speed of the accelerator pedal by the driver is detected, the maximum value of the detected operation speed is plotted on a log normal probability paper, and the distribution is based on one inflection point. Learn as a value. Then, the detected operation speed is compared with the learned reference value, and the control characteristic of the throttle opening with respect to the drive source is changed according to the comparison result.

Japanese Patent Laid-Open No. 10-9012

However, in the technique described in Patent Document 1, the control characteristic of the throttle opening with respect to the drive source is changed based on the maximum value of the operation speed of the accelerator pedal by the driver. For this reason, it is difficult to perform control to change the throttle opening, that is, the control characteristic of the driving force generated by the driving source, in accordance with the operation state (operation skill, etc.) of the accelerator pedal unique to each driver. May occur.
The present invention was made paying attention to the above problems, and it is possible to control the driving force generated by the driving source in accordance with the operation state of the accelerator operator specific to each driver. It is an object of the present invention to provide a driving force control device and a driving force control method for a vehicle.

In order to solve the above-described problem, the present invention detects a physical quantity based on an operation of an accelerator operator at every preset sampling time, and calculates an accelerator operation statistical data distribution that is a distribution of the detected physical quantity. And the driving force control characteristic which is the control characteristic of the target driving force set according to the operation of the accelerator operator by the driver is changed using the calculated accelerator operation statistical data distribution.
Here, the change in the driving force control characteristic is such that the change state of the physical quantity based on the past operation of the accelerator operation element within the physical quantity reference period set in the period longer than the sampling time satisfies the preset characteristic change condition. If it is determined that there is.

According to the present invention, the driving force control characteristic using the accelerator operation statistical data distribution reflecting the past operation of the accelerator operator according to the change state of the physical quantity reflecting the operation state of the accelerator operator for each driver. To change.
As a result, the driving force generated by the drive source is controlled to the target driving force according to the operating state of the accelerator operator specific to each driver, such as the operating skill of the accelerator operator specific to each driver. It becomes possible to do.

It is a block diagram showing a schematic structure of a vehicle provided with a driving force control device of a first embodiment of the present invention. It is a block diagram which shows the structure of a driving force controller. It is a graph which shows the relationship between elapsed time and the opening degree of an accelerator pedal. It is a graph which shows the relationship between the operating speed of an accelerator pedal, and a driving force coefficient, and the graph which shows the relationship between the operating speed of an accelerator pedal, and a cumulative frequency. It is a graph which shows the relationship between the operating speed of an accelerator pedal, and the cumulative frequency of the operating speed of an accelerator pedal. It is a time chart which shows the change of the opening degree of an accelerator pedal and the change of the yaw rate which generate | occur | produces in a vehicle by the beginner and the intermediate person. It is a figure which shows the frequency response at the time of operation of an accelerator pedal by a beginner, an intermediate person, and an advanced person. It is a flowchart of the operation | movement performed using the driving force control apparatus of 1st embodiment of this invention. It is a graph which shows the relationship between elapsed time and the opening degree of an accelerator pedal. It is a flowchart of the operation | movement performed using the driving force control apparatus of 2nd embodiment of this invention. It is a flowchart of the operation | movement performed using the driving force control apparatus of 3rd embodiment of this invention.

Embodiments of the present invention will be described below with reference to the drawings.
(First embodiment)
Hereinafter, a first embodiment of the present invention (hereinafter referred to as the present embodiment) will be described with reference to the drawings.
(Constitution)
FIG. 1 is a block diagram illustrating a schematic configuration of a vehicle V including a vehicle driving force control device 1 according to the present embodiment (may be referred to as “driving force control device 1” in the following description).
As shown in FIG. 1, a vehicle V including a driving force control device 1 includes an accelerator operation amount sensor 2, a driving force controller 4, a power control unit 6, a power unit 8, and a wheel W (right front wheel WFR, Left front wheel WFL, right rear wheel WRR, left rear wheel WRL).

  The accelerator operation amount sensor 2 is, for example, a sensor that is formed using a pedal stroke sensor and detects a depression operation amount of the accelerator pedal 10 (accelerator operation element) by the driver. In addition, the accelerator operation amount sensor 2 outputs an information signal (sometimes referred to as a “depression operation amount signal” in the following description) including the operation amount of the accelerator pedal 10 by the driver to the driving force controller 4. To do. The accelerator pedal 10 is a pedal that the driver of the vehicle V steps on in response to a driving force request.

The configuration of the accelerator operation amount sensor 2 is not limited to the configuration formed by using the pedal stroke sensor, and for example, the configuration may be such that the opening degree of the accelerator pedal 10 is detected by the driver's stepping operation.
The driving force controller 4 controls the driving force of the vehicle V and is constituted by a microcomputer. Note that the microcomputer includes, for example, a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like.

Further, the driving force controller 4 performs various processes to be described later based on various input information signals, and outputs a driving force command value for controlling the power unit 8. That is, the driving force controller 4 controls the driving motor according to the driving force request from the driver of the vehicle V. A specific configuration of the driving force controller 4 will be described later.
The power control unit 6 controls the driving force generated by the power unit 8 in response to the drive command signal received from the driving force controller 4.

In the present embodiment, as will be described later, the power unit 8 is formed by using four drive motors built in each wheel W. For this reason, the power control unit 6 controls values (for example, motor driving torque, motor rotation speed) related to the driving force generated by each driving motor.
The power unit 8 is configured to generate a driving force of the vehicle V (a driving source), and is formed by a driving motor that applies a driving force to each wheel W. That is, the vehicle V including the driving force control device 1 of the present embodiment is an electric vehicle (EV) in which the driving source of the wheels W is formed by a driving motor.

  The drive motor is formed using, for example, a synchronous motor in which a permanent magnet is embedded in a rotor and a stator coil is wound around a stator. The drive motor can be controlled by applying a three-phase alternating current generated by an inverter (not shown) based on a control command received from the power control unit 6. Furthermore, the drive motor can also operate as an electric motor that is driven to rotate by receiving power supplied from a battery (not shown) (this state is referred to as “powering”).

(Specific configuration of the driving force controller 4)
Next, a specific configuration of the driving force controller 4 will be described with reference to FIG. 1 and FIGS. 2 to 7.
FIG. 2 is a block diagram showing the configuration of the driving force controller 4.
As shown in FIG. 2, the driving force controller 4 includes an accelerator operation physical quantity calculation unit 12, a physical quantity variation value determination unit 14, a physical quantity change history storage unit 16, a physical quantity variation history determination unit 18, and a physical quantity replacement unit 20. Is provided. In addition, the driving force controller 4 includes a driving force request determination unit 22, a driving force coefficient calculation unit 24, a target driving force calculation unit 26, and a reference value storage unit 28.

The accelerator operation physical quantity calculation unit 12 divides the depression operation amount by a preset sampling time Ts based on the depression operation amount included in the depression operation amount signal received from the accelerator operation amount sensor 2 to obtain the current value of the accelerator pedal 10. Calculate the operation speed. That is, the accelerator operation physical quantity calculation unit 12 detects a physical quantity based on the operation of the accelerator pedal 10 by the driver for each preset sampling time Ts.
In the present embodiment, as an example, a case where the sampling time Ts is set to 0.2 [s] will be described.
In the present embodiment, as an example, a case will be described in which a physical quantity based on the operation of the accelerator pedal 10 by the driver is set as an operation speed when the accelerator pedal 10 is operated by the driver.

The physical quantity variation value determination unit 14 refers to the opening degree of the accelerator pedal 10 within a preset physical quantity reference period Tlim based on the stepping operation amount included in the stepping operation amount signal received from the accelerator operation amount sensor 2. . Then, it is determined whether or not the fluctuation value Ag of the opening degree of the accelerator pedal 10 within the physical quantity reference period Tlim exceeds a preset opening degree threshold value (physical quantity threshold value) Ax.
Here, the physical quantity reference period Tlim is set to a time longer than the sampling time Ts. In this embodiment, as an example, a case where the physical quantity reference period Tlim is set to 0.8 [s] according to the sampling time Ts set to 0.2 [s] will be described. The reason why the physical quantity reference period Tlim is set to 0.8 [s] will be described later.

  Further, as shown in FIG. 3, the fluctuation value Ag includes the increase amount Agi of the opening degree of the accelerator pedal 10 and the opening degree of the accelerator pedal 10 within the physical quantity reference period Tlim that is longer than the sampling time Ts. It is a value (total value of opening) obtained by adding the decrease Agd. FIG. 3 is a graph showing the relationship between the elapsed time and the opening of the accelerator pedal 10. In FIG. 3, the abscissa indicates the elapsed time (denoted as “elapsed time [s]” in the figure), and the ordinate indicates the opening of the accelerator pedal 10 (in the figure, “accelerator opening [ %] ”).

  Further, the increase amount Agi of the accelerator pedal 10 is calculated by detecting the increase amount of the accelerator pedal 10 for each sampling time Ts within the physical quantity reference period Tlim and using the absolute value of the integrated value. . Similarly, a decrease Agd of the opening amount of the accelerator pedal 10 is calculated using the absolute value of the integrated value by detecting the decrease amount of the opening amount of the accelerator pedal 10 for each sampling time Ts within the physical quantity reference period Tlim. To do.

That is, the fluctuation value Ag is represented by the following formula (1).
Ag = | Agi | + | Agd | (1)
In addition, the description regarding the opening degree threshold value Ax is mentioned later.
The physical quantity change history storage unit 16 stores changes in the opening of the accelerator pedal 10 including the physical quantity reference period Tlim (see FIG. 3). That is, the physical quantity change history storage unit 16 stores a change in physical quantity based on the driver's past operation of the accelerator pedal 10 within a physical quantity reference period Tlim that is a period equal to or longer than a preset sampling time Ts.

The physical quantity variation history determination unit 18 refers to the change in the opening degree of the accelerator pedal 10 stored in the physical quantity change history storage unit 16. Whether or not there is a change in the acceleration direction (positive direction) and the deceleration direction (negative direction) in the operation speed of the accelerator pedal 10 (history of the operation speed of the accelerator pedal 10) within the physical quantity reference period Tlim. Determine. The acceleration direction is a direction according to the driver's acceleration request, and the deceleration direction is a direction according to the driver's deceleration request.
That is, the physical quantity variation history determination unit 18 determines whether or not there is an increase amount Agi and a decrease amount Agd of the accelerator pedal 10 within the physical quantity reference period Tlim. This process is performed when the physical quantity fluctuation value determination unit 14 determines that the fluctuation value Ag of the opening of the accelerator pedal 10 within the physical quantity reference period Tlim exceeds the opening threshold Ax.

  The physical quantity replacement unit 20 performs processing to replace the accelerator operation speed for determination with the operation speed of the accelerator pedal 10 within the physical quantity reference period Tlim from the current operation speed of the accelerator pedal 10 calculated by the accelerator operation physical quantity calculation unit 12. This replacement process is performed only when the physical quantity variation history determination unit 18 determines that there is a change in the acceleration direction and the deceleration direction in the operation speed of the accelerator pedal 10 within the physical quantity reference period Tlim. The determination accelerator operation speed is an operation speed of the accelerator pedal 10 used in the driving force request determination unit 22.

The driving force request determination unit 22 determines whether the determination accelerator operation speed exceeds a preset characteristic change determination threshold. That is, the driving force request determination unit 22 performs one of the following “I processing” or “II processing”. In the present embodiment, as an example, a case will be described in which the characteristic change determination threshold is a value at which the operation speed of the accelerator pedal 10 is “0”.
I processing. A process of determining whether the operation speed of the accelerator pedal 10 based on the depression operation amount included in the depression operation amount signal received from the accelerator operation amount sensor 2 is the operation speed in the acceleration direction or the operation speed in the deceleration direction.
Processing of II. Processing for determining whether the operation speed of the accelerator pedal 10 in the physical quantity reference period Tlim replaced by the physical quantity replacement unit 20 is the operation speed in the acceleration direction or the operation speed in the deceleration direction.
The driving force request determination unit 22 determines that the determination accelerator operation speed is the operation speed in the acceleration direction when the determination accelerator operation speed exceeds “0”. On the other hand, when the accelerator operation speed for determination is “0” or less, it is determined that the accelerator operation speed for determination is the operation speed in the deceleration direction.

Furthermore, when the driving force request determination unit 22 determines that the determination accelerator operation speed exceeds “0” and the determination accelerator operation speed is the operation speed in the acceleration direction, the following “processing of III” or One of the “IV processes” is performed.
Treatment of III. Whether or not the operation speed of the accelerator pedal 10 based on the depression operation amount included in the depression operation amount signal received from the accelerator operation amount sensor 2 exceeds the acceleration request characteristic change reference value stored in the reference value storage unit 28. Processing to determine whether. In addition, the description regarding an acceleration request | requirement characteristic change reference value is mentioned later.
Treatment of IV. Processing for determining whether or not the operation speed of the accelerator pedal 10 within the physical quantity reference period Tlim replaced by the physical quantity replacement unit 20 exceeds the acceleration request characteristic change reference value.

  When the driving force coefficient calculation unit 24 determines in the driving force request determination unit 22 that the determination accelerator operation speed is the operation speed in the acceleration direction, the driving force coefficient calculation unit 24 adds the determination accelerator operation to the driving force coefficient calculation map shown in FIG. The speed is input, and a driving force coefficient that is a coefficient of the target driving force is calculated. The driving force coefficient calculation map is calculated in advance and stored in the driving force coefficient calculation unit 24. The driving force coefficient calculation map may be corrected by detecting the operation of the accelerator pedal 10 by the driver.

  FIG. 4A is a graph showing the relationship between the operating speed of the accelerator pedal 10 and the driving force coefficient. FIG. 4B shows the relationship between the operation speed of the accelerator pedal 10 and the cumulative frequency of the operation speed of the accelerator pedal 10, and is a distribution of physical quantities based on past operations of the accelerator pedal 10 by the driver. It is a graph which shows accelerator operation statistical data distribution. In FIG. 4A, the horizontal axis indicates the operation speed of the accelerator pedal 10 (in the drawing, described as “accelerator operation speed [% / s]”), and the vertical axis indicates the driving force coefficient. In FIG. 4B, the abscissa indicates the operation speed of the accelerator pedal 10 (in the drawing, described as “accelerator operation speed [% / s]”), and the ordinate indicates the operation speed of the accelerator pedal 10. The cumulative frequency (denoted as “cumulative frequency [%]” in the figure).

  Here, the target driving force is set according to the inflection point calculated based on the cumulative frequency of the operating speed of the accelerator pedal 10 and the acceleration request characteristic change reference value shown in FIG. Specifically, when the operation speed of the accelerator pedal 10 is a region corresponding to a high speed (region exceeding the acceleration request characteristic change reference value) with reference to the inflection point shown in FIG. Sets the target driving force so that the driving force coefficient increases. On the other hand, when the operation speed of the accelerator pedal 10 is an area corresponding to a low speed (area below the acceleration request characteristic change reference value) with reference to the inflection point shown in FIG. The target driving force is set so that the force coefficient decreases.

  The region where the operation speed of the accelerator pedal 10 exceeds the acceleration request characteristic change reference value corresponds to a region where the driver requests a high acceleration response. In addition, the region where the operation speed of the accelerator pedal 10 is equal to or less than the acceleration request characteristic change reference value is slower than the case where the operation speed of the accelerator pedal 10 exceeds the acceleration request characteristic change reference value. Corresponds to areas that require acceleration.

  That is, when the operation speed of the accelerator pedal 10 exists in a region exceeding the acceleration request characteristic change reference value, it is preferable that the response to the driver's driving force request (driving force response) is high. Set. On the other hand, when the operation speed of the accelerator pedal 10 exists in a region below the acceleration request characteristic change reference value, it is preferable that the driving force response is low, so the driving force coefficient is set small. In addition, a continuous driving force coefficient is set between a driving force coefficient set large and a driving force coefficient set small using a coefficient connected using an exponential function or the like.

The inflection point is calculated using a cumulative distribution of the operating speed of the accelerator pedal 10 that is detected by accumulating the operating state of the accelerator pedal 10 by the driver over a preset period.
On the other hand, when the driving force coefficient calculation unit 24 determines in the driving force request determination unit 22 that the accelerator operation speed for determination is an operation speed in the deceleration direction, the target opening degree stored in advance by the reference value storage unit 28 is determined. Based on the characteristic reference value, the driving force coefficient is calculated.

  Here, the reference value of the target opening characteristic is a reference of driving force control characteristic that is a control characteristic of the driving force generated by the power unit 8 based on the current opening degree of the accelerator pedal 10 by the driver of the vehicle V. Value. That is, when the driving force coefficient calculation unit 24 determines that the determination accelerator operation speed is an operation speed in the deceleration direction in the driving force request determination unit 22, the target opening degree stored in advance in the reference value storage unit 28 is determined. The driving force coefficient is calculated without changing the characteristic from the reference value.

As described above, the driving force coefficient calculation unit 24 calculates the accelerator operation statistical data distribution, which is a physical quantity distribution detected based on the past operation of the accelerator pedal 10 by the driver, which is detected every sampling time Ts.
The target driving force calculation unit 26 calculates a target driving force based on the driving force coefficient calculated by the driving force coefficient calculation unit 24. In this process, for example, the deviation between the driving force output by the power unit 8 and the driving force coefficient is calculated, and the driving force command value is calculated so that the driving force generated by the power unit 8 becomes the target driving force. And do it.

The reference value storage unit 28 is a value based on the above-described accelerator operation statistical data distribution (see FIG. 4B), and stores in advance an acceleration request characteristic change reference value that is a threshold used for changing the driving force control characteristic. ing.
In addition, when the driving force request determination unit 22 determines that the determination accelerator operation speed is the operation speed in the acceleration direction, the reference value storage unit 28 stores the acceleration stored in advance based on the accelerator operation statistical data distribution. Correct (overwrite) the required characteristic change reference value.

Here, when correcting (overwriting) the acceleration required characteristic change reference value stored in the reference value storage unit 28, for example, the following processing is performed.
First, the maximum value of the operating speed of the accelerator pedal 10 is detected, and the detected maximum value of the operating speed is accumulated. Then, an inflection point based on the accumulated maximum value distribution is calculated, and for example, a graph as shown in FIG. 4B is generated. Further, the acceleration request characteristic change reference value is corrected so as to coincide with the calculated inflection point. That is, the reference value storage unit 28 corrects the acceleration request characteristic change reference value according to the inflection point of the change degree of the physical quantity included in the accelerator operation statistical data distribution.
In the present embodiment, as an example, a case will be described in which an inflection point of a change degree of a physical quantity included in the accelerator operation statistical data distribution is used as a physical quantity used for correcting the acceleration request characteristic change reference value.

(Setting of physical quantity reference period Tlim)
Hereinafter, the setting of the physical quantity reference period Tlim will be described.
As shown in FIG. 5, a driver with a low driving skill, such as a driver with little driving experience, is able to operate the accelerator pedal 10 as shown in FIG. The verification result that the accelerator operation of the state where speed is large increases. In the following description, a driver with low driving skill may be described as “beginner”. Similarly, in the following description, a driver having general driving skills may be described as “intermediate”. FIG. 5 is a graph showing the relationship between the operating speed of the accelerator pedal 10 and the cumulative frequency of the operating speed of the accelerator pedal 10. In FIG. 5, the horizontal axis indicates the operation speed of the accelerator pedal 10 (in the drawing, “accelerator operation speed [% / s]”), and the vertical axis indicates the cumulative frequency of the operation speed of the accelerator pedal 10. (Denoted as “cumulative frequency” in the figure). In FIG. 5, the relationship between the operation speed and cumulative frequency of the beginner's accelerator pedal 10 is indicated by a symbol “x”, and the relationship between the operation speed of the intermediate accelerator pedal 10 and the cumulative frequency is indicated by a symbol “◯”. ".

  However, as shown in FIG. 6, when the change in the opening degree of the accelerator pedal 10 by a beginner is referred to, the accelerator operation with quick switching (accelerator operation with a large opening change amount per unit time) is compared with the intermediate person. ). Further, referring to a change state of the opening degree of the accelerator pedal 10 by a beginner, an acceleration operation with a small degree of change of the opening degree of the accelerator pedal 10 per unit time, that is, a constant acceleration operation is performed as compared with the intermediate person. There is little space.

  FIG. 6A is a time chart showing changes in the opening degree of the accelerator pedal 10 and changes in the yaw rate generated in the vehicle V by a beginner. FIG. 6B is a time chart showing changes in the degree of opening of the accelerator pedal 10 and changes in the yaw rate generated in the vehicle V by intermediate players. In FIG. 6, the abscissa indicates the elapsed time (denoted as “elapsed time [s]” in the figure), and the ordinate indicates the opening of the accelerator pedal 10 (in the figure, “accelerator opening [ %] ”). In FIG. 6, a change in the accelerator pedal 10 (Accelerator) is indicated by a solid line, and a change in yaw rate generated in the vehicle V is indicated by a broken line. Further, in FIG. 6, the time point when the fast reversal accelerator operation is performed is indicated by a symbol “Δ”. Further, in FIG. 6, a slow reversal accelerator operation (an accelerator operation in which the amount of change in opening per unit time is larger than that of an early reversing accelerator operation) is indicated by a symbol “」 ”.

  In the present embodiment, the time when the accelerator operation of quick turn-back is performed is set to 2% with reference to the case where the opening degree in a state where the accelerator pedal 10 is fully opened around this time is 100%. [%] The time when the opening degree of the accelerator pedal 10 is changed by the above change amount. Therefore, it is confirmed that it is a characteristic of beginners that the turning accelerator operation in which the opening degree of the accelerator pedal 10 changes with a change amount of 2 [%] or more occurs more frequently than the intermediate person.

  Further, as shown in FIG. 7, referring to the frequency response when the accelerator pedal 10 is operated by a beginner, the power spectrum in the region of 0.6 [Hz] or higher is 0.6 [ It is confirmed that it is larger than the power spectrum in the region below [Hz]. FIG. 7 is a diagram showing a frequency response when the accelerator pedal 10 is operated by a beginner, an intermediate person, or an advanced person (a driver having a driving skill higher than a general level). In FIG. 7, the horizontal axis represents frequency and the vertical axis represents intensity. Moreover, in FIG. 7, the operation state of the accelerator pedal 10 by a beginner (Beginner) is shown by a solid line, and the operation state of the accelerator pedal 10 by a middle class (Normal) is shown by a broken line. Furthermore, in FIG. 7, the operation state of the accelerator pedal 10 by an expert (Expert) is shown with a dashed-dotted line.

As described above, the target opening degree is controlled so as to suppress an increase in the acceleration response when the accelerator operation is switched among the operations of the accelerator pedal 10 for the intermediate person than the advanced person and the beginner than the intermediate person. Change (correct) the characteristics. Thus, an appropriate acceleration response corresponding to the operation state of the accelerator pedal 10 is generated in accordance with the driving skill specific to the driver.
Therefore, in this embodiment, as an example, the physical quantity reference period Tlim is set to 0.8 [s which is a half cycle of about 0.6 [Hz] of the frequency at which the power spectrum changes when the accelerator pedal 10 is operated by a beginner. The case of setting to] will be described.

(Setting of opening threshold Ax)
Hereinafter, the setting of the opening degree threshold Ax will be described.
As described above, the time point at which the quick turning accelerator operation is performed is based on the case where the opening degree when the accelerator pedal 10 is fully depressed is 100% in the peripheral region at this time point. [%] The time when the opening degree of the accelerator pedal 10 is changed by the above change amount.
Therefore, in the present embodiment, the opening threshold Ax is converted to the opening of the accelerator pedal 10 according to the quick turning accelerator operation that is often performed by the operation of the accelerator pedal 10 by a beginner, and 2%. A value corresponding to the change amount of 4 [%], which is twice, is used.

Therefore, the physical quantity variation value determination unit 14 of the present embodiment determines that the variation value Ag of the opening degree of the accelerator pedal 10 within the physical quantity reference period Tlim is a 4% change amount (open) converted into the opening degree of the accelerator pedal 10. It is determined whether the threshold value Ax) is exceeded.
As described above, the driving force control device 1 is generated in the power unit 8 so that the driving force applied to the wheels W becomes the target driving force set according to the operation of the accelerator pedal 10 by the driver of the vehicle V. This is a device for controlling the driving force to be generated.

(Operation)
Next, an example of an operation performed using the driving force control apparatus 1 of the present embodiment will be described with reference to FIGS. 1 to 7 and FIG.
FIG. 8 is a flowchart of operations performed using the driving force control apparatus 1 of the present embodiment.
As shown in FIG. 8, when the driving force control device 1 starts processing (START), first, in step S100, the accelerator operation physical quantity calculation unit 12 calculates the current operation speed of the accelerator pedal 10 (FIG. 8). Perform “accelerator operation speed calculation”). If the process which calculates the present operating speed of the accelerator pedal 10 is performed in step S100, the process which the driving force control apparatus 1 performs will transfer to step S102.

In step S102, the physical quantity fluctuation value determining unit 14 determines whether or not the fluctuation value Ag of the opening degree of the accelerator pedal 10 within the physical quantity reference period Tlim exceeds a preset opening degree threshold value Ax (in the drawing). (Ag> Ax between Tlims) shown in FIG.
Therefore, in the process of step S102, is the fluctuation value Ag larger than the change amount of 4 [%], which is twice the opening degree of the accelerator pedal 10 in the operation that is increased by beginners, that is, the quick turn-back accelerator operation? Determine whether or not.

In step S102, when it is determined that the fluctuation value Ag of the opening degree of the accelerator pedal 10 within the physical quantity reference period Tlim exceeds the opening degree threshold value Ax ("Yes" shown in the drawing), the driving force control device 1 performs. The process proceeds to step S104.
On the other hand, when it is determined in step S102 that the fluctuation value Ag of the opening degree of the accelerator pedal 10 within the physical quantity reference period Tlim is equal to or less than the opening threshold value Ax ("No" shown in the figure), the driving force control device 1 The processing to be performed proceeds to step S108.

In step S104, the physical quantity variation history determination unit 18 determines whether there is a change in the positive direction or the negative direction in the operation speed of the accelerator pedal 10 within the physical quantity reference period Tlim (shown in the figure). “There is a positive / negative fluctuation between Tlim”).
Therefore, in the process of step S104, when it is determined that the fluctuation value Ag is larger than the amount of change in operation that is increased by beginners, the operation speed of the accelerator pedal 10 within the physical quantity reference period Tlim is positive and negative. It is determined whether or not there has been a change.

In Step S104, when it is determined that there is a change in the positive direction and the negative direction in the operation speed of the accelerator pedal 10 within the physical quantity reference period Tlim ("Yes" shown in the figure), the driving force control device 1 The process to be performed proceeds to step S106.
On the other hand, when it is determined in step S104 that the operation speed of the accelerator pedal 10 within the physical quantity reference period Tlim has no change in the positive direction and the negative direction (“No” shown in the figure), the driving force control device The processing performed by 1 proceeds to step S108.

  In step S106, the physical quantity replacement unit 20 replaces the determination accelerator operation speed with the operation speed within the physical quantity reference period Tlim ("replacement of the determination accelerator operation speed with the accelerator operation speed between Tlim" shown in the figure). To do. If the process which replaces the accelerator operation speed for determination is performed in step S106, the process which the driving force control apparatus 1 performs will transfer to step S108.

  In step S108, the driving force request determination unit 22 determines whether the determination accelerator operation speed exceeds “0” (characteristic change determination threshold) (“determination accelerator operation speed shown in the drawing> 0 ”). When the process performed by the driving force control device 1 proceeds from step S102 to step S108, the determination accelerator operation speed is the current operation speed calculated in step S100. On the other hand, when the process performed by the driving force control apparatus 1 proceeds from step S102 to step S108 via steps S104 and S106, the determination accelerator operation speed is the operation speed within the physical quantity reference period Tlim replaced in step S106. It becomes.

If it is determined in step S108 that the accelerator operation speed for determination exceeds “0” (characteristic change determination threshold) (“Yes” shown in the drawing), the process performed by the driving force control device 1 is step S110. Migrate to
On the other hand, if it is determined in step S108 that the accelerator operation speed for determination is equal to or less than “0” (characteristic change determination threshold) (“No” shown in the drawing), the process performed by the driving force control apparatus 1 is step S108. The process proceeds to S124.

  In step S110, the driving force request determination unit 22 determines whether or not the determination accelerator operation speed exceeds the acceleration request characteristic change reference value ("determination accelerator operation speed shown in the figure> acceleration request characteristic change"). “Reference value”). When the process performed by the driving force control device 1 proceeds from step S102 to step S108, the determination accelerator operation speed is the current operation speed calculated in step S100. On the other hand, when the process performed by the driving force control apparatus 1 proceeds from step S102 to step S108 via steps S104 and S106, the determination accelerator operation speed is the operation speed within the physical quantity reference period Tlim replaced in step S106. It becomes.

If it is determined in step S110 that the accelerator operation speed for determination exceeds the acceleration request characteristic change reference value (“Yes” shown in the figure), the processing performed by the driving force control device 1 proceeds to step S112.
On the other hand, if it is determined in step S110 that the accelerator operation speed for determination is equal to or less than the acceleration request characteristic change reference value ("No" shown in the figure), the processing performed by the driving force control device 1 proceeds to step S118. .

  In step S112, the driving force coefficient calculation unit 24 inputs a determination accelerator operation speed to the driving force coefficient calculation map, and calculates a driving force coefficient corresponding to a region exceeding the acceleration request characteristic change reference value (in the figure). The “normal acceleration driving force coefficient calculation” shown in FIG. If the process which calculates a driving force coefficient in step S112 is performed, the process which the driving force control apparatus 1 performs will transfer to step S114. That is, in step S112, a process of calculating a driving force coefficient corresponding to a high acceleration response among the driving force increase requests (acceleration requests) of the driver is performed.

In step S114, the target driving force calculation unit 26 performs processing for calculating the target driving force based on the driving force coefficient calculated in step S112 ("normal acceleration target driving force calculation" shown in the figure). If the process which calculates a target drive force is performed in step S114, the process which the drive force control apparatus 1 performs will transfer to step S116.
In step S116, the reference value storage unit 28 uses the target driving force calculated in step S114 to correct the acceleration request characteristic change reference value stored in advance based on the accelerator operation statistical data distribution (in the drawing). “Reference value correction” shown in FIG. If the process which correct | amends the acceleration requirement characteristic change reference value memorize | stored previously in step S116 is performed, the process which the driving force control apparatus 1 will complete | finish (END).

  In step S118, the driving force coefficient calculation unit 24 inputs the accelerator operation speed for determination into the driving force coefficient calculation map, and calculates the driving force coefficient corresponding to the area below the acceleration request characteristic change reference value (in the figure). ("Calculation of slow acceleration driving force coefficient"). If the process which calculates a driving force coefficient in step S118 is performed, the process which the driving force control apparatus 1 performs will transfer to step S120. That is, in step S118, processing for calculating a driving force coefficient corresponding to gentle acceleration among the driving force increase requests (acceleration requests) of the driver is performed.

In step S120, the target driving force calculation unit 26 performs processing for calculating the target driving force based on the driving force coefficient calculated in step S118 ("target driving force calculation for slow acceleration" shown in the figure). If the process which calculates a target drive force in step S120 is performed, the process which the drive force control apparatus 1 performs will transfer to step S122.
In step S122, the reference value storage unit 28 uses the target driving force calculated in step S120 to correct the acceleration request characteristic change reference value stored in advance based on the accelerator operation statistical data distribution (in the drawing). “Reference value correction” shown in FIG. If the process which correct | amends the acceleration requirement characteristic change reference value memorize | stored previously in step S122 is performed, the process which the driving force control apparatus 1 will complete | finish (END).

In step S124, the driving force coefficient calculation unit 24 calculates a driving force coefficient based on the reference value of the target opening characteristic stored in advance in the reference value storage unit 28 ("deceleration driving shown in the figure"). Force factor calculation "). If the process which calculates a driving force coefficient in step S124 is performed, the process which the driving force control apparatus 1 performs will transfer to step S126. That is, in step S124, a process of calculating a driving force coefficient according to the driver's driving force reduction request (deceleration request) is performed.
In step S126, the target driving force calculation unit 26 performs processing for calculating the target driving force based on the driving force coefficient calculated in step S124 ("deceleration target driving force calculation" shown in the figure). If the process which calculates a target drive force in step S126 is performed, the process which the drive force control apparatus 1 performs will be complete | finished (END).

  As described above, in the operation performed using the driving force control apparatus 1 of the present embodiment, the accelerator operation physical quantity calculation unit 12 performs the process of changing the driving force control characteristic according to the current operation speed of the accelerator pedal 10. Do. This process includes at least one of a condition in which the fluctuation value Ag is equal to or less than the opening degree threshold Ax and a condition in which there is no change in the positive direction and the negative direction in the operation speed of the accelerator pedal 10 within the physical quantity reference period Tlim. Performed when the condition is met. That is, in this embodiment, when at least one of the two conditions described above is satisfied, it is determined that the characteristic change condition that is a determination condition for changing the driving force control characteristic is not satisfied.

Further, in the operation performed using the driving force control apparatus 1 of the present embodiment, when the quick turning accelerator operation is performed during the physical quantity reference period Tlim, the physical quantity instead of the current operation speed is used as the determination accelerator operation speed. The operation speed within the reference period Tlim is used.
Moreover, in the operation | movement performed using the driving force control apparatus 1 of this embodiment, the process which changes a driving force control characteristic according to the operation speed of the accelerator pedal 10 in the physical quantity reference period Tlim is performed. This process is performed when the fluctuation value Ag exceeds the opening degree threshold value Ax, and there is a change in the positive direction and the negative direction in the operation speed of the accelerator pedal 10 within the physical quantity reference period Tlim. That is, in the present embodiment, when the fluctuation value Ag exceeds the opening degree threshold value Ax, and there is a change in the positive direction and the negative direction in the operation speed of the accelerator pedal 10 within the physical quantity reference period Tlim, It is determined that the characteristic change condition is satisfied.

  Further, in the driving force control apparatus 1 according to the present embodiment, among the changes in the physical quantity stored in the physical quantity change history storage unit 16, the accelerator operation statistical data distribution is calculated based on at least the change direction of the physical quantity within the physical quantity reference period Tlim. Use to change the driving force control characteristics. Furthermore, in the driving force control apparatus 1 of the present embodiment, the target driving force is set based on the current operation of the accelerator pedal 10 by the driver and the changed driving force control characteristics.

Further, in the driving force control apparatus 1 of the present embodiment, the current operation speed of the accelerator pedal 10 detected by the accelerator operation physical quantity calculation unit 12, or the operation speed of the accelerator pedal 10 within the physical quantity reference period Tlim, and the opening threshold value Compare with Ax. Then, based on the comparison result, it is determined whether or not to change the driving force control characteristic.
Further, in the driving force control apparatus 1 of the present embodiment, the power unit 8 generates the acceleration request by the driver when the current operation speed of the accelerator pedal 10 by the driver is equal to or less than the acceleration request characteristic change reference value. The driving force control characteristic is changed so that the driving force increases gently.

The accelerator operation amount sensor 2 and the accelerator operation physical quantity calculation unit 12 described above correspond to an accelerator operation physical quantity detection unit.
The physical quantity variation history determination unit 18 described above corresponds to an accelerator operation statistical data distribution calculation unit.
The physical quantity variation value determination unit 14, the physical quantity change history storage unit 16, and the physical quantity variation history determination unit 18 described above correspond to a characteristic change condition determination unit.
Further, the above-described driving force request determining unit 22, the driving force coefficient calculating unit 24, and the target driving force calculating unit 26 correspond to a control characteristic changing unit.
The physical quantity variation history determination unit 18 described above corresponds to a control characteristic change determination unit.

  Further, as described above, in the driving force control method implemented by the operation of the driving force control apparatus 1 of the present embodiment, the physical quantity based on the operation of the accelerator pedal 10 is detected for each sampling time Ts, and the distribution of the detected physical quantity is detected. The accelerator operation statistical data distribution is calculated. In addition to this, when it is determined that the change state of the physical quantity based on the past operation of the accelerator pedal 10 within the physical quantity reference period Tlim satisfies the preset characteristic changing condition, the driving is performed using the accelerator operation statistical data distribution. Change force control characteristics.

(Effects of the first embodiment)
If it is the driving force control apparatus 1 of this embodiment, it will become possible to show the effect described below.
(1) The driving force control characteristic is changed using the accelerator operation statistical data distribution according to the past change state of the opening degree of the accelerator pedal 10 within the physical quantity reference period Tlim. Here, the driving force control characteristic is changed when it is determined that the past change state of the accelerator pedal 10 in the physical quantity reference period Tlim satisfies a preset characteristic changing condition.

For this reason, the accelerator operation statistical data distribution reflecting the past operation of the accelerator pedal 10 is used according to the change state of the opening degree of the accelerator pedal 10, which is a physical quantity reflecting the operation state of the accelerator pedal 10 for each driver. Thus, the driving force control characteristic can be changed.
As a result, the driving force generated by the power unit 8 according to the operation state of the accelerator pedal 10 unique to each driver, such as the operation skill of the accelerator pedal 10 unique to each driver, becomes the target driving force. It becomes possible to control. Thereby, according to the operation state of the accelerator pedal 10 peculiar for every driver | operator, it becomes possible to control the driving | running | working state of the vehicle V according to a driver | operator's driving force request | requirement.

  In addition, since the driving force control characteristic is changed using the accelerator operation statistical data distribution reflecting the past operation of the accelerator pedal 10 by the driver, it is not necessary to consider the variation occurring in the manufacture of the vehicle V. It is possible to control the running state of the vehicle. Thereby, it becomes possible to reduce the cost regarding manufacture etc. of the vehicle V, suppressing the increase in a control program or a process process.

(2) The accelerator operation physical quantity calculation unit 12 performs a process of changing the driving force control characteristic according to the current operation speed of the accelerator pedal 10. This process is at least one of a condition in which the fluctuation value Ag is equal to or less than the opening threshold Ax and a condition in which there is no change in the positive direction and the negative direction in the operation speed of the accelerator pedal 10 within the physical quantity reference period Tlim. This is performed when the above condition is satisfied.
For this reason, in the physical quantity reference period Tlim, when the driver deviates from the operation of the accelerator pedal 10 and the accelerator pedal 10 is not turned back, the driving force is calculated using the current operation speed of the accelerator pedal 10. Performs processing to change control characteristics.
As a result, when it is estimated that the driver's driving skill is a general skill, the current operation speed of the accelerator pedal 10 is used to change the driving force control characteristic, so that the calculation load is reduced. The increase can be suppressed.

(3) If the fluctuation value Ag exceeds the opening degree threshold value Ax and the operating speed of the accelerator pedal 10 in the physical quantity reference period Tlim has a change in the positive direction and the negative direction, the accelerator in the physical quantity reference period Tlim The driving force control characteristic is changed according to the operation speed of the pedal 10.
For this reason, when the operation of the accelerator pedal 10 presumed to be a beginner is performed within the physical quantity reference period Tlim, the driving force control characteristic is set using the operation speed of the accelerator pedal 10 within the physical quantity reference period Tlim. Perform the change process.

  As a result, when it is estimated that the driving skill of the driver is lower than the general skill, the process of changing the driving force control characteristic is performed using the past operation speed of the accelerator pedal 10 by the driver. It becomes. Thus, the traveling state of the vehicle V according to the driving force demand of the driver is controlled according to the operation state of the accelerator pedal 10 unique to the driver, which is estimated that the driving skill is lower than the general skill. Is possible.

(4) The reference value storage unit 28 performs a process of correcting the stored acceleration request characteristic change reference value based on the accelerator operation statistical data distribution. This process is performed when it is determined that the driving force control characteristic is to be changed based on a comparison result between the current operation speed of the accelerator pedal 10 detected by the accelerator operation physical quantity calculation unit 12 and the characteristic change determination threshold value.
For this reason, when it is estimated that the driver's driving skill is a general skill, a process for correcting the acceleration request characteristic change reference value is performed using the current operation speed of the accelerator pedal 10. .
As a result, when it is estimated that the driving skill of the driver is a general skill, it is possible to suppress an increase in the calculation load of the driving force generated in response to the driver's acceleration request.

(5) The reference value storage unit 28 performs processing for correcting the stored acceleration request characteristic change reference value based on the accelerator operation statistical data distribution. This process is performed when it is determined that the driving force control characteristic is to be changed based on a comparison result between the operation speed of the accelerator pedal 10 and the characteristic change determination threshold within the physical quantity reference period Tlim.
For this reason, when it is estimated that a driver | operator's driving skill is lower than a general skill, the process which correct | amends an acceleration request | requirement characteristic change reference value using the past operation speed of the accelerator pedal 10 by a driver | operator. Will be done.
As a result, it is possible to calculate the driving force to be generated in response to the driver's acceleration request according to the operation state of the accelerator pedal 10 inherent to the driver, whose driving skill is estimated to be lower than general skill. It becomes.

(6) The reference value storage unit 28 corrects the acceleration request characteristic change reference value according to the inflection point of the change degree of the physical quantity included in the accelerator operation statistical data distribution.
As a result, the region where the operating speed of the accelerator pedal 10 exists is a region where the driver requests a high acceleration response, and a case where the driver requests a gentle acceleration, It is possible to correct the acceleration request characteristic change reference value.

(7) As a physical quantity based on the driver's operation of the accelerator pedal 10 for correcting the acceleration request characteristic change reference value, an inflection point of a change degree of the physical quantity included in the accelerator operation statistical data distribution is used.
As a result, it is possible to clarify an index for correcting the acceleration required characteristic change reference value.
(8) The physical quantity based on the operation of the accelerator pedal 10 by the driver is set as the operation speed when the accelerator pedal 10 is operated by the driver.
As a result, it is possible to clarify the index indicating the acceleration request by the driver.

(9) In the driving force control method implemented by the operation of the driving force control apparatus 1 of the present embodiment, the accelerator operation statistical data distribution according to the change state of the physical quantity based on the past operation of the accelerator pedal 10 within the physical quantity reference period Tlim. Is used to change the driving force control characteristics. Here, the driving force control characteristic is changed when it is determined that the past change state of the accelerator pedal 10 in the physical quantity reference period Tlim satisfies a preset characteristic changing condition.

For this reason, the accelerator operation statistical data distribution reflecting the past operation of the accelerator pedal 10 is used according to the change state of the opening degree of the accelerator pedal 10, which is a physical quantity reflecting the operation state of the accelerator pedal 10 for each driver. Thus, the driving force control characteristic can be changed.
As a result, the driving force generated by the power unit 8 according to the operation state of the accelerator pedal 10 unique to each driver, such as the operation skill of the accelerator pedal 10 unique to each driver, becomes the target driving force. It becomes possible to control. Thereby, according to the operation state of the accelerator pedal 10 peculiar for every driver | operator, it becomes possible to control the driving | running | working state of the vehicle V according to a driver | operator's driving force request | requirement.

  In addition, since the driving force control characteristic is changed using the accelerator operation statistical data distribution reflecting the past operation of the accelerator pedal 10 by the driver, it is not necessary to consider the variation occurring in the manufacture of the vehicle V. It is possible to control the running state of the vehicle. Thereby, it becomes possible to reduce the cost regarding manufacture etc. of the vehicle V, suppressing the increase in a control program or a process process.

(Modification)
(1) In this embodiment, the inflection point of the degree of change of the physical quantity included in the accelerator operation statistical data distribution is used as the physical quantity based on the operation of the accelerator pedal 10 by the driver for correcting the acceleration request characteristic change reference value. However, it is not limited to this. That is, for example, as the physical quantity based on the operation of the accelerator pedal 10 by the driver, at least one of the standard deviation and the median value of the physical quantities included in the accelerator operation statistical data distribution may be used.
In this case, as in the present embodiment, it is possible to clarify an index for correcting the acceleration request characteristic change reference value.

(2) In this embodiment, the inflection point of the degree of change of the physical quantity included in the accelerator operation statistical data distribution is used as the physical quantity based on the driver's operation of the accelerator pedal 10 for correcting the acceleration required characteristic change reference value. However, it is not limited to this. That is, for example, as the physical quantity based on the operation of the accelerator pedal 10 by the driver, an amount in which the cumulative frequency in the change degree of the physical quantity included in the accelerator operation statistical data distribution becomes a preset cumulative frequency ratio may be used. The cumulative frequency ratio is set to around 30 [%], for example. Further, a plurality of cumulative frequency ratios may be set, such as 15 [%], 30 [%], 50 [%], and the like.
In this case, as in the present embodiment, it is possible to clarify an index for correcting the acceleration request characteristic change reference value.

(3) In this embodiment, the physical quantity based on the operation of the accelerator pedal 10 by the driver is the operation speed when the accelerator pedal 10 is operated by the driver. However, the present invention is not limited to this. That is, for example, the physical quantity based on the operation of the accelerator pedal 10 by the driver may be at least one of the acceleration amount and the operation amount in the acceleration direction of the accelerator pedal 10 when the driver operates the accelerator pedal 10.
In this case, it is possible to clarify the index indicating the acceleration request by the driver.

(4) In the present embodiment, the vehicle V is an electric vehicle. However, the vehicle V is not limited to this, and a hybrid (HEV: Hybrid Electric) in which the driving source of the wheels W is formed by a driving motor and an engine. Vehicle) A vehicle may be used. Further, the vehicle V may be a vehicle in which the driving source of the wheels W is formed only by the engine.
(5) In the present embodiment, the accelerator operation element is the accelerator pedal 10, but the present invention is not limited to this. For example, the accelerator operation element is manually operated by the driver and tilted in the vehicle front-rear direction to drive the driving force. It is good also as a lever (throttle lever) which changes a demand.

(Second embodiment)
Hereinafter, a second embodiment of the present invention (hereinafter referred to as “the present embodiment”) will be described with reference to the drawings.
(Constitution)
First, the configuration of the driving force control apparatus 1 according to this embodiment will be described with reference to FIGS. 1 to 8 and FIG.
Since the driving force control apparatus 1 of this embodiment is the same as that of the first embodiment described above except for the configuration of the physical quantity replacement unit 20, the description other than the configuration of the physical quantity replacement unit 20 may be omitted. .
The physical quantity replacement unit 20 replaces the determination accelerator operation speed from the current operation speed of the accelerator pedal 10 calculated by the accelerator operation physical quantity calculation unit 12 to the operation speed of the accelerator pedal 10 during the preset turnover peripheral time Tr. I do. This replacement process is performed only when the physical quantity variation history determination unit 18 determines that there is a change in the acceleration direction and the deceleration direction in the operation speed of the accelerator pedal 10 within the physical quantity reference period Tlim.

Here, the turn-around peripheral time Tr is a time between the time when the change direction of the operating speed of the accelerator pedal 10 is changed and the time before the history reference time set in advance from this time, as shown in FIG. is there. The history reference time is, for example, the time elapsed from the time when the change direction of the operation speed of the accelerator pedal 10 is changed to the present (the last time of the physical quantity reference period Tlim). FIG. 9 is a graph showing the relationship between the elapsed time and the opening degree of the accelerator pedal 10. In FIG. 9, the abscissa indicates the elapsed time (denoted as “elapsed time [s]” in the figure), and the ordinate indicates the opening of the accelerator pedal 10 (in the figure, “accelerator opening [ %] ”).
Other configurations are the same as those of the first embodiment described above.

(Operation)
Next, an example of an operation performed using the driving force control apparatus 1 of the present embodiment will be described with reference to FIGS. 1 to 9 and FIG. In addition, about the operation | movement etc. similar to 1st embodiment mentioned above, description may be abbreviate | omitted.
FIG. 10 is a flowchart of operations performed using the driving force control apparatus 1 of the present embodiment.
As shown in FIG. 10, when the driving force control device 1 starts processing (START), first, in step S200, the accelerator operation physical quantity calculation unit 12 calculates the current operation speed of the accelerator pedal 10 (FIG. 10). Perform “accelerator operation speed calculation”). If the process which calculates the present operating speed of the accelerator pedal 10 is performed in step S200, the process which the driving force control apparatus 1 performs will transfer to step S202.

In step S202, the physical quantity fluctuation value determination unit 14 determines whether or not the fluctuation value Ag of the opening degree of the accelerator pedal 10 within the physical quantity reference period Tlim exceeds a preset opening degree threshold value Ax (in the drawing). (Ag> Ax between Tlims) shown in FIG.
In step S202, when it is determined that the fluctuation value Ag of the opening degree of the accelerator pedal 10 within the physical quantity reference period Tlim exceeds the opening degree threshold value Ax ("Yes" shown in the drawing), the driving force control device 1 performs the operation. The process proceeds to step S204.

On the other hand, when it is determined in step S202 that the fluctuation value Ag of the opening degree of the accelerator pedal 10 within the physical quantity reference period Tlim is equal to or less than the opening threshold value Ax ("No" shown in the figure), the driving force control device 1 The process to be performed proceeds to step S208.
In step S204, the physical quantity variation history determination unit 18 determines whether or not there is a change in the positive direction and the negative direction in the operation speed of the accelerator pedal 10 within the physical quantity reference period Tlim (shown in the figure). “There is a positive / negative fluctuation between Tlim”).

In step S204, when it is determined that there is a change in the positive direction and the negative direction in the operation speed of the accelerator pedal 10 within the physical quantity reference period Tlim ("Yes" shown in the figure), the driving force control device 1 The process to be performed proceeds to step S206.
On the other hand, when it is determined in step S204 that the operation speed of the accelerator pedal 10 within the physical quantity reference period Tlim has no change in the positive direction and the negative direction ("No" shown in the figure), the driving force control device The processing performed by 1 proceeds to step S208.

  In step S206, the physical quantity replacement unit 20 replaces the determination accelerator operation speed with the operation speed of the accelerator pedal 10 during the turnaround peripheral time Tr ("determination accelerator operation speed shown in the figure is changed to the accelerator operation speed between Tr"). ")". If the process which replaces the accelerator operation speed for determination is performed in step S206, the process which the driving force control apparatus 1 performs will transfer to step S208.

  In step S208, the driving force request determination unit 22 determines whether the determination accelerator operation speed exceeds “0” (characteristic change determination threshold) (“determination accelerator operation speed shown in the drawing> 0 ”). When the process performed by the driving force control device 1 proceeds from step S202 to step S208, the determination accelerator operation speed is the current operation speed calculated in step S200. On the other hand, when the process performed by the driving force control apparatus 1 proceeds from step S202 to step S208 via steps S204 and S206, the accelerator operation speed for determination is replaced with the operation speed during the turn-around peripheral time Tr replaced in step S206. It becomes.

If it is determined in step S208 that the accelerator operation speed for determination exceeds “0” (characteristic change determination threshold) (“Yes” shown in the figure), the process performed by the driving force control device 1 is step S210. Migrate to
On the other hand, when it is determined in step S208 that the determination accelerator operation speed is equal to or less than “0” (characteristic change determination threshold) (“No” shown in the drawing), the process performed by the driving force control device 1 The process proceeds to S224.

  In step S210, the driving force request determination unit 22 determines whether or not the determination accelerator operation speed exceeds the acceleration request characteristic change reference value ("determination accelerator operation speed shown in the figure> acceleration request characteristic change"). “Reference value”). When the process performed by the driving force control device 1 proceeds from step S202 to step S208, the determination accelerator operation speed is the current operation speed calculated in step S200. On the other hand, when the process performed by the driving force control apparatus 1 proceeds from step S202 to step S208 via steps S204 and S206, the accelerator operation speed for determination is replaced with the operation speed during the turn-around peripheral time Tr replaced in step S206. It becomes.

When it is determined in step S210 that the accelerator operation speed for determination exceeds the acceleration request characteristic change reference value (“Yes” shown in the drawing), the processing performed by the driving force control device 1 proceeds to step S212.
On the other hand, when it is determined in step S210 that the accelerator operation speed for determination is equal to or less than the acceleration request characteristic change reference value ("No" shown in the drawing), the process performed by the driving force control device 1 proceeds to step S218. .

  In step S212, the driving force coefficient calculation unit 24 inputs the accelerator operation speed for determination into the driving force coefficient calculation map, and calculates the driving force coefficient corresponding to the region exceeding the acceleration request characteristic change reference value (in the figure). The “normal acceleration driving force coefficient calculation” shown in FIG. If the process which calculates a driving force coefficient is performed in step S212, the process which the driving force control apparatus 1 performs will transfer to step S214.

In step S214, the target driving force calculation unit 26 performs processing for calculating the target driving force based on the driving force coefficient calculated in step S212 ("normal acceleration target driving force calculation" shown in the figure). If the process which calculates a target drive force is performed in step S214, the process which the drive force control apparatus 1 performs will transfer to step S216.
In step S216, the reference value storage unit 28 uses the target driving force calculated in step S214 to correct the acceleration request characteristic change reference value stored in advance based on the accelerator operation statistical data distribution (in the drawing). “Reference value correction” shown in FIG. If the process which correct | amends the acceleration requirement characteristic change reference value memorize | stored previously in step S216 is performed, the process which the driving force control apparatus 1 will complete | finish (END).

  In step S218, the driving force coefficient calculation unit 24 inputs the accelerator operation speed for determination into the driving force coefficient calculation map, and calculates a driving force coefficient corresponding to the area below the acceleration required characteristic change reference value (in the drawing). ("Calculation of slow acceleration driving force coefficient"). If the process which calculates a driving force coefficient is performed in step S218, the process which the driving force control apparatus 1 performs will transfer to step S220.

In step S220, the target driving force calculation unit 26 performs processing for calculating the target driving force based on the driving force coefficient calculated in step S218 ("target driving force calculation for slow acceleration" shown in the figure). If the process which calculates a target drive force in step S220 is performed, the process which the drive force control apparatus 1 performs will transfer to step S222.
In step S222, the reference value storage unit 28 uses the target driving force calculated in step S220 to correct the acceleration request characteristic change reference value stored in advance based on the accelerator operation statistical data distribution (in the drawing). “Reference value correction” shown in FIG. If the process which correct | amends the acceleration requirement characteristic change reference value memorize | stored previously in step S222 is performed, the process which the driving force control apparatus 1 will complete | finish (END).

In step S224, the driving force coefficient calculation unit 24 calculates a driving force coefficient based on the reference value of the target opening characteristic stored in advance in the reference value storage unit 28 ("deceleration driving shown in the figure"). Force factor calculation "). If the process which calculates a driving force coefficient is performed in step S224, the process which the driving force control apparatus 1 performs will transfer to step S226.
In step S226, the target driving force calculator 26 calculates a target driving force based on the driving force coefficient calculated in step S224 ("deceleration target driving force calculation" shown in the figure). If the process which calculates a target driving force in step S226 is performed, the process which the driving force control apparatus 1 performs will be complete | finished (END).

As described above, in the operation performed using the driving force control apparatus 1 of the present embodiment, processing for changing the driving force control characteristics is performed in accordance with the operation speed of the accelerator pedal 10 during the turnaround peripheral time Tr. This process is performed when the fluctuation value Ag exceeds the opening degree threshold value Ax, and there is a change in the positive direction and the negative direction in the operation speed of the accelerator pedal 10 within the physical quantity reference period Tlim. That is, in the present embodiment, when the fluctuation value Ag exceeds the opening degree threshold value Ax, and there is a change in the positive direction and the negative direction in the operation speed of the accelerator pedal 10 within the physical quantity reference period Tlim, It is determined that the characteristic change condition is satisfied.
Further, in the driving force control apparatus 1 of the present embodiment, the operation speed of the accelerator pedal 10 during the turnaround peripheral time Tr is compared with the characteristic change determination threshold value. Then, based on the comparison result, it is determined whether or not to change the driving force control characteristic.

(Effect of the second embodiment)
Hereinafter, effects of the present embodiment will be described.
In the present embodiment, in addition to the effects of the first embodiment described above, the following effects can be achieved.
(1) When the fluctuation value Ag exceeds the opening degree threshold value Ax, and the operating speed of the accelerator pedal 10 within the physical quantity reference period Tlim has a change in the positive direction and the negative direction, the accelerator during the turn-around peripheral time Tr The driving force control characteristic is changed according to the operation speed of the pedal 10.
For this reason, when the operation of the accelerator pedal 10 presumed to be a beginner is being performed within the physical quantity reference period Tlim, the driving force control characteristics are set using the operation speed of the accelerator pedal 10 during the turn-around peripheral time Tr. Perform the change process.

  As a result, when it is estimated that the driver's driving skill is lower than the general skill, among the past operating speeds of the accelerator pedal 10 by the driver, the operating speeds around the time when the switching operation is performed. Is used to change the driving force control characteristics. Thus, the traveling state of the vehicle V according to the driving force demand of the driver is controlled according to the operation state of the accelerator pedal 10 unique to the driver, which is estimated that the driving skill is lower than the general skill. Is possible.

(2) The reference value storage unit 28 performs a process of correcting the stored acceleration request characteristic change reference value based on the accelerator operation statistical data distribution. This process is performed when it is determined that the driving force control characteristic is to be changed based on the comparison result between the operating speed of the accelerator pedal 10 during the turnaround peripheral time Tr and the characteristic change determination threshold value.
For this reason, when it is estimated that a driver | operator's driving skill is lower than a general skill, among the past operation speeds of the accelerator pedal 10 by a driver | operator, the operation speed in the periphery at the time of switching operation performed Is used to correct the acceleration request characteristic change reference value.
As a result, it is possible to calculate the driving force to be generated in response to the driver's acceleration request according to the operation state of the accelerator pedal 10 inherent to the driver, whose driving skill is estimated to be lower than general skill. It becomes.

(Third embodiment)
Hereinafter, a third embodiment of the present invention (hereinafter referred to as “the present embodiment”) will be described with reference to the drawings.
(Constitution)
First, the configuration of the driving force control apparatus 1 of the present embodiment will be described with reference to FIGS. 1 to 10.
Since the driving force control apparatus 1 of this embodiment is the same as that of the first embodiment described above except for the configuration of the physical quantity replacement unit 20, the description other than the configuration of the physical quantity replacement unit 20 may be omitted. .
The physical quantity replacement unit 20 replaces the determination accelerator operation speed with the operation speed of the accelerator pedal 10 that has passed the discrete filter from the current operation speed of the accelerator pedal 10 calculated by the accelerator operation physical quantity calculation unit 12. I do. This replacement process is performed only when the physical quantity variation history determination unit 18 determines that there is a change in the acceleration direction and the deceleration direction in the operation speed of the accelerator pedal 10 within the physical quantity reference period Tlim.
Here, the discrete filter is a filter having a preset cut-off frequency. Of the operation speed of the accelerator pedal 10 in the physical quantity reference period Tlim, the discrete filter is a section in which the operation amount of the accelerator pedal 10 by the driver continuously changes. Filter to extract.
Other configurations are the same as those of the first embodiment described above.

(Operation)
Next, an example of an operation performed using the driving force control apparatus 1 of the present embodiment will be described with reference to FIGS. 1 to 10 and FIG. In addition, about the operation | movement etc. similar to 1st embodiment mentioned above, description may be abbreviate | omitted.
FIG. 11 is a flowchart of operations performed using the driving force control apparatus 1 of the present embodiment.
As shown in FIG. 11, when the driving force control device 1 starts processing (START), first, in step S300, the accelerator operation physical quantity calculation unit 12 calculates the current operation speed of the accelerator pedal 10 (FIG. 11). Perform “accelerator operation speed calculation”). If the process which calculates the present operating speed of the accelerator pedal 10 is performed in step S300, the process which the driving force control apparatus 1 performs will transfer to step S302.

In step S302, the physical quantity fluctuation value determining unit 14 determines whether or not the fluctuation value Ag of the opening degree of the accelerator pedal 10 within the physical quantity reference period Tlim exceeds a preset opening degree threshold Ax (in the drawing). (Ag> Ax between Tlims) shown in FIG.
In step S302, when it is determined that the fluctuation value Ag of the opening degree of the accelerator pedal 10 within the physical quantity reference period Tlim exceeds the opening degree threshold value Ax ("Yes" shown in the drawing), the driving force control device 1 performs the operation. The process proceeds to step S304.

On the other hand, when it is determined in step S302 that the fluctuation value Ag of the opening degree of the accelerator pedal 10 within the physical quantity reference period Tlim is equal to or less than the opening threshold value Ax ("No" shown in the figure), the driving force control device 1 The process to be performed proceeds to step S308.
In step S304, the physical quantity variation history determination unit 18 determines whether there is a change in the positive direction or the negative direction in the operation speed of the accelerator pedal 10 within the physical quantity reference period Tlim (shown in the figure). “There is a positive / negative fluctuation between Tlim”).

In step S304, when it is determined that there is a change in the positive direction and the negative direction in the operation speed of the accelerator pedal 10 within the physical quantity reference period Tlim ("Yes" shown in the figure), the driving force control device 1 The process to be performed proceeds to step S306.
On the other hand, when it is determined in step S304 that the operation speed of the accelerator pedal 10 within the physical quantity reference period Tlim has no change in the positive direction and the negative direction ("No" shown in the figure), the driving force control device The processing performed by 1 proceeds to step S308.

  In step S306, the physical quantity replacement unit 20 performs a process of replacing the accelerator operation speed for determination with the operation speed of the accelerator pedal 10 that has passed the discrete filter. That is, in step S306, a process of replacing the accelerator operation speed for determination with the operation speed of the accelerator pedal 10 that has passed through the discrete filter ("determination accelerator operation speed shown in the figure is changed to the accelerator operation speed that has passed through the discrete filter"). Replace "). If the process which replaces the accelerator operation speed for determination is performed in step S306, the process which the driving force control apparatus 1 performs will transfer to step S308.

  In step S308, the driving force request determination unit 22 determines whether the determination accelerator operation speed exceeds “0” (characteristic change determination threshold) (“determination accelerator operation speed shown in the drawing> 0 ”). When the process performed by the driving force control apparatus 1 shifts from step S302 to step S308, the determination accelerator operation speed is the current operation speed calculated in step S300. On the other hand, when the processing performed by the driving force control apparatus 1 proceeds from step S302 to step S308 via steps S304 and S306, the accelerator operation speed for determination is the accelerator operation that has passed through the discrete filter replaced in step S306. It becomes speed.

If it is determined in step S308 that the determination accelerator operation speed exceeds “0” (characteristic change determination threshold) (“Yes” shown in the drawing), the process performed by the driving force control apparatus 1 is step S310. Migrate to
On the other hand, if it is determined in step S308 that the determination accelerator operation speed is equal to or less than “0” (characteristic change determination threshold) (“No” shown in the drawing), the process performed by the driving force control device 1 is performed in step S308. The process proceeds to S324.

  In step S310, the driving force request determination unit 22 determines whether or not the determination accelerator operation speed exceeds the acceleration request characteristic change reference value ("determination accelerator operation speed shown in the figure> acceleration request characteristic change"). “Reference value”). When the process performed by the driving force control apparatus 1 shifts from step S302 to step S308, the determination accelerator operation speed is the current operation speed calculated in step S300. On the other hand, when the processing performed by the driving force control apparatus 1 proceeds from step S302 to step S308 via steps S304 and S306, the accelerator operation speed for determination is the accelerator operation that has passed through the discrete filter replaced in step S306. It becomes speed.

If it is determined in step S310 that the accelerator operation speed for determination exceeds the acceleration request characteristic change reference value (“Yes” shown in the figure), the processing performed by the driving force control device 1 proceeds to step S312.
On the other hand, when it is determined in step S310 that the accelerator operation speed for determination is equal to or less than the acceleration request characteristic change reference value ("No" shown in the figure), the processing performed by the driving force control device 1 proceeds to step S318. .

  In step S312, the driving force coefficient calculation unit 24 inputs the determination accelerator operation speed to the driving force coefficient calculation map, and calculates the driving force coefficient corresponding to the region exceeding the acceleration request characteristic change reference value (in the figure). The “normal acceleration driving force coefficient calculation” shown in FIG. If the process which calculates a driving force coefficient is performed in step S312, the process which the driving force control apparatus 1 performs will transfer to step S314.

In step S314, the target driving force calculation unit 26 performs processing for calculating the target driving force based on the driving force coefficient calculated in step S312 ("normal acceleration target driving force calculation" shown in the figure). If the process which calculates a target driving force is performed in step S314, the process which the driving force control apparatus 1 performs will transfer to step S316.
In step S316, the reference value storage unit 28 uses the target driving force calculated in step S314 to correct the acceleration request characteristic change reference value stored in advance based on the accelerator operation statistical data distribution (in the drawing). “Reference value correction” shown in FIG. If the process which correct | amends the acceleration requirement characteristic change reference value memorize | stored previously in step S316 is performed, the process which the driving force control apparatus 1 will complete | finish (END).

  In step S318, the driving force coefficient calculation unit 24 inputs the accelerator operation speed for determination to the driving force coefficient calculation map, and calculates the driving force coefficient corresponding to the area below the acceleration request characteristic change reference value (in the figure). ("Calculation of slow acceleration driving force coefficient"). If the process which calculates a driving force coefficient in step S318 is performed, the process which the driving force control apparatus 1 performs will transfer to step S320.

In step S320, the target driving force calculation unit 26 performs processing for calculating the target driving force based on the driving force coefficient calculated in step S318 ("slow acceleration target driving force calculation" shown in the figure). If the process which calculates a target drive force is performed in step S320, the process which the drive force control apparatus 1 performs will transfer to step S322.
In step S322, the reference value storage unit 28 uses the target driving force calculated in step S320 to correct the acceleration request characteristic change reference value stored in advance based on the accelerator operation statistical data distribution (in the drawing). “Reference value correction” shown in FIG. If the process which correct | amends the acceleration requirement characteristic change reference value memorize | stored previously in step S322 is performed, the process which the driving force control apparatus 1 will complete | finish (END).

In step S324, the driving force coefficient calculation unit 24 calculates the driving force coefficient based on the reference value of the target opening characteristic stored in advance in the reference value storage unit 28 ("deceleration driving shown in the figure"). Force factor calculation "). If the process which calculates a driving force coefficient is performed in step S324, the process which the driving force control apparatus 1 performs will transfer to step S326.
In step S326, the target driving force calculation unit 26 performs processing for calculating the target driving force based on the driving force coefficient calculated in step S324 ("deceleration target driving force calculation" shown in the figure). If the process which calculates a target driving force is performed in step S326, the process which the driving force control apparatus 1 performs will be complete | finished (END).

As described above, in the operation performed using the driving force control apparatus 1 of the present embodiment, processing for changing the driving force control characteristics is performed according to the operation speed of the accelerator pedal 10 that has passed through the discrete filter. That is, in the present embodiment, the driving force according to the operation speed of the accelerator pedal 10 in the section in which the operation amount of the accelerator pedal 10 by the driver continuously changes among the operation speeds of the accelerator pedal 10 within the physical quantity reference period Tlim. Performs processing to change control characteristics. This process is performed when the fluctuation value Ag exceeds the opening degree threshold value Ax, and there is a change in the positive direction and the negative direction in the operation speed of the accelerator pedal 10 within the physical quantity reference period Tlim. That is, in the present embodiment, when the fluctuation value Ag exceeds the opening degree threshold value Ax, and there is a change in the positive direction and the negative direction in the operation speed of the accelerator pedal 10 within the physical quantity reference period Tlim, It is determined that the characteristic change condition is satisfied.
Further, in the driving force control apparatus 1 of the present embodiment, the operation speed of the accelerator pedal 10 in a section in which the operation amount of the accelerator pedal 10 by the driver continuously changes is compared with the threshold value for characteristic change determination. Then, based on the comparison result, it is determined whether or not to change the driving force control characteristic.

(Effect of the third embodiment)
Hereinafter, effects of the present embodiment will be described.
In the present embodiment, in addition to the effects of the first embodiment described above, the following effects can be achieved.
(1) A process of changing the driving force control characteristic is performed according to the operation speed of the accelerator pedal 10 in a section in which the operation amount of the accelerator pedal 10 by the driver is continuously changed. This process is performed when the fluctuation value Ag exceeds the opening degree threshold value Ax and there is a change in the positive direction and the negative direction in the operation speed of the accelerator pedal 10 within the physical quantity reference period Tlim.
For this reason, when the operation of the accelerator pedal 10 presumed to be a beginner is being performed within the physical quantity reference period Tlim, driving is performed using the operation speed of the accelerator pedal 10 in a section in which the operation amount continuously changes. Performs processing to change force control characteristics.

  As a result, when it is estimated that the driver's driving skill is lower than the general skill, the operation speed corresponding to the general driving skill is used among the past operating speeds of the accelerator pedal 10 by the driver. Thus, processing for changing the driving force control characteristics is performed. As a result, the driver's driving state is corrected by correcting the operating state of the accelerator pedal 10 inherent to the driver, whose driving skill is estimated to be lower than the general skill, with the operating state of the driver having the general driving skill. It becomes possible to control the traveling state of the vehicle V according to the force request.

(2) The reference value storage unit 28 performs a process of correcting the stored acceleration request characteristic change reference value based on the accelerator operation statistical data distribution. This process is performed when it is determined that the driving force control characteristic is to be changed based on a comparison result between the operation speed of the accelerator pedal 10 in a section in which the amount of operation of the accelerator pedal 10 by the driver continuously changes and the characteristic change determination threshold. .
For this reason, when it is estimated that a driver | operator's driving skill is lower than a general skill, the operation speed according to a general driving skill is used among the operating speeds of the past accelerator pedal 10 by a driver | operator. Thus, processing for correcting the acceleration required characteristic change reference value is performed.
As a result, the acceleration state of the driver is corrected by correcting the operation state of the accelerator pedal 10 inherent to the driver, whose driving skill is estimated to be lower than the general skill, with the operation state by the driver of the general driving skill. It is possible to calculate the driving force generated in response to the request.

DESCRIPTION OF SYMBOLS 1 Driving force control apparatus 2 Accelerator operation amount sensor 4 Driving force controller 6 Power control unit 8 Power unit 10 Accelerator pedal 12 Accelerator operation physical quantity calculation part 14 Physical quantity fluctuation value determination part 16 Physical quantity change history storage part 18 Physical quantity fluctuation history determination part 20 Physical quantity Replacement unit 22 Driving force request determination unit 24 Driving force coefficient calculation unit 26 Target driving force calculation unit 28 Reference value storage unit V Vehicle W wheel (right front wheel WFR, left front wheel WFL, right rear wheel WRR, left rear wheel WRL)

Claims (14)

A driving force control device for a vehicle that controls a driving force generated by a driving source so as to be a target driving force set according to an operation of an accelerator operator,
An accelerator operation physical quantity detection unit that detects a physical quantity based on the operation of the accelerator operation element for each preset sampling time;
An accelerator operation statistical data distribution calculating unit that calculates an accelerator operation statistical data distribution that is a distribution of physical quantities detected by the accelerator operation physical quantity detecting unit;
Characteristic change condition determination for determining whether a change state of a physical quantity based on a past operation of the accelerator operator within a physical quantity reference period set in a period longer than the sampling time satisfies a preset characteristic change condition And
When the characteristic change condition determination unit determines that the characteristic change condition is satisfied, the driving that is the control characteristic of the target driving force using the accelerator operation statistical data distribution calculated by the accelerator operation statistical data distribution calculation unit A vehicle driving force control device comprising: a control characteristic changing unit that changes the force control characteristic. The characteristic change condition determination unit is configured such that a change amount of the physical quantity in the physical quantity reference period is equal to or less than a preset physical quantity threshold, and a change direction of the physical quantity in the physical quantity reference period is a direction according to an acceleration request or When at least one of the conditions corresponding to one of the directions corresponding to the deceleration request is satisfied, it is determined that the characteristic change condition is not satisfied,
When the characteristic change condition determining unit determines that the characteristic change condition is not satisfied, the control characteristic changing unit changes the driving force control characteristic according to a current physical quantity detected by the accelerator operation physical quantity detecting unit. The driving force control apparatus for a vehicle according to claim 1. The characteristic change condition determination unit is configured such that a change amount of the physical quantity in the physical quantity reference period exceeds a preset physical quantity threshold, and a change direction of the physical quantity in the physical quantity reference period is a direction according to an acceleration request and a deceleration request. It is determined that the characteristic change condition is satisfied if the direction is in accordance with
When the characteristic change condition determining unit determines that the characteristic change condition is satisfied, the control characteristic changing unit changes the driving force control characteristic according to a change amount of the physical quantity within the physical quantity reference period. The driving force control apparatus for a vehicle according to claim 1 or 2, characterized by the above-mentioned. The characteristic change condition determination unit is configured such that a change amount of the physical quantity in the physical quantity reference period exceeds a preset physical quantity threshold, and a change direction of the physical quantity in the physical quantity reference period is a direction according to an acceleration request and a deceleration request. It is determined that the characteristic change condition is satisfied if the direction is in accordance with
When the control characteristic changing unit determines that the characteristic changing condition is satisfied by the characteristic changing condition determining unit, the time when the change direction of the physical quantity has changed and the time before the history reference time set in advance from the time. The driving force control apparatus for a vehicle according to claim 1 or 2, wherein the driving force control characteristic is changed in accordance with a change amount of a physical quantity between the two. The characteristic change condition determination unit is configured such that a change amount of the physical quantity in the physical quantity reference period exceeds a preset physical quantity threshold, and a change direction of the physical quantity in the physical quantity reference period is a direction according to an acceleration request and a deceleration request. It is determined that the characteristic change condition is satisfied if the direction is in accordance with
When the control characteristic changing unit determines that the characteristic changing condition is satisfied by the characteristic changing condition determining unit, an operation amount of the accelerator operator continuously changes among the physical quantities within the physical quantity reference period. The vehicle driving force control device according to claim 1 or 2, wherein the driving force control characteristic is changed in accordance with a change amount of a physical quantity in a section. It is determined whether or not the driving force control characteristic is to be changed by comparing a change amount of the physical quantity based on the current operation of the accelerator operation element detected by the accelerator operation physical quantity detection unit and a preset characteristic change determination threshold. A control characteristic change determination unit;
A reference value storage unit for storing an acceleration required characteristic change reference value which is a value based on the accelerator operation statistical data distribution and is a threshold used for changing the driving force control characteristic;
When the reference value storage unit determines that the control characteristic change determination unit changes the driving force control characteristic, the stored acceleration request characteristic change reference value is corrected based on the accelerator operation statistical data distribution,
When the physical quantity based on the current operation of the accelerator operator is equal to or less than the acceleration request characteristic change reference value, the control characteristic change unit is configured to increase the driving force generated by the drive source in response to the acceleration request. The driving force control device for a vehicle according to claim 2, wherein the driving force control characteristic is changed. A control characteristic change determination unit that determines whether or not to change the driving force control characteristic by comparing a change amount of the physical quantity within the physical quantity reference period with a preset characteristic change determination threshold;
A reference value storage unit for storing an acceleration required characteristic change reference value which is a value based on the accelerator operation statistical data distribution and is a threshold used for changing the driving force control characteristic;
When the reference value storage unit determines that the control characteristic change determination unit changes the driving force control characteristic, the stored acceleration request characteristic change reference value is corrected based on the accelerator operation statistical data distribution,
When the physical quantity based on the current operation of the accelerator operator is equal to or less than the acceleration request characteristic change reference value, the control characteristic change unit is configured to increase the driving force generated by the drive source in response to the acceleration request. The driving force control device for a vehicle according to claim 3, wherein the driving force control characteristic is changed. The driving force control characteristic is changed by comparing a change amount of the physical quantity between a time point when the direction of the physical quantity changes and a time point before the history reference time set in advance from the time point and a preset threshold value for characteristic change determination. A control characteristic change determination unit for determining whether or not,
A reference value storage unit for storing an acceleration required characteristic change reference value which is a value based on the accelerator operation statistical data distribution and is a threshold used for changing the driving force control characteristic;
When the reference value storage unit determines that the control characteristic change determination unit changes the driving force control characteristic, the stored acceleration request characteristic change reference value is corrected based on the accelerator operation statistical data distribution,
When the physical quantity based on the current operation of the accelerator operator is equal to or less than the acceleration request characteristic change reference value, the control characteristic change unit is configured to increase the driving force generated by the drive source in response to the acceleration request. 5. The driving force control apparatus for a vehicle according to claim 4, wherein the driving force control characteristic is changed. The driving force control characteristic is changed by comparing a change amount of a physical quantity in a section in which an operation amount of the accelerator operator continuously changes among the physical quantities within the physical quantity reference period and a preset characteristic change determination threshold. A control characteristic change determination unit for determining whether or not,
A reference value storage unit for storing an acceleration required characteristic change reference value which is a value based on the accelerator operation statistical data distribution and is a threshold used for changing the driving force control characteristic;
When the reference value storage unit determines that the control characteristic change determination unit changes the driving force control characteristic, the stored acceleration request characteristic change reference value is corrected based on the accelerator operation statistical data distribution,
When the physical quantity based on the current operation of the accelerator operator is equal to or less than the acceleration request characteristic change reference value, the control characteristic change unit is configured to increase the driving force generated by the drive source in response to the acceleration request. The driving force control device for a vehicle according to claim 5, wherein the driving force control characteristic is changed.   The said reference value memory | storage part correct | amends the said acceleration request | requirement characteristic change reference value according to the inflection point of the change degree of the physical quantity which the said accelerator operation statistical data distribution contains. A driving force control apparatus for a vehicle according to any one of the above.   As the physical quantity for correcting the acceleration required characteristic change reference value, at least one of an inflection point, a standard deviation, and a median of the degree of change of the physical quantity included in the accelerator operation statistical data distribution is used. The driving force control device for a vehicle according to any one of claims 6 to 10.   The physical quantity for correcting the acceleration request characteristic change reference value is an amount in which the cumulative frequency in the degree of change of the physical quantity included in the accelerator operation statistical data distribution becomes a preset cumulative frequency ratio. The vehicle driving force control apparatus according to any one of claims 6 to 10.   The physical quantity is at least one of an operation speed, an acceleration, and an operation amount in an acceleration direction at the time of operation of the accelerator operation element, according to any one of claims 1 to 12. Vehicle driving force control device. A vehicle driving force control method for controlling a driving force generated by a driving source to be a target driving force set according to an operation of an accelerator operator,
Detecting a physical quantity based on the operation of the accelerator operator for each preset sampling time,
Calculate the accelerator operation statistical data distribution that is the distribution of the detected physical quantity,
When it is determined that the change state of the physical quantity based on the past operation of the accelerator operator within the physical quantity reference period set in the period equal to or longer than the sampling time satisfies the preset characteristic change condition, the accelerator operation statistical data A driving force control method for a vehicle, wherein a driving force control characteristic that is a control characteristic of the target driving force is changed using a distribution.

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