JP5017945B2 - Vehicle braking / driving control device - Google Patents

Description

  The present invention relates to a vehicle braking / driving control device that controls braking force and driving force when a vehicle steps on a step.

When the vehicle rides on a step, etc., the wheel has higher running resistance than when running on a flat road, so the driver increases the amount of depression of the accelerator pedal and applies high driving force to the wheel, so that the vehicle Take a step. However, if the climbing of the step is completed with a high driving force applied, immediately after the climbing of the step is completed, the running resistance decreases rapidly and a large running force is applied to the vehicle. Therefore, there is a problem that the vehicle accelerates rapidly and cannot stop at the position intended by the driver. In contrast, in JP-A-8-200111, when a ride is detected, a threshold value is provided for the throttle opening so that the throttle does not open suddenly even if the driver depresses the accelerator pedal too much. A control device for preventing the vehicle from rapidly accelerating is disclosed.
JP-A-8-200111

  After the vehicle has stepped on the step, the vehicle will not stop unless braking force is applied, so if the driver tries to stop the vehicle immediately after the step has been completed, the driver will be given a brake pedal quickly. It is required to step in. However, in the control device disclosed in Patent Document 1, even when the throttle opening is limited, a higher driving force than usual is applied. Further, the accelerator depression amount is also relatively large. For this reason, it takes time to switch from the accelerator pedal to the brake pedal, and it is difficult to quickly apply braking force to the vehicle, and eventually it is difficult for the vehicle to overrun and stop at the position intended by the driver. There was a problem of becoming.

  Accordingly, an object of the present invention is to provide a vehicle braking / driving control device capable of preventing overrun of a vehicle when riding on a step.

A vehicle braking / driving control device according to the present invention that has solved the above problems includes a driving force applying means that applies a driving force to a wheel of a vehicle and a braking force that applies a braking force to the wheel when the driver depresses an accelerator pedal. Means, when the vehicle is about to step on the step, the riding state determining means for determining the riding state of the vehicle and the riding state determining means are determined to be in the riding state, and the driving force applying means is applied to the wheel. Control means for operating the braking force applying means to apply the auxiliary braking force to the wheel when the driving force is applied by depressing the accelerator pedal, and the control means has a magnitude corresponding to the auxiliary braking force. complementary driving force is the a shall actuate the driving force providing means so as to impart to the wheels.

  According to the vehicle braking / driving control device of the present invention, when the riding state determining means determines that the riding state is in the riding state and the accelerator pedal is depressed, the braking force applying means applies the auxiliary braking force to the wheels. ing. For this reason, after the vehicle has completely stepped up to the step, the brake force has already been applied to the wheels until the driver steps off the accelerator pedal and then depresses the brake pedal. The traveling force applied to the vehicle is suppressed. Therefore, acceleration of the vehicle can be avoided and overrun can be prevented.

  In the vehicle braking / driving control device according to the present invention, since the driving force corresponding to the auxiliary braking force is supplementarily applied to the wheels, the driver can reduce the amount of depression of the accelerator pedal. For this reason, the time required to release the foot from the state where the accelerator pedal is depressed is shortened, and therefore the time required for the stepping operation from the accelerator pedal to the brake pedal is shortened. Therefore, the vehicle can be quickly stopped and overrun can be prevented.

  Further, the vehicle further comprises a depression amount detecting means for detecting the depression amount of the accelerator pedal by the driver, and the control means is a rate of change in driving force due to depression of the accelerator pedal with respect to the depression amount detected by the depression amount detection means in the riding state. However, it is also possible to adopt a mode in which it is larger than that in the normal state.

  In the vehicle braking / driving control device according to the present invention, since the rate of change of the driving force with respect to the amount of depression of the accelerator pedal, that is, the sensitivity of the accelerator pedal is set high, the driving force required for riding is reduced with a small amount of depression. Can be granted. For this reason, the time required to release the foot from the state where the accelerator pedal is depressed is shortened, so that the time required for switching from the accelerator pedal to the brake pedal is shortened. Overrun can be prevented. Note that the normal state of the present invention refers to a state other than the riding-up state, for example, a state where the vehicle is not riding on a step and is running or stopped on a flat road.

  Further, the control unit further includes a depression amount detecting unit that detects a depression amount of the accelerator pedal by the driver, and the control unit detects when the driving force due to depression of the accelerator pedal in the riding state exceeds a predetermined threshold value. It is also possible to adopt a mode in which the change rate of the driving force due to the depression of the accelerator pedal with respect to the depression amount detected by the depression amount detection means is different between the following times.

  In the vehicle braking / driving control device according to the present invention, the rate of change of the driving force due to depression of the accelerator pedal is optimal when the driving force applied to the wheel exceeds a predetermined threshold value and when the driving force is less than the predetermined threshold value. Can be set to something. It should be noted that the predetermined threshold value can be a value assumed as a driving force necessary for stepping on the step.

  Further, the control means may be configured such that the rate of change when the driving force due to depression of the accelerator pedal is equal to or less than a threshold value is greater than that in the normal state.

  According to this vehicle braking / driving control device, when the driving force applied to the wheels is equal to or less than the threshold value, the rate of change of the driving force due to the depression of the accelerator pedal is larger than that in the normal state, so that the depression is small. You can get on. For this reason, the time required to release the foot from the state where the accelerator pedal is depressed is shortened, so that the time required for switching from the accelerator pedal to the brake pedal is shortened. Overrun can be prevented.

  Further, the control means may be configured such that the rate of change when the driving force due to depression of the accelerator pedal exceeds a threshold value is smaller than that in the normal state.

  According to this vehicle braking / driving control device, when the driving force applied to the wheels exceeds the threshold value, the change rate of the driving force due to depression of the accelerator pedal is smaller than that in the normal state. However, even if the accelerator pedal is depressed too much, the driving force applied to the wheels is suppressed, so that acceleration of the vehicle can be avoided and overrun can be prevented.

  In addition, when the riding state determining unit determines that the riding is completed when the braking force applying unit applies the auxiliary braking force to the wheel, the control unit applies the auxiliary braking force to the wheel continuously for a predetermined time. Further, the braking force applying means can be operated.

  According to this vehicle braking / driving control device, since the auxiliary braking force is applied to the wheels for a predetermined time immediately after the completion of the ride, even if it takes a long time to switch from the accelerator pedal to the brake pedal, the vehicle acceleration / deceleration is accelerated. Can be avoided and overrun can be prevented.

  In addition, the control means may be configured to gradually decrease the auxiliary braking force after the completion of riding.

  According to this vehicle braking / driving control device, after the completion of the ride, the auxiliary braking force gradually decreases during a predetermined time, so that the driver can re-run without discomfort.

  With the vehicle braking / driving control device according to the present invention, it is possible to prevent overrun of the vehicle when riding on a step.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
[First embodiment]
First, a first embodiment of the present invention will be described. FIG. 1 is a block diagram of the vehicle braking / driving control device according to the first embodiment of the present invention.

  As shown in FIG. 1, the vehicle M includes a vehicle braking / driving control device 1. The vehicle braking / driving control device 1 is connected to an accelerator pedal 2 and a brake pedal 3. The vehicle braking / driving control device 1 is also connected to the wheels 4.

  The wheel 4 rotates by the applied driving force, transmits the rotation to the ground, and causes the vehicle M to travel. Further, the rotation is reduced by the applied braking force, and the vehicle M is decelerated and stopped.

  The accelerator pedal 2 is provided in the passenger compartment of the vehicle M, and applies driving force to the wheels 4 when the driver steps on the accelerator pedal 2. The brake pedal 3 is provided in the passenger compartment of the vehicle M, and applies braking force to the wheels 4 when the driver steps on the brake pedal 3.

  The vehicle braking / driving control device 1 includes an engine 11 that is a driving force application unit and a brake 12 that is a braking force application unit. Further, the vehicle braking / driving control device 1 includes an accelerator pedal sensor 13, a brake pedal sensor 14, a throttle opening sensor 15, and a vehicle speed sensor 16. The engine 11, the brake 12, and the sensors 13 to 16 are connected to a control unit 20 that is a control means.

  The engine 11 is actuated by depression of the accelerator pedal 2 by the driver, control by the control unit 20, etc., and applies driving force to the wheels 4. The brake 12 is actuated by depression of the brake pedal 3 by the driver, control by the control unit 20, and the like, and applies braking force to the wheels 4.

  The accelerator pedal sensor 13 is connected to the accelerator pedal 2 and detects the amount of depression of the accelerator pedal 2 by the driver. The accelerator pedal sensor 13 outputs the detected accelerator pedal depression amount to the control unit 20. The brake pedal sensor 14 is connected to the brake pedal 3 and detects the amount of depression of the brake pedal 3 by the driver. The brake pedal sensor 14 outputs the detected brake pedal depression amount to the control unit 20.

  The throttle opening sensor 15 is provided in a throttle connected to the engine 11 and detects the throttle opening that is the opening of the throttle. The throttle opening sensor 15 outputs the detected throttle opening to the control unit 20. The vehicle speed sensor 16 is a wheel speed sensor attached to the wheel 4 and detects the vehicle speed of the vehicle M by detecting the wheel speed of the wheel 4. The vehicle speed sensor 16 outputs the detected vehicle speed to the control unit 20.

  The control unit 20 includes a driving force setting unit 21, a braking force setting unit 22, a reference storage unit 23, and a torque calculation unit 24. In addition, the control unit 20 includes a riding state determination unit 25 that is a riding state determination unit, a brake determination unit 26, a state determination unit 27, an auxiliary braking force setting unit 28, a complementary driving force setting unit 29, and a sensitivity setting. Part 30.

  The driving force setting unit 21 sets the driving force to be applied to the wheels 4 based on the accelerator pedal depression amount output from the accelerator pedal sensor 13. The driving force setting unit 21 outputs the set driving force setting value to the engine 11.

  The braking force setting unit 22 sets the braking force to be applied to the wheels 4 based on the brake pedal depression amount output from the brake pedal sensor 14. The braking force setting unit 22 outputs the set braking force setting value to the brake 12.

  The reference storage unit 23 stores a torque map representing the relationship between the throttle opening output from the throttle opening sensor 15 and the torque generated by the engine 11. Further, a brake pedal depression determination value used for determining whether or not the brake pedal 3 is depressed based on the depression amount of the brake pedal 3 is stored. Further, an accelerator pedal depression determination value used for determining whether or not the accelerator pedal 2 is depressed based on the depression amount of the accelerator pedal 2 is stored. Further, the sensitivity setting unit 30 stores a threshold value for setting the sensitivity characteristic of the accelerator pedal 2.

  The torque calculation unit 24 refers to the torque map stored in the reference storage unit 23 with respect to the throttle opening output from the throttle opening sensor 15 and obtains the torque generated by the engine 11. The torque calculation unit 24 outputs the obtained torque to the riding state determination unit 25.

  The riding state determination unit 25 obtains a change amount of the torque generated by the engine 11 based on the torque of the engine 11 output from the torque calculation unit 24, and the change amount of the torque and the vehicle speed sensor 16 output the change amount. Whether or not the vehicle M is in the riding state is determined based on the vehicle speed. Moreover, the riding state determination unit 25 outputs the result of the riding determination to the state determination unit 27.

  The brake determination unit 26 refers to the brake pedal depression amount output from the brake pedal sensor 14 with reference to the brake pedal depression determination value stored in the reference storage unit 23, and determines whether or not the brake pedal 3 is depressed. Make a decision. The brake determination unit 26 outputs the result of the depression determination to the state determination unit 27.

  The state determination unit 27 is based on the riding determination result output from the riding state determination unit 25 and the depression determination result output from the brake determination unit 26, and the vehicle M is in the riding state and the brake pedal 3 is depressed. Judgment on whether or not it is not done. The state determination unit 27 outputs the result of the riding / depression determination to the auxiliary braking force setting unit 28.

  The auxiliary braking force setting unit 28 obtains an auxiliary braking force setting value to be applied to the wheel 4 based on the riding / depression determination result output from the state determination unit 27 and the accelerator pedal depression amount output from the accelerator pedal sensor 13. . The auxiliary braking force setting unit 28 also performs the depression determination of the accelerator pedal at the same time, and when the accelerator pedal depression amount output from the accelerator pedal sensor 13 is larger than the accelerator pedal depression determination value stored in the reference storage unit 23. The auxiliary braking force setting value is obtained. If the accelerator pedal depression amount is less than the accelerator pedal depression determination value, the auxiliary braking force setting value is set to zero. The auxiliary braking force setting unit 28 outputs the obtained auxiliary braking force setting value to the brake 12 and the complementary driving force setting unit 29. In addition, when the auxiliary braking force setting unit 28 sets a value exceeding 0 as the auxiliary braking force value (when the vehicle enters a riding state), the auxiliary braking force setting unit 28 outputs the fact to the sensitivity setting unit 30.

  The complementary driving force setting unit 29 sets the complementary driving force based on the auxiliary braking force setting value output from the auxiliary braking force setting unit 28. The complementary driving force has a magnitude corresponding to the auxiliary braking force setting value output from the auxiliary braking force setting unit 28. The complementary driving force setting unit 29 outputs the set complementary driving force setting value to the engine 11.

  The sensitivity setting unit 30 sets the sensitivity characteristic of the accelerator pedal 2 when the auxiliary braking force setting unit 28 outputs that the value exceeding 0 is set as the auxiliary braking force value. The sensitivity characteristic of the accelerator pedal 2 means the rate of change of the driving force with respect to the accelerator pedal depression amount. This sensitivity characteristic includes the accelerator pedal depression amount output from the accelerator pedal sensor 13 and the reference storage unit 23. It is set by comparing with the threshold value for setting the sensitivity of the accelerator pedal 2 output from. Here, the sensitivity of the accelerator pedal 2 is set differently when the amount of depression of the accelerator pedal is larger than the threshold and when it is less than or equal to the threshold. The sensitivity setting unit 30 outputs the set sensitivity of the accelerator pedal 2 to the driving force setting unit 21.

  Next, control by the vehicle braking / driving control device 1 according to the present embodiment will be described. FIG. 2 is a flowchart showing a control procedure by the vehicle braking / driving control device according to the present embodiment. The routine described below is executed at regular time intervals, for example, 20 to 50 msec, during operation of the vehicle M.

  In the control by the vehicle braking / driving control device 1 according to the present embodiment, first, it is determined whether or not the vehicle is in a riding state where the vehicle has climbed a step (S1). The determination as to whether or not the vehicle is riding on a step is made by using the torque output from the torque calculation unit 24 in the riding state determination unit 25. The riding state determination unit 25 obtains a change amount of torque generated by the engine 11 based on the torque output from the torque calculation unit 24, and based on the change amount of this torque and the vehicle speed output from the vehicle speed sensor 16, the vehicle The riding state of M is determined. For example, if the vehicle speed changes in the same way as when driving on a flat road according to the amount of change in torque, it is determined that the vehicle is not in the riding state, regardless of whether a large torque is output and the amount of change increases. When the vehicle speed is low, it is determined that the vehicle is in the riding state.

  If it is determined in step S1 that the vehicle is in the riding state, it is determined whether or not the brake pedal is depressed (S2). Whether the brake pedal is depressed is determined by comparing the brake pedal depression amount output from the brake pedal sensor 14 with the brake pedal depression determination value stored in the reference storage unit 23 in the brake determination unit 26. Is done by doing. The brake pedal depression amount is compared with the brake pedal depression determination value. When the brake pedal depression amount is larger than the brake pedal depression determination value, it is determined that the brake pedal 3 is depressed, and the brake pedal depression amount is determined as the brake pedal depression amount. When it is equal to or less than the determination value, it is determined that the brake pedal 3 is not depressed.

  As a result, when it is determined that the brake pedal is not depressed, it is determined whether or not the accelerator pedal is depressed (S3). In step 28, the accelerator pedal depression amount output from the accelerator pedal sensor 13 is compared with the accelerator pedal depression determination value stored in the reference storage unit 23. The accelerator pedal depression amount is compared with the accelerator pedal depression determination value. When the accelerator pedal depression amount is larger than the accelerator pedal depression determination value, it is determined that the accelerator pedal 2 is depressed, and the accelerator pedal depression amount is determined as the accelerator pedal depression amount. When the value is equal to or less than the determination value, it is determined that the accelerator pedal 2 is not depressed.

  As a result, when it is determined that the accelerator pedal is depressed, the vehicle M is in the riding state, and the engine 11 is imparting driving force to the wheels 4 when the accelerator pedal 2 is depressed. Therefore, the auxiliary braking force is set based on the accelerator pedal depression amount output from the accelerator pedal sensor 13, and the brake is operated by the set auxiliary braking force (S4). As described above, when the riding state determination unit 25 determines that the riding state is in progress and the accelerator pedal 2 is depressed, the brake 12 applies an auxiliary braking force to the wheels 4. For this reason, after the vehicle M has completely stepped on the level difference, the auxiliary braking force has already been applied to the wheels 4 until the driver steps off the accelerator pedal 2 and depresses the brake pedal 3. Therefore, the traveling force applied to the vehicle M is suppressed. Therefore, acceleration of the vehicle M can be avoided and overrun can be prevented.

  The auxiliary braking force setting unit 28 outputs the set auxiliary braking force to the complementary driving force setting unit 29. The complementary driving force setting unit 29 applies a complementary driving force that cancels the auxiliary braking force to the engine 11 and has a magnitude corresponding to the auxiliary braking force output from the auxiliary braking force setting unit 28 (S5). As described above, by applying the complementary driving force corresponding to the auxiliary braking force to the engine 11, the driver can reduce the amount of depression of the accelerator pedal 2 when the vehicle M climbs the step. For this reason, the time required for releasing the foot from the state where the accelerator pedal 2 is depressed is shortened, so that the time for the stepping operation from the accelerator pedal 2 to the brake pedal 3 is shortened. Therefore, the vehicle M can be promptly stopped and overrun can be prevented.

  Further, the auxiliary braking force setting unit 28 outputs to the sensitivity setting unit 30 that a value exceeding 0 is set as the auxiliary braking force value. In the sensitivity setting unit 30, when the auxiliary braking force value exceeds 0 (when the auxiliary braking force is applied), the driving force generation characteristic (accelerator pedal sensitivity characteristic) with respect to the accelerator pedal opening degree is set to high sensitivity. (S6). The characteristic of the driving force generation with respect to the accelerator pedal opening means the rate of change of the driving force with respect to the accelerator pedal depression amount. Thus, by making the characteristic of the driving force generation with respect to the accelerator pedal opening degree highly sensitive, when the vehicle climbs the step, the amount of depression of the driver's accelerator pedal 2 can be further reduced. The time required to release the foot from the depressed state is shortened, and the time for the stepping operation from the accelerator pedal 2 to the brake pedal 3 is shortened. Therefore, the vehicle M can be stopped more quickly, and overrun can be suitably prevented.

  On the other hand, if it is determined in step S1 that the step is not being climbed, if it is determined that the brake pedal 3 is depressed in step S2, and if it is determined that the accelerator pedal is not depressed in step S3, The determination unit 27 determines whether a release condition is satisfied (S7). As the release condition here, it is possible to set that the climbing of the step of the vehicle M is completed and that the brake pedal 3 is depressed. In addition to these, a release condition may be added. As an example of the release condition, when the vehicle speed output from the vehicle speed sensor 16 is larger than a predetermined speed threshold stored in the reference storage unit 23, the release condition is not satisfied, and the speed threshold is set. In the following cases, the release condition is satisfied.

  As a result of determining whether or not the release condition is satisfied, when it is determined that the release condition is not satisfied, the process proceeds to step S4, and the brake is operated by the auxiliary braking force. At this time, if the brake is already operated by the auxiliary braking force, the operation of the brake is continued.

  On the other hand, if it is determined that the release condition is satisfied, it is determined whether or not a predetermined time has elapsed since the release condition was satisfied (S8). As a result, when the predetermined time has not elapsed, the process returns to step S4 and the brake operation by the auxiliary braking force is continued. On the other hand, if the brake is operated with the auxiliary braking force when the predetermined time has elapsed, the brake with the auxiliary braking force is released (S9). In this way, after the release condition is satisfied and the climbing of the step is completed, the state where the auxiliary braking force is applied to the wheel 4 is maintained for a predetermined time. For this reason, even if the switching operation from the accelerator pedal 2 to the brake pedal 3 takes time, the acceleration of the vehicle M can be avoided and the overrun can be prevented. As the predetermined time, it is preferable to set a time during which the driver can drive comfortably after completion of the ride, and can be arbitrarily set between 0.5 and 3 seconds from the point when the ride is completed. Can be set to a time.

  Thereafter, the sensitivity characteristic of the accelerator pedal is set to normal (S10). The case where the sensitivity of the accelerator pedal is normally specified corresponds to the case where the “change rate of the driving force is a normal state” in the present invention. Thus, when the sensitivity characteristic of the accelerator pedal is set to high sensitivity, the sensitivity characteristic is returned to the normal sensitivity characteristic. Thus, the control by the vehicle braking / driving control device 1 is completed.

  As described above, according to the vehicle braking / driving control device 1 according to the present embodiment, after the vehicle has completely climbed the step, the driver is released from the state where the accelerator pedal is depressed and the brake pedal is depressed. In the meantime, since the auxiliary braking force is already applied to the wheels, the traveling force applied to the vehicle is suppressed. Therefore, acceleration of the vehicle can be avoided and overrun can be prevented.

[Second Embodiment]
Next, a second embodiment of the present invention will be described. Compared with the first embodiment, the vehicle braking / driving control device according to the second embodiment is configured to exclude some of its elements, specifically, the complementary driving force setting unit 29 and the sensitivity setting unit 30. Yes.

  Next, control by the vehicle braking / driving control device according to the present embodiment will be described. FIG. 3 is a flowchart showing a control procedure by the vehicle braking / driving control device according to the present embodiment.

  As shown in FIG. 3, in the control by the vehicle braking / driving control device according to the present embodiment, it is determined whether or not the vehicle is in the riding state (S11). The determination as to whether or not the vehicle is in the riding state is performed in the same manner as in the first embodiment. As a result, when it is determined that the vehicle is in the riding state, it is determined whether or not the brake pedal 3 is being depressed (S12). Whether or not the brake pedal 3 is being depressed is determined in the same manner as in the first embodiment. As a result, when it is determined that the brake pedal 3 is not depressed, it is determined whether or not the accelerator pedal 2 is depressed (S13). This is performed in the same manner as in the first embodiment.

  As a result, when it is determined that the accelerator pedal 2 is being depressed, the brake is operated by the auxiliary braking force (S14). In this way, by performing the brake operation with the auxiliary braking force, it is possible to prevent the vehicle from overrun after completing the stepping of the vehicle.

  If it is determined in step S11 that it is not in the riding state, if it is determined in step S12 that the brake pedal 3 is being depressed, and if it is determined in step S13 that the accelerator pedal 2 is not depressed. Then, it is determined whether the release condition is satisfied (S15). Whether or not the release condition is satisfied can be determined in the same manner as in the first embodiment. As a result, when it is determined that the release condition is not satisfied, the process returns to step S14 to operate the brake by the auxiliary braking force (S14). on the other hand. If it is determined that the release condition is satisfied, the brake by the auxiliary braking force is released (S16). Thus, the control by the vehicle braking / driving control device is completed.

  As described above, according to the vehicle braking / driving control device according to the present embodiment, after the vehicle has completely stepped on the level difference, the time from when the driver depresses the accelerator pedal until the driver depresses the brake pedal and depresses the brake pedal. Since the auxiliary braking force is already applied to the wheels, the traveling force applied to the vehicle is suppressed. Therefore, acceleration of the vehicle can be avoided and overrun can be prevented.

  The preferred embodiments of the present invention have been described above, but the present invention is not limited to the above embodiments. For example, in the first embodiment, the sensitivity characteristic of the accelerator pedal is set to high sensitivity when the auxiliary braking force is applied. For example, the sensitivity characteristic is adjusted according to the depression amount of the accelerator pedal. can do. An example thereof will be described with reference to FIG.

  In the graph shown in FIG. 4, when the line L11 is a normal sensitivity characteristic, the line L12 is a high sensitivity characteristic in the first embodiment. In the case of the high-sensitivity characteristic indicated by the line L12, the sensitivity characteristic is such that the generated driving force is larger than the normal characteristic regardless of the value of the accelerator pedal depression amount. On the other hand, it is also possible to make the sensitivity characteristic different in sensitivity depending on whether it is below a predetermined threshold value TH or exceeds the threshold value TH, such as the sensitivity characteristic shown in the line L13 or the line L14.

  In the sensitivity characteristic indicated by the line L13, when the driving force is equal to or less than the predetermined threshold value TH, the sensitivity characteristic is higher than that of the normal characteristic. It is said that. In the sensitivity characteristic indicated by the line L14, when the driving force is below the predetermined threshold value TH, the sensitivity is higher than that of the normal characteristic. When the driving force exceeds the threshold value TH, the sensitivity is lower than that of the normal characteristic. Sensitivity characteristics.

  Thus, by setting the sensitivity characteristic shown in the line L13, according to this vehicle braking / driving control device, when the driving force applied to the wheel is equal to or less than the threshold value TH, the sensitivity of the accelerator pedal is high. Since it is set, it is possible to get on with a small amount of depression. For this reason, the time required to release the foot from the state where the accelerator pedal is depressed is shortened, so that the time required for switching from the accelerator pedal to the brake pedal is shortened. Overrun can be prevented.

  In addition, by setting the sensitivity characteristic shown in the line L14, when the driving force applied to the wheel exceeds the threshold value TH, the accelerator pedal depression sensitivity is set low, so that the driver can Even if the pedal is depressed too much, the driving force applied to the wheels can be suppressed, and acceleration of the vehicle can be avoided and overrun can be prevented. Here, the threshold value TH can be, for example, the magnitude of the driving force that should be applied to the wheels at the minimum in order for the vehicle to ride on the step.

  In the first embodiment, the auxiliary braking force is reduced immediately after a predetermined time has elapsed after the completion of the ride. However, as shown by the line L11 in FIG. The power may be reduced. Note that the line L12 indicates the auxiliary braking force in the first embodiment. As the braking force gradually decreases in this manner, the driver can re-run without discomfort.

  In the first embodiment and the second embodiment, the throttle opening is detected using a gasoline engine as a power source of the vehicle, but other power sources such as a diesel engine or an electric motor are used. Torque calculating means suitable for the power source can also be used. Further, in the first embodiment, the operation of operating the brake by the auxiliary braking force (S4) and the operation of applying the complementary driving force that cancels the auxiliary braking force to the engine 11 (S5) are performed. It is also possible to adopt a mode in which only one of these operations is performed.

It is a block diagram of the vehicle braking / driving control device according to the present invention. It is a control flowchart of the vehicle braking / driving control device according to the first embodiment. It is a control flowchart of the vehicle braking / driving control device according to the second embodiment. It is a graph which shows the relationship between the depression amount of the accelerator pedal of the vehicle braking / driving control apparatus shown in FIG. 1, and a drive amount. It is a graph which shows the reduction | decrease of the auxiliary braking force after the cancellation | release conditions of a vehicle braking / driving control apparatus are satisfied.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Vehicle braking / driving control apparatus, 2 ... Accelerator pedal, 3 ... Brake pedal, 4 ... Wheel, 11 ... Engine, 12 ... Brake, 13 ... Accelerator pedal sensor, 14 ... Brake pedal sensor, 15 ... Throttle opening sensor, 16 DESCRIPTION OF SYMBOLS ... Vehicle speed sensor, 20 ... Control part, 21 ... Driving force setting part, 22 ... Braking force setting part, 23 ... Reference | standard memory | storage part, 24 ... Torque calculating part, 25 ... Riding state determination part, 26 ... Brake determination part, 27 ... State determination unit, 28 ... auxiliary braking force setting unit, 29 ... complementary driving force setting unit, 30 ... sensitivity setting unit.

Claims (7)

Driving force applying means for applying driving force to the wheels of the vehicle by depressing the accelerator pedal by the driver;
Braking force applying means for applying braking force to the wheels;
When the vehicle is about to step on a step, riding state determination means for determining the riding state of the vehicle;
When the riding state determination means determines that the riding state is in the riding state, and the driving force applying means applies the driving force by depressing an accelerator pedal to the wheel, an auxiliary braking force is applied to the wheel. Control means for actuating the braking force applying means to apply,
Equipped with a,
The vehicle braking / driving control device, wherein the control means operates the driving force applying means so as to apply a complementary driving force having a magnitude corresponding to the auxiliary braking force to the wheels . Further provided is a depression amount detecting means for detecting the depression amount of the accelerator pedal by the driver,
2. The control means according to claim 1 , wherein a rate of change of the driving force due to depression of an accelerator pedal with respect to the depression amount detected by the depression amount detection unit in a riding state is larger than that in a normal state. Vehicle braking / driving control device. Further provided is a depression amount detecting means for detecting the depression amount of the accelerator pedal by the driver,
The control means detects the depression amount detected by the depression amount detection means when the driving force due to depression of the accelerator pedal in the riding state exceeds a predetermined threshold value and when the driving force is equal to or less than the threshold value. The vehicle braking / driving control device according to claim 1, wherein a change rate of the driving force due to depression of an accelerator pedal is different. 4. The vehicle braking / driving control device according to claim 3 , wherein the control means causes the rate of change when the driving force due to depression of an accelerator pedal is equal to or less than the threshold to be larger than that in a normal state. 5. The vehicle braking / driving control according to claim 3 , wherein the control means makes the rate of change when the driving force due to depression of an accelerator pedal exceeds the threshold value smaller than that in a normal state. apparatus. If the riding state determining means determines that the riding is completed when the braking force applying means is applying the auxiliary braking force to the wheel, the control means continues to the wheel for a predetermined time. The vehicle braking / driving control device according to any one of claims 1 to 5 , wherein the braking force applying means is operated so as to apply power. The vehicle braking / driving control device according to claim 6 , wherein the control means gradually reduces the auxiliary braking force after completion of riding.

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