JP5742585B2 - Accelerator pedal device - Google Patents

Description

  The present invention relates to an accelerator pedal device.

  In an accelerator pedal device for a vehicle, particularly an automobile, the reaction force characteristic is set to a stepping-side reaction force characteristic and a stepping-side reaction force characteristic that is set to be smaller than the stepping-side reaction force characteristic. Is done. Thereby, even if the pedal effort of the accelerator pedal changes between the depression side reaction force characteristic and the depression side reaction force characteristic, the accelerator opening degree is kept constant.

By the way, recently, driving assistance using an accelerator pedal is frequently performed.
In Patent Document 1, it is proposed to change and control the pedal effort of the accelerator pedal in order to notify the driver of switching of the driving characteristics of the vehicle (for example, engagement and disengagement of the lockup clutch). Further, in Patent Document 2, in order to prevent fuel consumption deterioration due to excessive depression of the accelerator pedal, when the accelerator opening is increased, the stepping-side reaction force characteristic is increased when the recommended accelerator opening is reached. It has been proposed to give the driver a sense of abutment during the accelerator pedal increase operation and to inform the driver that further depression of the accelerator pedal will result in fuel consumption deterioration.

JP 2005-132225 A JP 2010-52722 A

  By the way, it is conceivable that the recommended accelerator opening changes in a direction decreasing from the current accelerator opening. In this case, it is preferable if the driver can recognize the recommended accelerator opening through the accelerator pedal when the accelerator opening is reduced toward the recommended accelerator opening. In addition, in the thing of patent document 2, when a recommended accelerator opening changes in the direction which decreases from the present accelerator opening, it cannot apply at all.

  The present invention has been made in view of the circumstances as described above, and its purpose is that when the recommended accelerator opening changes in a decreasing direction from the current accelerator opening, the recommended accelerator opening is reached through the accelerator pedal. An object of the present invention is to provide an accelerator pedal device that enables a driver to recognize this.

  In order to achieve the above object, in the present invention, basically, the accelerator opening is reduced to the recommended accelerator opening by changing and controlling (correcting) the stepping-back reaction force characteristic of the accelerator pedal. It is made to recognize.

  Specifically, when the recommended accelerator opening changes in the decreasing direction, the sense of abutment is felt when the accelerator opening decreases to the recommended accelerator opening by reducing the stepping-back reaction force at the recommended accelerator opening. (Corresponding to claim 1).

  In addition, when the recommended accelerator opening changes in a decreasing direction, the reaction force determined by the stepping-back reaction force characteristic at the current accelerator opening is larger than the current pedaling force, and at the recommended accelerator opening. The stepping-back reaction force is reduced from the current stepping force (corresponding to claim 2). In this case, even with the current pedal effort, the driver will be actively encouraged and recommended to reduce the accelerator opening by automatically starting to decrease toward the recommended accelerator opening. A feeling of abutment can be given when the accelerator opening is lowered.

The present invention can adopt the following preferred modes. That is,
In the opening range between the current accelerator opening and the recommended accelerator opening, the stepping-back reaction force is larger than the current pedaling force, and in the opening region below the recommended accelerator opening, the step-back reaction force Can be reduced (corresponding to claim 3). In this case, even with the current pedal effort, the accelerator opening is automatically reduced to the recommended accelerator opening. Further, even when the driver actively reduces the pedal effort to reduce the accelerator opening, it is possible to give a sense of abutment when the recommended accelerator opening is reached.

  The amount of decrease in the stepping-back reaction force at the recommended accelerator opening is increased when the change speed of the accelerator pedal toward the recommended accelerator opening is fast compared to when the change speed is slow ( Corresponding to claim 4). In this case, the function to stop the foot at the time when the recommended accelerator opening is reached according to the changing speed of the accelerator pedal (that is, the decreasing speed) can be appropriately exhibited without unnecessarily reducing the stepping-back reaction force. it can.

  The amount of decrease in the stepping-back reaction force at the recommended accelerator opening is made larger when the recommended accelerator opening is larger than when the recommended accelerator opening is small (corresponding to claim 5). In this case, the function of stopping the foot when the recommended accelerator opening is reached can be appropriately exhibited according to the size of the recommended accelerator opening, without unnecessarily reducing the stepping-back reaction force.

  The amount of decrease in the stepping-back reaction force at the recommended accelerator opening is increased when the current pedaling force is large compared to when the pedaling force is small (corresponding to claim 6). In this case, the function of stopping the foot when the recommended accelerator opening degree is reached can be appropriately exhibited according to the depression force of the accelerator pedal without unnecessarily reducing the stepping-back reaction force.

  According to the present invention, when the recommended accelerator opening changes in the decreasing direction, the driver can be made aware that the accelerator opening has decreased to the recommended accelerator opening.

The figure which shows an example of the accelerator pedal apparatus which has a reaction force change mechanism. The characteristic view which shows an example of a stepping-side reaction force characteristic and a stepping-back side reaction force characteristic. The block diagram which shows the example of a control system of this invention. The characteristic view which shows the example of a change of the step side reaction force characteristic when the recommended accelerator opening changes in the increasing direction. The characteristic view which shows the 2nd example of a change of the step side reaction force characteristic when the recommended accelerator opening changes in the increasing direction. The characteristic view which shows the 3rd example of a change in the step side reaction force characteristic when the recommended accelerator opening changes in the increasing direction. The characteristic view which shows the 4th example of a change in the step side reaction force characteristic when the recommended accelerator opening changes in the increasing direction. The characteristic view which shows the example of a change of the step back side reaction force characteristic when the recommended accelerator opening changes in the decreasing direction. The characteristic view which shows the 2nd example of a change of the step back side reaction force characteristic when a recommended accelerator opening changes in the decreasing direction. The characteristic view which shows the 3rd example of a change of the step back side reaction force characteristic when a recommended accelerator opening changes in the decreasing direction. The characteristic view which shows the 4th example of a change of the step back side reaction force characteristic when a recommended accelerator opening changes in the decreasing direction. The flowchart which shows the example of control of reaction force characteristic change. The flowchart which shows the 2nd control example of reaction force characteristic change. The flowchart which shows the 3rd control example of reaction force characteristic change. The flowchart which shows the 4th example of control of reaction force characteristic change.

  In FIG. 1, reference numeral 1 denotes a holding shaft, and the holding shaft 1 is held so as to be rotatable with respect to a vehicle body (shown simply by hatching). The base end portion of the accelerator pedal 2 is fixed to the holding shaft 1, and the holding shaft 1 is rotated by an angle corresponding to the stepping operation amount by depressing the distal end portion (operation portion) of the accelerator pedal 2. Is done. The holding shaft 1 and the vehicle body are connected by a return spring 3 such as a coil spring, for example, and urged by the return spring 3 in a direction in which the accelerator opening is zero.

  A first friction member 4 is fixed to one end side of the holding shaft 1, and a second friction member 5 is disposed facing the first friction member 4. The second friction member 5 is held so as to be non-rotatable and relatively movable in the axial direction with respect to the holding shaft 6 arranged on the extension line of the holding shaft 1 (for example, spline coupling). For example, the electromagnetic actuator 7 allows the second friction member 5 and the first friction member 4 to be changed between the press contact state and the separated state, and the press contact force at the time of press contact can be changed. Yes. This actuator 7 constitutes a reaction force characteristic changing means for changing a reaction force characteristic described later. An accelerator opening sensor 8 that detects the rotation amount of the holding shaft 1, that is, the accelerator opening, is provided in the periphery of the holding shaft 1, while the accelerator pedal 2 receives the pressing force to detect the pedaling force. A pedaling force sensor 9 is provided.

  FIG. 2 shows a basic setting (base setting) state of the reaction force characteristic with respect to the accelerator pedal 2. That is, the stepping-side reaction force characteristic is indicated by the X-ray in the figure, and the stepping-back reaction force characteristic is indicated by the Y-line. The stepping-side reaction force characteristic (characteristic line X) indicates that the reaction force is suddenly increased as the accelerator opening increases until the minute opening A1, and the accelerator is opened when the accelerator opening is larger than the minute opening A1. It is set so that the reaction force gradually increases as the degree increases. The stepping-side reaction force characteristic (characteristic line Y) shows that the reaction force increases rapidly as the accelerator opening increases until the small opening A2 is slightly larger than the minute opening A1, and the accelerator opening is slightly opened. When the degree is larger than the degree A2, the reaction force is set to gradually increase as the accelerator opening increases. At the same accelerator opening, the reaction force determined by the stepping-side reaction force characteristic is set to be smaller than the reaction force determined by the stepping-side reaction force characteristic (setting of hysteresis).

  Now, let us consider a case where the depression force on the accelerator pedal 2 is a depression force FC between the depression-side reaction force characteristic and the depression-side reaction force characteristic at the accelerator opening degree AC. When the accelerator opening is AC, the magnitude of the reaction force determined by the stepping-side reaction force characteristic is indicated by F2, and the reaction force determined by the stepping-back reaction force characteristic is indicated by F1. If the depression force on the accelerator pedal 2 is between the reaction forces F2 and F1 at the accelerator opening degree AC, the accelerator opening degree AC is held. That is, the accelerator opening is prevented from changing by a slight change in the pedaling force that is not intended by the driver. In order to increase the accelerator opening from the current accelerator opening AC, it is performed by making the pedaling force larger than the reaction force F2 determined by the stepping side reaction force characteristic. Conversely, to reduce the accelerator opening from the current accelerator opening AC, the pedal effort is made smaller than the reaction force F1 determined by the step-back reaction force characteristics.

  FIG. 3 shows an example of a control system of the present invention, and U in the figure is a controller (control unit) configured using a microcomputer. In addition to the signals from the accelerator opening sensor 8 and the pedal effort detection sensor 9 described above, the controller U receives the recommended accelerator opening signal determined by the recommended accelerator opening determining unit 10. The actuator U controls the reaction force characteristic changing means as will be described later. Note that the recommended accelerator opening determination by the recommended accelerator opening determining unit 10 is performed from the viewpoint of improving fuel efficiency in the embodiment. For example, traffic congestion, road surface environment (gradient, curve ridge, straight road, etc.) ), Road slip conditions, road types (general roads, highways), traffic signal conditions, etc. Since the determination of the recommended accelerator opening itself is not directly related to the present invention, further explanation is omitted.

  Next, the reaction force characteristic change control when the recommended accelerator opening degree AT is changed in the increasing direction from the current accelerator opening degree AC will be described with reference to FIG. First, the current pedaling force at the current accelerator opening degree AC is FC. In this case, the step side reaction force characteristic is changed so that the portion corresponding to the accelerator opening between the current accelerator opening AC and the recommended accelerator opening AT is smaller than the current pedaling force FC. In FIG. 4, at the current accelerator opening AC, the reaction force determined by the stepping-side reaction force characteristic after the change is smaller than the current stepping force FC and does not become less than the reaction force determined by the stepping-side reaction force characteristic. The range is determined (setting of the start point α1 of the stepping-side reaction force characteristic after the change). In addition, at the recommended accelerator opening AT, the reaction force determined by the stepping-side reaction force characteristic after the change does not exceed the current pedaling force FC and is equal to or less than the reaction force determined by the stepping-back reaction force characteristic. It is determined within a range not to be satisfied (setting of the end point α2 of the step side reaction force characteristic after the change). The step-side reaction force characteristic after the change is a straight line connecting the start points α1 and α2, and in the embodiment, the reaction force is set to gradually increase as the accelerator opening increases.

  In the case of FIG. 4, since the start point α1 of the stepping-side reaction force characteristic after the change is sufficiently smaller than the current pedaling force, the accelerator opening is automatically increased while maintaining the same pedaling force FC. become. Then, since the reaction force at the end point α2 of the step-side reaction force characteristic after the change is set to be the same as the current depression force FC, the reaction force is finally converged to the recommended accelerator opening degree AT.

  FIG. 5 shows a second change control example of the stepping-side reaction force characteristic, and the setting of the start point α1 and the end point α2 is the same as in FIG. In the case of FIG. 5, in the direction in which the accelerator opening increases from the time when the recommended accelerator opening AT is reached, the reaction force determined by the stepped-side reaction force characteristics after the change is more than the base state shown in FIG. Set to be larger. By such setting, when the recommended accelerator opening AT is automatically reached, the reaction force determined by the stepping-side reaction force characteristic is suddenly increased, so that a sense of abutment is given to the accelerator pedal depression direction. Thus, the situation where the accelerator opening is increased beyond the recommended accelerator opening AT is reliably prevented.

  FIG. 6 shows a third change control example of the stepping-side reaction force characteristic, and it is shown to the driver that the accelerator opening automatically increases toward the recommended accelerator opening while maintaining the current pedaling force FC. This is an example suitable for reducing or preventing the troublesomeness given to the driver by avoiding recognition as much as possible. That is, in the case of FIG. 6, the stepped-side reaction force characteristics after the change are set so that both of the starting points α1 and α2 are less than the current pedaling force FC and close to the current pedaling force FC (end) Set at point α2 to be the current pedaling force FC). With this setting, the accelerator pedal position is changed very slowly toward the recommended accelerator pedal position AT while maintaining the current pedal effort FC, and the driver recognizes the change in the accelerator pedal position. Setting is difficult.

  FIG. 7 shows a fourth change control example of the stepping-side reaction force characteristic. Contrary to the case of FIG. 6, the accelerator opening is automatically set toward the recommended accelerator opening while the current pedaling force FC is maintained. The driver is clearly aware of the increase. That is, the stepping-side reaction force characteristics after the change are set so that both the starting points α1 and α2 are sufficiently smaller than the current pedaling force FC (set to be close to the stepping-back reaction force characteristics). With such a setting, the accelerator opening quickly changes toward the recommended accelerator opening while the current pedaling force FC is maintained, and the driver clearly recognizes the increase in the accelerator opening. .

  In both cases of FIGS. 6 and 7, as shown in FIG. 5, in the direction in which the accelerator opening increases from the point of the recommended accelerator opening AT, the stepping side reaction force characteristic is changed to be larger than the base state. Thus, when the recommended accelerator opening degree AT is reached, the automatic increase of the accelerator opening degree can be regulated.

  Next, the reaction force characteristic change control when the recommended accelerator opening degree AT is changed in the decreasing direction from the current accelerator opening degree AC will be described with reference to FIG. First, in the stepping-back reaction force characteristic, a portion corresponding to the accelerator opening between the current accelerator opening AC and the recommended accelerator opening AT is changed to be larger than the current pedaling force FC. In FIG. 8, at the current accelerator opening AC, the reaction force determined by the changed stepping-back reaction force characteristic is greater than the current stepping force FC and greater than the reaction force determined by the stepping-side reaction force characteristic. It is determined within a range not to be satisfied (setting of the starting point β1 of the stepping-back reaction force characteristic after the change). In addition, at the recommended accelerator opening AT after the change, the reaction force determined by the stepping-back reaction force characteristic after the change is greater than or equal to the current pedaling force FC and more than the reaction force determined by the stepping-side reaction force characteristic. It is determined within a range not to be satisfied (setting of the end point β2 of the stepping-back reaction force characteristic after the change). Then, the stepping-back reaction force characteristic after the change is a straight line connecting the start points β1 and β2, and in the embodiment, the reaction force is set to gradually decrease as the accelerator opening decreases. In the case of FIG. 8, the start point β1 of the stepping-back reaction force characteristic after the change is sufficiently larger than the current pedaling force FC, and therefore, with the same pedaling force FC maintained, toward the recommended accelerator opening after the change. Thus, the accelerator opening is automatically reduced. And in the low opening range below the recommended accelerator opening AT, the reaction force is determined by the basic stepping-back reaction force characteristics, so when the recommended accelerator opening AT is reached, the accelerator opening decreases. A feeling will be given.

  FIG. 9 shows the second change control of the reaction force characteristic when the recommended accelerator opening degree AT is changed in the decreasing direction from the current accelerator opening degree AC. In FIG. 9, the stepping-back reaction force characteristic after the change is made smaller than the stepping-back side reaction force characteristic of the base shown in FIG. 2 in the direction in which the accelerator opening decreases from the recommended accelerator opening AT. Is set to (decrease correction). As a result, while maintaining the same pedaling force FC as the present time, the accelerator opening is decreased toward the recommended accelerator opening AT, and when the recommended accelerator opening AT is reached, the accelerator opening is automatically further increased. Is reduced (giving a sense of contact), and can be reliably converged to the recommended accelerator opening AT. In particular, when the driver intentionally reduces the pedal effort FC from the current accelerator opening degree AC to lower the accelerator opening degree, it is preferable to give a sense of abutment when the recommended accelerator opening degree AT is reached. Become.

  FIG. 10 shows a third change control example of the stepping-back reaction force characteristic, and it is shown that the accelerator opening automatically decreases toward the recommended accelerator opening while the current pedaling force FC remains unchanged. This is an example suitable for reducing or preventing the troublesomeness given to the driver by preventing the driver from recognizing as much as possible. That is, in the case of FIG. 10, the change-back reaction force characteristics after the change are set so that both of the starting points β1 and β2 are larger than the current pedaling force FC and close to the current pedaling force FC ( Set to the current pedaling force FC at the end point β2.) With this setting, the accelerator pedal position is changed very slowly toward the recommended accelerator pedal position AT while maintaining the current pedal effort FC, and the driver recognizes the change in the accelerator pedal position. Setting is difficult. The direction in which the accelerator opening decreases from the recommended accelerator opening AT is changed so that the stepping-back reaction force characteristic is smaller than the base state, and the accelerator is opened when the recommended accelerator opening AT is reached. The automatic reduction of the degree is regulated.

  FIG. 11 shows a fourth change control example of the stepping-back reaction force characteristic. Contrary to the case of FIG. 10, the accelerator is automatically opened toward the recommended accelerator opening while the current pedaling force FC is maintained. The driver is clearly aware that the degree will decrease. That is, the stepped-back reaction force characteristics after the change are set so that both the starting points β1 and β2 are sufficiently larger than the current pedaling force FC (set to be close to the stepping-side reaction force characteristics). With such a setting, the accelerator opening quickly changes toward the recommended accelerator opening while the current pedaling force FC is maintained, and the driver clearly recognizes the increase in the accelerator opening. . The direction in which the accelerator opening decreases from the recommended accelerator opening AT is changed so that the stepping-back reaction force characteristic is smaller than the base state, and the accelerator is opened when the recommended accelerator opening AT is reached. The automatic reduction of the degree is regulated.

  Here, the accelerator opening becomes smaller than the recommended accelerator opening AT as the amount of decrease in the stepping-back reaction force characteristic when the accelerator opening shown in FIGS. 9 to 11 is less than or equal to the recommended accelerator opening AT. This increases the function of preventing the occurrence of the accident (a sense of abutment at the time when the recommended accelerator opening AT is reached). The amount of decrease can be changed according to the speed from the current accelerator opening degree AC to the recommended accelerator opening degree AT (change of step type or continuous variable type). Specifically, as shown in FIG. 11, when the operation speed from the current accelerator opening degree AC to the recommended accelerator opening degree AT is fast, the recommended accelerator opening degree AT is increased by increasing the decrease amount. It becomes easy to stop the foot when it becomes. On the contrary, as shown in FIG. 10, when the operation speed from the current accelerator opening degree AC to the recommended accelerator opening degree AT is slow, it is preferable to reduce the decrease amount.

  Furthermore, the amount of decrease can be changed according to the size of the recommended accelerator opening degree AT (change of step type or continuously variable type). Specifically, the smaller the accelerator opening, the smaller the absolute value of the reverse reaction force characteristic. Therefore, when the recommended accelerator opening is large, the amount of decrease should be larger than when it is small. preferable. Furthermore, the amount of decrease can be changed in accordance with the current magnitude of the pedal effort FC (change of step type or continuously variable type). Specifically, it is preferable to increase the amount of decrease when the current pedaling force FC is large compared to when it is small.

  Next, an example of reaction force characteristic change control by the controller U will be described with reference to the flowchart shown in FIG. In the following description, Q indicates a step. First, in Q1, the changed recommended accelerator opening AT is read (signal input from the recommended accelerator opening determining unit 10 in FIG. 3). Next, at Q2, the current accelerator opening degree AC is read. Thereafter, in Q3, it is determined whether or not the recommended accelerator opening degree AT is on the depression side (accelerator opening increasing side) than the current accelerator opening degree AC.

  When the determination in Q3 is YES, for example, the step-side reaction force characteristic change control as described with reference to FIG. 5 is performed. That is, in Q4, the current pedaling force FC is read. Next, at Q5, the reaction force (corresponding to F1 in FIG. 2) determined by the stepping-back reaction force characteristic in the base state is extracted at the current accelerator opening degree AC. Thereafter, in Q6, the reaction force determined by the stepping-back reaction force characteristic is extracted at the changed recommended accelerator opening degree AT. Thereafter, in Q7, the start point α1 of the stepping-side reaction force characteristic after the change is determined (determination within a range smaller than the current pedaling force FC and larger than the reaction force issued in Q5 in a week). Next, at Q8, the end point α2 of the stepping-side reaction force characteristic after the change is determined (determination within a range that is equal to or less than the current pedaling force FC and not equal to or less than the reaction force extracted at Q6).

  After Q8, in Q9, the reaction force increase amount of the stepping-side reaction force characteristic in the range where the accelerator opening is large after the changed recommended accelerator opening AT (corresponding to what is shown as “increase” in FIG. 5). It is determined. Thereafter, in Q10, the changed stepping-side reaction force characteristic is finally determined. The final determination of the stepping-side reaction force characteristic at Q10 is that the stepping-side reaction force characteristic between the current accelerator opening degree AC and the changed recommended accelerator opening degree AT is the start point α1 set at Q7 and Q8. For the accelerator opening range that is greater than or equal to the recommended accelerator opening AT, the increase is determined in Q9 (the change in the stepping reaction force characteristics as shown in FIG. 5). Become).

  If the determination in Q3 is NO, it is determined in Q11 whether or not the recommended accelerator opening AT is on the step-back side (accelerator opening decreasing direction) than the current accelerator opening AC. When the determination in Q11 is YES, for example, the step-back reaction force characteristic change control as described with reference to FIG. 9 is performed. That is, in Q12, the current pedaling force FC is read. Next, in Q13, the reaction force (corresponding to FIG. 2F2) determined by the depression-side reaction force characteristic in the base state shown in FIG. 2 is read at the current accelerator opening degree AC. Thereafter, in Q14, the reaction force determined by the stepping-side reaction force characteristic is extracted at the changed recommended accelerator opening degree AT.

  After Q14, the starting point β1 of the stepping-back reaction force characteristic to be changed is calculated at Q15 (calculated in a range larger than the current pedaling force FC and not exceeding the reaction force extracted at Q13). Next, in Q16, the end point β2 of the stepping-back reaction force characteristic to be changed is calculated (calculated in a range not less than the current stepping force FC and not exceeding the reaction force extracted in Q14).

  After Q16, in Q17, the reaction force reduction amount of the stepping-side reaction force characteristic in the accelerator opening range that is equal to or less than the changed recommended accelerator opening is calculated (corresponding to what is shown as “decrease” in FIG. 9) ). As described above, this amount of decrease can be any of the operation speed when moving from the current accelerator opening AC to the recommended accelerator opening AT after the change, the magnitude of the recommended accelerator opening AT after the change, and the current pedaling force FC. It is set in consideration of one or more elements. Thereafter, in Q18, the changed stepping-back reaction force characteristic is finally determined. The final determination of the stepping-back reaction force characteristic at Q18 starts with the stepping-side reaction force characteristic between the current accelerator opening degree AC and the changed recommended accelerator opening degree AT being set at Q15 and Q16. It is determined as a straight line connecting the point β1 and the end point β2, and the accelerator opening range equal to or less than the recommended accelerator opening AT is set to the decrease change determined in Q17 (step-back reaction force characteristics as shown in FIG. 9). Change). If the determination in Q11 is NO, there is no change in the recommended accelerator opening, so the routine returns (returns to Q1).

  FIG. 13 shows a second example of control by the controller U, and shows an example in which it is possible to select whether or not to notify the driver that the recommended accelerator opening has been changed. That is, the change of the stepping side reaction force characteristic is the selection of the reaction force characteristic shown in FIGS. 6 and 7, and the change of the stepping side reaction force characteristic is the selection of the reaction force characteristic shown in FIGS. Become. Further, FIG. 13 shows that the steps of Q21 to Q25 are added between Q6 and Q9 and Q26 to Q30 are added between Q14 and Q17 of FIG. It has become. Therefore, in the following description, only the step portion added to FIG. 12 will be described.

  First, after Q6, it is determined in Q21 whether or not to notify the driver that the recommended accelerator opening has been changed. The determination at Q21 is performed based on a signal from the selection switch 11 indicating whether or not the notification is manually operated by the driver, for example, as shown in FIG. Specifically, for example, if the switch 11 is OFF, the notification is not desired, and if the switch 11 is ON, the notification is desired.

  When the determination in Q21 is YES, the processing of Q22 and Q23 is performed. As shown in FIG. 7, the starting point α1 and the end point α2 of the stepped-side reaction force characteristic after the change are respectively set to lower limits. Value or near the lower limit. After Q22 and Q23, the process proceeds to Q9. If the determination in Q21 is NO, the processing in Q24 and Q25 is performed, and then the process proceeds to Q9. In Q24 and Q25, as shown in FIG. 6, the start point α1 and the end point α2 of the stepped-side reaction force characteristics after the change are set to the upper limit value or near the upper limit value.

  On the other hand, after Q14, it is determined in Q26 whether or not to notify the driver that the recommended accelerator opening has been changed. If the determination in Q26 is YES, the process proceeds to Q17 after the processes of Q27 and Q28 are performed. In the processes of Q27 and Q28, the start point β1 and the end point β2 of the stepping-back reaction force characteristics after the change are set to the upper limit value or near the upper limit value as shown in FIG. If NO in Q26, the process proceeds to Q17 after Q29 and Q30. 29 and Q30, the start point β1 and the end point β2 of the step-back reaction force characteristics are set to the lower limit value or near the lower limit value as shown in FIG.

  FIG. 14 shows a third control example by the controller U, in order to prevent the driver from being bothered by a change in the reaction force characteristic that accompanies frequent changes in the recommended accelerator opening. It is a control example. In the control example of FIG. 14, a step of Q31 is added between Q2 and Q3 in the flowchart of FIG. That is, after Q2, in Q31, it is determined whether or not the amount of change in the recommended accelerator opening AT is equal to or greater than a predetermined opening (for example, 5 degrees) set in advance. When the determination in Q31 is YES, the recommended accelerator opening is largely changed, so that the process from Q3 onward is executed to execute the reaction force characteristic change control. If NO in Q31, the amount of change in the recommended accelerator opening is small, so that the reaction force characteristic change control is unnecessary and the process returns to Q1.

  FIG. 15 shows a fourth control example by the controller U, in order to prevent the driver from being bothered by the change in the reaction force characteristic that accompanies frequent changes in the recommended accelerator opening. This is another control example. In the control example of FIG. 15, steps Q41 and Q42 are added between Q1 and Q2 in the flowchart of FIG. That is, after Q1, in Q41, the elapsed time from the previous support, that is, the change of the previous reaction force characteristic is calculated. Thereafter, in Q42, it is determined whether or not the elapsed time calculated in Q41 is equal to or longer than a predetermined time (for example, 10 seconds) set in advance. If the determination in Q42 is YES, since the elapsed time since the previous reaction force characteristic was changed is longer, the process from Q3 onward is executed to execute the reaction force characteristic change control. Further, when the determination in Q42 is NO, since the elapsed time since the last change of the reaction force characteristic is short, the reaction force characteristic change control is not necessary, and the process returns to Q1.

  Although the embodiment has been described above, the present invention is not limited to the embodiment, and can be appropriately changed within the scope described in the scope of claims. For example, the invention includes the following cases. . Both of the controls in FIGS. 14 and 15 may be performed. That is, when the change amount of the recommended accelerator opening is large or when the predetermined time has elapsed since the last change of the reaction force characteristic, the reaction force characteristic change control is executed. Alternatively, the reaction force characteristic change control may be executed when both of the above conditions are satisfied.

  Various mechanisms for changing the reaction force characteristics with respect to the accelerator pedal 2 can be adopted. For example, an actuator for changing the stepping-side reaction force characteristic and an actuator for changing the stepping-side reaction force characteristic are individually provided. It may be. In order to allow the driver to clearly recognize that the recommended accelerator opening has changed, for example, when the recommended accelerator opening is increased from the current accelerator opening, the starting point α1 shown in FIG. On the other hand, it is also possible to set the end point α2 at or near the upper limit value. Similarly, when the recommended accelerator opening is reduced from the current accelerator opening, the start point β1 shown in FIG. 11 is set at or near the upper limit value, and the end point β2 is set at or near the lower limit value. Can also be done.

  When the changed recommended accelerator opening degree AT changes in the increasing direction, the end point α2 of the changed pedal side reaction force characteristic may be set to be larger than the current pedaling force FC. In this case, the accelerator pedal is automatically changed in the direction of depression toward the recommended accelerator opening AT at the beginning, but it is changed when the driver further depresses the accelerator pedal with a greater depression force than the current depression force FC. The later recommended accelerator opening AT is set. In this case, it is preferable to prevent the accelerator pedal from being depressed excessively in the accelerator opening range equal to or greater than the recommended accelerator opening AT as shown in FIG.

  On the contrary, when the recommended accelerator opening degree AT after the change changes in the decreasing direction, the end point β2 of the stepping-back reaction force characteristic after the change may be set to be smaller than the current pedaling force FC. In this case, initially, the accelerator pedal is automatically changed in the direction of stepping back toward the recommended accelerator opening degree AT, but the change is made when the driver returns the accelerator pedal with a stepping force smaller than the current stepping force FC from the middle. The later recommended accelerator opening AT is set. In this case, in the accelerator opening range equal to or less than the recommended accelerator opening AT as shown in FIGS. 9 to 11, it is possible to reduce the step back side reaction force characteristic and prevent the accelerator pedal from being stepped back too much. preferable.

  The stepped-side reaction force characteristics after the change are not limited to connecting the start point α1 and the end point α2 with a straight line but may be connected with a curve (nonlinear setting). Similarly, the start point β1 and end point β2 of the step-back reaction force characteristic after the change are not limited to be connected by a straight line, but may be connected by a curve (nonlinear setting). Of course, the object of the present invention is not limited to what is explicitly stated, but implicitly includes what is substantially preferred or described as an advantage. The present invention can also be grasped as a reaction force control method for an accelerator pedal.

  The present invention is suitable, for example, as a fuel efficiency improvement technique for automobiles.

1: Holding shaft 2: Accelerator pedal 3: Return spring 4: First friction member 5: Second friction member 6: Holding shaft 7: Actuator (reaction force characteristic changing means)
8: Accelerator opening sensor 9: Treading force detection sensor 10: Recommended accelerator opening determination unit 11: Notification presence / absence selection switch U: Controller (reaction force characteristic control means)
X: Depression-side reaction force characteristic Y: Depression-side reaction force characteristic AC: Current accelerator opening degree AT: Recommended accelerator opening degree FC: Current depression force α1: Starting point of depression-side reaction force characteristic after change α2: After change End point of stepping-side reaction force characteristics β1: Starting point of stepping-back side reaction force characteristics after change β2: Ending point of stepping-side reaction force characteristics after change

Claims (6)

As an accelerator pedal reaction force characteristic, in an accelerator pedal device in which a stepping-side reaction force characteristic and a stepping-back side reaction force characteristic set so as to be smaller than the stepping-side reaction force characteristic are set,
Opening detection means for detecting the accelerator opening;
Treading force detecting means for detecting the current treading force on the accelerator pedal;
Recommended opening detection means for detecting the recommended accelerator opening;
Reaction force characteristic changing means for changing the stepping-back reaction force characteristic;
When the recommended accelerator opening detected by the recommended opening detecting means is smaller than the current accelerator opening detected by the opening detecting means, the reaction force characteristic changing means is controlled to control the recommended accelerator opening. Reaction force characteristic control means for reducing the stepping-back reaction force in degrees,
An accelerator pedal device comprising: As an accelerator pedal reaction force characteristic, in an accelerator pedal device in which a stepping-side reaction force characteristic and a stepping-back side reaction force characteristic set so as to be smaller than the stepping-side reaction force characteristic are set,
Opening detection means for detecting the accelerator opening;
Treading force detecting means for detecting the current treading force on the accelerator pedal;
Recommended opening detection means for detecting the recommended accelerator opening;
Reaction force characteristic changing means for changing the stepping-back reaction force characteristic;
Reaction force characteristic control means for controlling the reaction force characteristic changing means;
With
When the recommended accelerator opening detected by the recommended opening detecting means is smaller than the current accelerator opening detected by the opening detecting means, the reaction force characteristic control means The step back side is set so that the reaction force determined by the step back side reaction force characteristic becomes larger than the current step force, and the step back side reaction force at the recommended accelerator opening is reduced from the current step force. Change and control the reaction force characteristics,
An accelerator pedal device characterized by that. In claim 2,
The reaction force characteristic control means is configured such that the stepping-back reaction force is larger than the current pedaling force in an opening range between the current accelerator opening and the recommended accelerator opening, and is equal to or less than the recommended accelerator opening. An accelerator pedal device characterized by changing and controlling the stepping-back reaction force characteristic so that the stepping-back reaction force decreases in the opening range. In any one of Claims 1 thru | or 3,
The reaction force characteristic control means is configured to reduce the amount of reduction in the stepping-back reaction force at the recommended accelerator opening when the change speed of the accelerator pedal toward the recommended accelerator opening is fast and when the change speed is slow. An accelerator pedal device characterized by being enlarged. In any one of Claims 1 thru | or 3,
The reaction force characteristic control means increases the amount of decrease in the stepping-back reaction force at the recommended accelerator opening when the recommended accelerator opening is large compared to when the recommended accelerator opening is small. A characteristic accelerator pedal device. In any one of Claims 1 thru | or 3,
The accelerator pedal, wherein the reaction force characteristic control means increases a decrease amount of the stepping-back reaction force at the recommended accelerator opening when the current pedaling force is large compared to when the pedaling force is small. apparatus.

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