JP5927720B2 - Pedal reaction force applying device - Google Patents

Description

  The present invention relates to a pedal reaction force applying device that applies a reaction force to an accelerator pedal operated when adjusting the speed of a vehicle.

  Conventionally, a reaction force application technique for applying a reaction force to an accelerator pedal operated when adjusting the speed of a vehicle has been developed. As an example of such reaction force imparting technology, the applicant of the present application determines the driver's intention to accelerate according to whether the accelerator pedal is demanded or whether the acceleration is moderate, according to the accelerator pedal depression speed. A pedal reaction force applying device that sets a reaction force based on an intention has been proposed (see Patent Document 1).

  More specifically, in the reaction force application technique according to Patent Document 1, when the accelerator pedal depressing speed exceeds a predetermined threshold, it is determined that rapid acceleration is required and control for reducing the reaction force is performed. When the pedal depression speed is equal to or lower than the threshold value, it is determined that gentle acceleration is required, and control is performed to maintain the reaction force until just before.

  According to the reaction force application technology according to Patent Document 1, it is possible to obtain a pedal reaction force application device that can set a reaction force that reflects the driver's acceleration intention.

JP 2010-235088 A

By the way, in general, when the driver depresses the accelerator pedal relatively large, it is often preferable to apply a larger reaction force to the accelerator pedal than the reaction force immediately before the depression.
However, in the reaction force application technique according to Patent Document 1, even when the accelerator pedal is depressed relatively large, if the depression speed at that time is equal to or less than the threshold value, it is determined that a gentle acceleration is obtained and the process immediately before is determined. Control to maintain the reaction force. For this reason, in the reaction force application technique according to Patent Document 1, when the driver depresses the accelerator pedal, the driver feels uncomfortable, and the driver feels that the driver feels that the accelerator pedal is operated.

  The present invention has been made in view of the above-described background, and an object thereof is to provide a pedal reaction force imparting device that is excellent in the operation feeling of an accelerator pedal.

  In order to achieve the above object, the present inventors have made the driver's intention to accelerate in order to prevent the driver's feeling of operation of the accelerator pedal from being impaired by the reaction force applied to the accelerator pedal. I got the idea that it is important to understand accurately. Based on this idea, the present inventors have conducted earnest research to accurately grasp the driver's acceleration intention, and as a result, in order to solve such a problem, not only the depression speed of the accelerator pedal, The present inventors have completed the present invention by finding out that it is more effective to consider other technical elements in combination.

The invention according to (1) includes a reaction force applying unit that applies a reaction force to an accelerator pedal that is operated when adjusting a vehicle speed, a stepping speed acquiring unit that acquires a stepping speed of the accelerator pedal, and the accelerator A depression amount acquisition unit that acquires an accelerator pedal opening as a depression amount of the pedal; a target reaction force setting unit that sets a target reaction force to be applied to the accelerator pedal using at least the depression speed and the depression amount; and A reaction force control unit that controls the reaction force applied by the reaction force application unit based on a target reaction force, and the target reaction force setting unit increases the stepping speed to increase the target reaction force. and sets on the side of the small, as the depression amount is large, and increase the degree of setting the target reaction force on the side of the small, the depression speed exceeds the predetermined speed threshold and the When the accelerator pedal opening exceeds a predetermined opening threshold, the time point when the stepping speed exceeds the speed threshold is the beginning, and the period when the accelerator pedal opening is less than the opening threshold over the period, The most important feature is that the target reaction force that is set when the stepping speed exceeds the speed threshold is maintained .

  According to the invention according to (1), the target reaction force setting unit sets the target reaction force to a smaller side as the accelerator pedal depression speed increases. For this reason, for example, when the driver depresses the accelerator pedal at a high speed, the target reaction force is set to the small side. As a result, priority is given to a high-speed depressing operation that is assumed to have been performed by the driver with an intention to accelerate, so that the driver can be prevented from feeling uncomfortable at the time of depressing the accelerator pedal.

  Further, according to the invention according to (1), the target reaction force setting unit increases the degree of setting the target reaction force to the smaller side based on the depression speed of the accelerator pedal as the depression amount of the accelerator pedal is larger. For example, when the driver depresses the accelerator pedal at a high speed and the amount of depression of the accelerator pedal at that time is large, the target reaction force is smaller than when the amount of depression is small. Set to

Even if the accelerator pedal depression speed is the same, if the accelerator pedal depression amount is large, the driver is considered to have a stronger acceleration intention than when the depression amount is small.
In this respect, in the invention according to (1), priority is given to a high-speed and large stepping operation that is presumed that the driver has performed with a strong acceleration intention. Can be suppressed.
Therefore, according to the invention which concerns on (1), the pedal reaction force provision apparatus excellent in the operation feeling of the accelerator pedal can be provided.

In the invention according to (1), when the stepping speed exceeds a predetermined speed threshold and the accelerator pedal opening exceeds a predetermined opening threshold, the stepping speed sets the speed threshold. The target reaction force set when the stepping speed exceeds the speed threshold is maintained for a period starting from the time when the accelerator pedal opening is lower than the opening threshold value and ending when the accelerator pedal opening is lower than the opening threshold.
  The accelerator pedal depression speed has a property that a value can be obtained only while the pedal depression operation is performed. Therefore, the accelerator pedal depression speed is not maintained at a high value for a long time.
  However, when the accelerator pedal opening is maintained at a high value that exceeds the predetermined opening threshold, that is, when the driver keeps the accelerator pedal depressed greatly, the depression speed has decreased. However, it is thought that strong acceleration intentions are maintained.
  In this respect, in the invention according to (1), when the accelerator pedal is depressed at a high speed and the accelerator pedal opening is kept large, the time when the depression speed exceeds the speed threshold is set as the start time. In order to maintain the target reaction force that was set when the stepping speed exceeded the speed threshold for the period that ends when the pedal opening falls below the opening threshold, the driver is Giving a sense of incongruity can be further suppressed.
  Therefore, according to the invention which concerns on (1), the pedal reaction force provision apparatus in which the operation feeling of the accelerator pedal was further excellent can be provided.

The invention according to (2) is the pedal reaction force applying device according to (1), wherein an actual reaction force that is actually applied to the accelerator pedal by the reaction force applying unit is acquired. It further has a force acquisition unit, and the target reaction force setting unit increases the degree of setting the target reaction force to a smaller side as the actual reaction force is larger.

In the invention according to (2) , the target reaction force setting unit reduces the target reaction force set in the invention according to (1) to a smaller side as the actual reaction force currently applied to the accelerator pedal is larger. For example, when the driver depresses the accelerator pedal at high speed and greatly, and the actual reaction force actually applied to the accelerator pedal at that time is large, Compared to when the reaction force is small, the target reaction force is set to a smaller side.

Even if the accelerator pedal depressing speed and depressing amount are the same, if the actual reaction force applied to the accelerator pedal is large, the depressing operation is performed with a small actual reaction force. It is considered that the driver has a stronger acceleration intention than when

In this respect, in the invention according to (2), in order to give priority to a high-speed and large stepping operation that is presumed that the driver performed with a strong acceleration intention against a large actual reaction force, driving during the accelerator pedal stepping operation Giving the person a sense of discomfort can be further suppressed.
Therefore, according to the invention which concerns on (2), the pedal reaction force provision apparatus in which the operation feeling of the accelerator pedal was further excellent can be provided.

The invention according to (3) is the pedal reaction force applying device according to (1) or (2) , wherein the stepping amount acquisition unit is configured to increase the reaction force of the reaction force applying unit. The accelerator pedal opening is acquired, and the target reaction force setting unit corrects the target reaction force set when the reaction force increases, using the accelerator pedal opening when the reaction force increases. to, characterized in that.

For example, when the reaction force of the accelerator pedal is increased based on distance control, speed control, etc., how the driver operated the accelerator pedal in response to the reaction force (whether the pedal was depressed or depressed) ) Is important in understanding the driver's intention to accelerate.

  In this regard, in the invention according to (3), the target reaction force setting unit corrects the target reaction force set when the reaction force increases, using the accelerator pedal opening when the reaction force increases. The target reaction force can be finely corrected in consideration of the driver's intention of acceleration / deceleration. As a result, it is possible to further suppress the driver from feeling uncomfortable when the accelerator pedal is depressed.
  Therefore, according to the invention which concerns on (3), the pedal reaction force provision apparatus excellent in the operation feeling of the accelerator pedal can be provided.

On the other hand, the invention according to (4) includes a reaction force applying unit that applies a reaction force to an accelerator pedal that is operated when adjusting the speed of the vehicle, a stepping speed acquisition unit that acquires a stepping speed of the accelerator pedal, A depression amount acquisition unit that acquires an accelerator pedal opening as the depression amount of the accelerator pedal, and a target reaction force setting unit that sets a target reaction force to be applied to the accelerator pedal using at least the depression speed and the depression amount; A reaction force control unit that controls the reaction force applied by the reaction force application unit based on the target reaction force, and the target reaction force setting unit increases as the stepping speed and the stepping amount increase. Therefore, assuming that the driver's intention to accelerate is large, the target reaction force is set to a small side, the stepping speed exceeds a predetermined speed threshold, and the accelerator pedal is opened. When the degree exceeds the predetermined opening threshold, it is considered that the driver intends to accelerate, and the starting point is the time when the stepping speed exceeds the speed threshold, and the accelerator pedal opening falls below the opening threshold. The target reaction force that is set when the stepping speed exceeds the speed threshold is maintained for a period that ends at a predetermined time .

  According to the invention according to (6), the target reaction force setting unit regards the driver's intention to accelerate as the accelerator pedal depression speed and depression amount increase, and sets the target reaction force to a smaller side. . For this reason, for example, when the driver depresses the accelerator pedal at a high speed and greatly, the target reaction force is set to the small side. As a result, priority is given to a high-speed and large stepping operation presumed that the driver has performed with a strong acceleration intention, so that it is possible to prevent the driver from feeling uncomfortable during the depression of the accelerator pedal.

In the invention according to (4), the target reaction force setting unit may determine that the driver intends to accelerate when the stepping speed exceeds a predetermined speed threshold and the accelerator pedal opening exceeds a predetermined opening threshold. It was set when the stepping speed exceeded the speed threshold over a period starting from when the depression speed exceeded the speed threshold and ending when the accelerator pedal opening was below the opening threshold. Hold the target reaction force.

  The accelerator pedal depression speed has a property that a value can be obtained only while the pedal depression operation is performed. Therefore, the accelerator pedal depression speed is not maintained at a high value for a long time.
  However, when the accelerator pedal opening is maintained at a high value that exceeds the predetermined opening threshold, that is, when the driver keeps the accelerator pedal depressed greatly, the depression speed has decreased. However, it is thought that strong acceleration intentions are maintained.
  In this respect, in the invention according to (4), when the accelerator pedal is depressed at a high speed and the accelerator pedal opening is kept large, it is considered that the driver's intention to accelerate is large, and the depression speed is In order to maintain the target reaction force set when the stepping speed exceeds the speed threshold over the period starting from the time when it exceeds the speed threshold and ending when the accelerator pedal opening falls below the opening threshold, When the accelerator pedal is depressed, it is possible to further suppress the driver from feeling uncomfortable.
  Therefore, according to the invention which concerns on (4), the pedal reaction force provision apparatus in which the operation feeling of the accelerator pedal was further excellent can be provided.

Moreover, the invention which concerns on (5) is a pedal reaction force provision apparatus as described in (4) , Comprising: The actual reaction which acquires the actual reaction force currently provided with respect to the said accelerator pedal by the said reaction force provision part The force reaction unit further includes a target reaction force setting unit that considers that the driver's intention to accelerate is larger as the actual reaction force is larger, and increases the degree of setting the target reaction force on the smaller side. It is characterized by that.

(5) According to the invention, the target reaction force setting unit, the higher the actual reaction force that is currently assigned to the accelerator pedal is large, regarded as the driver's intention to accelerate is large, according to (4) In order to increase the degree to which the target reaction force set in the invention is set to the small side, for example, when the driver depresses the accelerator pedal at high speed and greatly, at that time, the accelerator pedal is actually When the applied actual reaction force is large, the target reaction force is set to a smaller side than when the actual reaction force is small.

  Even if the accelerator pedal depressing speed and depressing amount are the same, if the actual reaction force applied to the accelerator pedal is large, the depressing operation is performed with a small actual reaction force. It is considered that the driver has a stronger acceleration intention than when

In this respect, in the invention according to (5) , in order to give priority to a high-speed and large stepping operation that is presumed that the driver performed with a strong acceleration intention against a large actual reaction force, Giving the person a sense of discomfort can be further suppressed.
Therefore, according to the invention which concerns on (5) , the pedal reaction force provision apparatus in which the operation feeling of the accelerator pedal was further excellent can be provided.

The invention according to (10) is the pedal reaction force applying device according to (4) or (5) , in which the stepping amount acquisition unit is configured to increase the reaction force when the reaction force applying unit increases. The accelerator pedal opening is acquired, and when the reaction force increases, the target reaction force setting unit assumes that the driver has an intention to accelerate when the accelerator pedal is depressed, and the reaction force is The target reaction force set when it increases is corrected to the small side.

  For example, when the reaction force of the accelerator pedal is increased based on distance control, speed control, etc., how the driver operated the accelerator pedal in response to the reaction force (whether the pedal was depressed or depressed) ) Is important for grasping the driver's intention to drive.

In this regard, in the invention according to (6) , when the reaction force increases, the target reaction force setting unit assumes that the driver has an intention to accelerate when the accelerator pedal is depressed and the reaction force increases. Since the target reaction force set at this time is corrected to a smaller side, the target reaction force can be finely corrected in consideration of the driver's intention of acceleration / deceleration. As a result, it is possible to further suppress the driver from feeling uncomfortable when the accelerator pedal is depressed.
Therefore, according to the invention which concerns on (6) , the pedal reaction force provision apparatus in which the operation feeling of the accelerator pedal was further excellent can be provided.

  ADVANTAGE OF THE INVENTION According to this invention, the pedal reaction force provision apparatus excellent in the operation feeling of the accelerator pedal can be provided.

It is a functional block diagram of a pedal reaction force giving device concerning an embodiment of the present invention. It is a reaction force provision characteristic figure showing the magnitude of the reaction force corresponding to the depression amount of an accelerator pedal. It is a driving intention coefficient characteristic view showing the driving intention coefficient corresponding to the depression speed of the accelerator pedal. It is a 1st acceleration intention correction gain characteristic figure showing the 1st acceleration intention correction gain corresponding to the depression amount of an accelerator pedal. It is a 2nd acceleration intention correction gain characteristic view showing the 2nd acceleration intention correction gain corresponding to reaction force. It is a reaction force correction gain characteristic diagram showing a reaction force correction gain corresponding to a driving intention coefficient (acceleration). It is a flowchart figure showing the flow of the target reaction force setting process which the pedal reaction force provision apparatus which concerns on embodiment of this invention performs. It is a flowchart figure which shows the flow of the driving intention coefficient calculation process which concerns on a 1st subroutine among the main routines which concern on FIG. It is a flowchart figure showing the flow of target reaction force amendment processing concerning the 2nd subroutine among main routines concerning Drawing 3A. It is operation | movement explanatory drawing of the pedal reaction force provision apparatus which concerns on the 1st modification of this invention. It is explanatory drawing showing the relationship between reaction force and an accelerator pedal opening degree in the pedal reaction force provision apparatus which concerns on the 2nd modification of this invention. In the pedal reaction force application device according to the second modified example of the present invention, it is an explanatory view showing the relationship between the reaction force and the accelerator pedal opening along the time axis.

  Hereinafter, a pedal reaction force applying device 11 according to an embodiment of the present invention will be described in detail with reference to the drawings.

[Configuration of the pedal reaction force applying device 11 according to the embodiment of the present invention]
First, the configuration of the pedal reaction force applying device 11 according to the embodiment of the present invention will be described with reference to FIGS. 1 and 2A to 2E. FIG. 1 is a functional block diagram of a pedal reaction force applying device 11 according to an embodiment of the present invention. FIG. 2A is a reaction force application characteristic diagram showing the magnitude of the reaction force corresponding to the depression amount of the accelerator pedal 13. FIG. 2B is a driving intention coefficient characteristic diagram showing a driving intention coefficient corresponding to the depression speed of the accelerator pedal 13. FIG. 2C is a first acceleration intention correction gain characteristic diagram showing a first acceleration intention correction gain corresponding to the depression amount of the accelerator pedal 13. FIG. 2D is a second acceleration intention correction gain characteristic diagram showing a second acceleration intention correction gain corresponding to the reaction force. FIG. 2E is a reaction force correction gain characteristic diagram showing a reaction force correction gain corresponding to the driving intention coefficient (acceleration).
The pedal reaction force application device 11 according to the embodiment of the present invention is a concept including pedal reaction force application devices 11A and 11B according to first and second modifications described later.

  As shown in FIG. 1, the pedal reaction force applying device 11 according to the embodiment of the present invention has a function of applying a reaction force to an accelerator pedal 13 that is operated when adjusting the speed of a vehicle (not shown). The pedal reaction force imparting device 11 includes an accelerator opening sensor 15, a torque sensor 17, a vehicle speed sensor 19, a reaction force actuator 21, a navigation device 23, and an ECU (Engine Control Unit) 25.

  As shown in FIG. 1, the lower end side 13a of the accelerator pedal 13 is abutted and supported by a vehicle floor panel 31, and the upper end side 13b is tiltable with the lower end side 13a as a fulcrum. The accelerator pedal 13 is provided with an accelerator rod 33 having a bulging portion 33a at the tip, with the bulging portion 33a in contact with the back side 13c of the accelerator pedal 13. A base end side 33b of the accelerator rod 33 is rotatably supported by a bracket 37 provided on the vehicle compartment side in a bulkhead (partition wall separating the vehicle front compartment and the vehicle compartment) 35 of the vehicle.

  The base end side 33b of the accelerator rod 33 is connected to an accelerator opening sensor 15, a torque sensor 17, and a reaction force actuator 21, which will be described later.

The accelerator opening sensor 15 has a function of detecting the amount of depression of the accelerator pedal 13 (accelerator opening) by the driver.
In the present embodiment, an example is shown in which the accelerator opening [%] is used as the depression amount of the accelerator pedal 13. However, the depression amount of the accelerator pedal 13 may be a displacement of the accelerator opening amount from the accelerator opening position immediately before detection to the accelerator opening position at the time of detection.

  The depression amount of the accelerator pedal 13 detected by the accelerator opening sensor 15 is sent to a depression amount acquisition unit 41 described later, which the ECU 25 has. Further, the depression amount of the accelerator pedal 13 detected by the accelerator opening sensor 15 is used for electronically controlling the valve opening (throttle opening) of a throttle valve (not shown) by DBW (Drive By Wire) via the ECU 25. Used for.

  The torque sensor 17 has a function of detecting a torque (corresponding to “actual reaction force” of the present invention) that acts on the accelerator pedal 13 by a driver's stepping operation. The actual reaction force detected by the torque sensor 17 is sent to an actual reaction force acquisition unit 45 described later, which the ECU 25 has.

  The vehicle speed sensor 19 has a function of detecting the speed of the vehicle (hereinafter sometimes referred to as “vehicle speed”). The vehicle speed detected by the vehicle speed sensor 19 is sent to the ECU 25.

  The reaction force actuator 21 has a function of imparting to the accelerator pedal 13 a reaction force that resists the depression operation force of the accelerator pedal 13 by the driver. Specifically, the reaction force actuator 21 transmits a rotational driving force according to a reaction force control signal sent from a reaction force control unit 59 described later, which the ECU 25 has, to the accelerator pedal 13 via the accelerator rod 33. Thus, the reaction force is applied to the accelerator pedal 13. The reaction force actuator 21 corresponds to the “reaction force applying unit” of the present invention.

  The navigation device 23 stores, for example, a function of detecting the current position of the host vehicle using GPS (Global Positioning System), a function of storing road map data, and a recommended vehicle speed [km / hour] set for each road. A display unit (not shown), for example, adding the route information to the destination, for example, the current position of the vehicle that has been mapped to the road map It has a function to display on the display screen.

The recommended vehicle speed set for each road means, for example, a vehicle speed at which the fuel consumption rate can be optimized according to the situation for each road, and a limit vehicle speed for each road.
In the following description according to the present embodiment, the limited vehicle speed is adopted as the recommended vehicle speed set for each road.

  As shown in FIG. 1, the ECU 25 includes a stepping amount acquisition unit 41, a stepping speed acquisition unit 43, an actual reaction force acquisition unit 45, a target reaction force setting unit 47, a reaction force application characteristic table 49, a driving intention coefficient table 51, A first acceleration intention correction gain table 53, a second acceleration intention correction gain table 55, a reaction force correction gain table 57, and a reaction force control unit 59 are provided.

  The ECU 25 is configured by a microcomputer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. The microcomputer reads and executes programs and data stored in the ROM, and operates to perform execution control related to various functions including a target reaction force setting function and a reaction force control function of the ECU 25.

  The depression amount acquisition unit 41 has a function of acquiring the depression amount of the accelerator pedal 13 detected by the accelerator opening sensor 15. The stepping speed acquisition unit 43 has a function of acquiring the stepping speed of the accelerator pedal 13 by differentiating the stepping amount acquired by the stepping amount acquisition unit 41 with respect to time. The actual reaction force acquisition unit 45 has a function of acquiring the actual reaction force detected by the torque sensor 17. Here, “actual reaction force” means a reaction force actually applied to the accelerator pedal 13.

  In carrying out the present invention, either the stepping amount acquisition unit 41 or the actual reaction force acquisition unit 45 can be omitted. However, when adopting the configuration of the stepping speed acquisition unit 43 that acquires the stepping speed of the accelerator pedal 13 by differentiating the stepping amount acquired by the stepping amount acquisition unit 41 with respect to time, the stepping amount acquisition unit 41 includes the accelerator pedal 13. It is an indispensable component in the use of acquiring the stepping-on speed.

  The target reaction force setting unit 47 has a function of setting a target reaction force to be applied to the accelerator pedal 13. Here, the “target reaction force” means a target reaction force to be applied to the accelerator pedal 13. The target reaction force setting unit 47 stores a reaction force application characteristic table 49 that stores a reaction force application characteristic (for example, refer to the reaction force application characteristic diagram of FIG. 2A) that represents the magnitude of the reaction force corresponding to the depression amount of the accelerator pedal 13. With reference to this, there is a function of reading a reaction force corresponding to the depression amount of the accelerator pedal 13 acquired by the depression amount acquisition unit 41 and temporarily setting it as a target reaction force.

  The reaction force imparting characteristics shown in FIG. 2A basically show a tendency that the reaction force increases substantially linearly as the depression amount [%] of the accelerator pedal 13 increases. However, the reaction force imparting characteristic has a characteristic of rapidly rising at the depression amount PA0 of the accelerator pedal 13 corresponding to the recommended vehicle speed (restricted speed). In short, the reaction force imparting characteristic has a characteristic aimed at making the accelerator pedal 13 a footrest by rapidly increasing the reaction force at the depression amount PA0 of the accelerator pedal 13 corresponding to the recommended vehicle speed (restricted speed).

  Further, the target reaction force setting unit 47 stores a driving intention coefficient characteristic (see, for example, the driving intention coefficient characteristic diagram of FIG. 2B) representing a driving intention coefficient DI corresponding to the depression speed PS of the accelerator pedal 13. Referring to FIG. 5, there is a function of calculating a driving intention coefficient DI corresponding to the depression speed PS of the accelerator pedal 13 acquired by the depression speed acquisition unit 43.

  Here, the driving intention coefficient DI means whether the driver has an intention to accelerate or an intention to decelerate, and how strong the intention to accelerate or decelerate is. It is an index expressed using a combination of the type of the positive / negative sign (+/−) and the magnitude (absolute value) of the numerical value. When the driving intention coefficient DI is “positive”, it represents an acceleration intention, while when the driving intention coefficient DI is “negative”, it represents a deceleration intention. The magnitude (absolute value) of the numerical value related to the driving intention coefficient DI represents the strength of the acceleration intention or the deceleration intention.

  In the driving intention coefficient characteristic diagram shown in FIG. 2B, when the depression speed PS [% / second] of the x-axis accelerator pedal 13 is “0”, the driver keeps the depression amount PA of the accelerator pedal 13 constant. This represents a state (a state in which neither acceleration intention nor deceleration intention is present). The region where the depression speed PS [% / second] of the x-axis accelerator pedal 13 exceeds “0” represents the intended acceleration region where the accelerator pedal 13 is depressed. The region where the depression speed PS of the x-axis accelerator pedal 13 is less than “0” represents a deceleration intended region where the accelerator pedal 13 is depressed. In the example of FIG. 2B, the acceleration intention strength is expressed by a value in the range of “0 to (+10)”, while the deceleration intention strength is expressed by a value in the range of “0 to (−5)”. ing.

  In the driving intention coefficient characteristic shown in FIG. 2B, in the section of the acceleration intention area (PS1 <x <PS2), the driving intention coefficient DI is approximately linear as the depression speed PS [% / sec] of the accelerator pedal 13 increases. Shows a tendency to increase. However, as shown in FIG. 2B, the driving intention coefficient DI is a constant value indicating that there is no acceleration intention (“0” in the example of FIG. 2B) when the stepping speed PS exceeds (0) and is equal to or less than (PS1). ). Further, as shown in FIG. 2B, the driving intention coefficient DI takes a constant value (“+10” in the example of FIG. 2B) indicating the strongest acceleration intention in a section where the stepping speed PS is (PS2) or more.

  As will be described later, the driving intention coefficient DI is referred to when calculating the reaction force correction gain G3 for correcting the reaction force RF.

  In addition, the target reaction force setting unit 47 has a first acceleration intention correction gain characteristic representing a first acceleration intention correction gain corresponding to the depression amount [%] of the accelerator pedal 13 (for example, a first acceleration intention correction gain characteristic diagram of FIG. 2C). The first acceleration intention correction gain G1 corresponding to the stepping amount acquired by the stepping amount acquisition unit 41 is calculated with reference to the first acceleration intention correction gain table 53 storing the reference).

  Here, the first acceleration intention correction gain G1 is described later using the depression amount of the accelerator pedal 13 when it is estimated that the driver has an acceleration intention (the driving intention coefficient takes a “positive” value). This is an index representing the weight of the stepping amount when correcting the first acceleration intention (“positive” driving intention coefficient). In the example of FIG. 2C, the minimum value of the first acceleration intention correction gain G1 is set to “1”, while the maximum value is set to “2”.

  In the first acceleration intention correction gain characteristic shown in FIG. 2C, in a section where the depression amount PA of the x-axis accelerator pedal 13 is (PA1 <x <PA2), as the depression amount PA [%] of the accelerator pedal 13 increases, The first acceleration intention correction gain tends to increase approximately linearly. However, as shown in FIG. 2C, the first acceleration intention correction gain G1 is a constant value indicating no correction (in the example of FIG. 2C, “0”) and is equal to or less than (PA1). 1 "). Further, as shown in FIG. 2C, the first acceleration intention correction gain G1 is a fixed value (“2” in the example of FIG. 2C) indicating that there is correction (maximum correction amount) in a section where the depression amount PA is (PA2) or more. )).

  As will be described later, the first acceleration intention correction gain G1 is multiplied by the driving intention coefficient DI for the purpose of correcting the driving intention coefficient DI from the viewpoint of the amount of depression PA of the accelerator pedal 13.

  However, in the first acceleration intention correction gain characteristic, as a constant value indicating that there is correction (maximum correction amount) adopted in a section where the stepping amount PA is equal to or greater than (PA2), the first acceleration intention correction gain characteristic is An appropriate value can be arbitrarily set in consideration of the weighting level of the depression amount PA of the accelerator pedal 13. Specifically, when the weighting level of the depression amount PA of the accelerator pedal 13 when correcting the first acceleration intention is high, for example, a value exceeding “2” as a constant value indicating that there is correction (maximum correction amount) Assign. Further, when the weighting level of the depression amount PA of the accelerator pedal 13 when correcting the first acceleration intention is low, for example, a value less than “2” is assigned as a constant value indicating that there is correction (maximum correction amount). That's fine.

  Further, the target reaction force setting unit 47 refers to the second acceleration intention correction gain table 55 that stores the second acceleration intention correction gain characteristic corresponding to the reaction force (see, for example, the second acceleration intention correction gain characteristic diagram of FIG. 2D). Thus, the actual reaction force acquisition unit 45 has a function of calculating the second acceleration intention correction gain corresponding to the actual reaction force.

  Here, the second acceleration intention correction gain G2 is an actual value that is actually given to the accelerator pedal 13 when it is estimated that the driver has an intention to accelerate (the driving intention coefficient takes a “positive” value). This is an index representing the weight of the actual reaction force when correcting the second acceleration intention (“positive” driving intention coefficient) to be described later using the reaction force. In the example of FIG. 2D, the minimum value of the second acceleration intention correction gain G2 is set to “1”, and the maximum value is set to “2”.

  In the second acceleration intention correction gain characteristic shown in FIG. 2D, in the section where the x-axis reaction force RF is (RF1 <x <FF2), the second acceleration intention correction is approximately linear as the reaction force RF [N] increases. The tendency for gain to increase is shown. However, as shown in FIG. 2D, the second acceleration intention correction gain G2 is a constant value indicating no correction (in the example of FIG. 2D, “0”) and in the interval where the reaction force RF exceeds (RF1). 1 "). Further, as shown in FIG. 2D, the second acceleration intention correction gain G2 is a fixed value (in the example of FIG. 2D, “2”) indicating that there is correction (maximum correction amount) in a section where the reaction force RF is (RF2) or more. )).

  As will be described later, the second acceleration intention correction gain G2 is multiplied by the driving intention coefficient DI for the purpose of correcting the driving intention coefficient DI from the viewpoint of the magnitude of the actual reaction force RFat.

  However, in the second acceleration intention correction gain characteristic, as a constant value indicating that there is correction (maximum correction amount) adopted in a section where the reaction force RF is (RF2) or more, when correcting the second acceleration intention An appropriate value can be arbitrarily set in consideration of the weighting level of the reaction force RF. Specifically, when the weight level of the reaction force RF when correcting the second acceleration intention is high, for example, a value exceeding “2” is assigned as a constant value indicating that there is correction (maximum correction amount). Further, when the weighting level of the reaction force RF when correcting the second acceleration intention is low, a value less than “2” may be assigned as a constant value indicating that there is correction (maximum correction amount).

  Then, the target reaction force setting unit 47 stores a reaction force that stores a reaction force correction gain characteristic representing the reaction force correction gain G3 corresponding to the driving intention coefficient (acceleration) GI (see, for example, the reaction force correction gain characteristic diagram of FIG. 2E). With reference to the correction gain table 57, there is a function of calculating a reaction force correction gain G3 corresponding to a driving intention coefficient (acceleration) DI obtained using a procedure described later.

  Here, the reaction force correction gain G3 is the reaction force using the driving intention coefficient (acceleration) DI when it is estimated that the driver has an intention to accelerate (the driving intention coefficient takes a positive value). This is an index that represents the weighting of the driving intention coefficient when correcting. In the example of FIG. 2E, the minimum value of the reaction force correction gain G3 is set to “0”, while the maximum value is set to “1”.

  In the reaction force correction gain characteristic shown in FIG. 2E, in the section where the x-axis driving intention coefficient DI is (DI1 <x <DI2), the second acceleration intention correction gain decreases approximately linearly as the driving intention coefficient DI increases. Show a tendency to However, as shown in FIG. 2E, the reaction force correction gain G3 takes a constant value (“1” in the example of FIG. 2E) indicating no correction in a section where the driving intention coefficient DI is (DI1) or less. Further, as shown in FIG. 2E, the reaction force correction gain G3 is a fixed value (“0” in the example of FIG. 2E) indicating that there is correction (maximum correction amount) in a section where the driving intention coefficient DI is (DI2) or more. ).

As will be described later, the reaction force correction gain G3 is multiplied by the target reaction force RFtg for the purpose of correcting the temporarily set target reaction force RFtg from the viewpoint of the strength of the driver's intention to accelerate.
Here, the value of the reaction force correction gain G3 being “1” means that the temporarily set target reaction force RFtg is used as it is (without correction). Further, the value of the reaction force correction gain G3 being “less than 1” means that a correction is made to reduce the temporarily set target reaction force RFtg and the target reaction force RFtg after such correction is used. In particular, the value of the reaction force correction gain G3 of “0” means that “no reaction force RF is applied” is used as the corrected target reaction force RFtg instead of the temporarily set target reaction force RFtg. .

  The reaction force control unit 59 has a function of performing reaction force control of the accelerator pedal 13 provided by the reaction force actuator 21 based on the target reaction force set by the target reaction force setting unit 47.

  A brake device 27 is connected to the ECU 25 that plays a major role in the pedal reaction force applying device 11 configured as described above. The brake device 27 has a function of applying a braking force for stopping traveling of the host vehicle to the host vehicle. The brake device 27 has a braking actuator (not shown) that operates a mechanical element for applying a braking force to the host vehicle. When the automatic braking function is on, the ECU 25 recognizes the driver's strong intention to accelerate (for example, when the reaction force correction gain G3 = 0) and issues a command to release the braking force to the brake device 27. Work to send to.

  In addition, as a mechanical element for giving a braking force with respect to the own vehicle, a hydraulic brake device, an electric parking brake (all not shown), etc. are employable, for example. The brake device 27 can control the braking force of the host vehicle by performing either one or both of the hydraulic pressure adjustment of the hydraulic brake device and the on / off adjustment of the electric parking brake.

  The pedal reaction force applying device 11 according to the embodiment of the present invention configured as described above is an operation switch used when selectively setting whether to enable or disable the reaction force applying function. (Not shown). In the following description, unless otherwise specified, the description will be given assuming that the operation switch for enabling the reaction force imparting function is set.

[Operation of the pedal reaction force applying device 11 according to the embodiment of the present invention]
Next, operation | movement of the pedal reaction force provision apparatus 11 which concerns on embodiment of this invention is demonstrated with reference to FIG. 3A-FIG. 3C. FIG. 3A is a flowchart illustrating a flow of a target reaction force setting process executed by the pedal reaction force applying apparatus 11 according to the embodiment of the present invention. FIG. 3B is a flowchart showing a flow of a driving intention coefficient calculation process related to the first subroutine Sub1 in the main routine related to FIG. 3A. FIG. 3C is a flowchart showing the flow of the target reaction force correction process according to the second subroutine Sub2 in the main routine according to FIG. 3A.

  In step S11 of the main routine shown in FIG. 3A, the ECU 25 acquires the current vehicle speed of the host vehicle detected by the vehicle speed sensor 19.

  In step S12, the ECU 25 acquires a recommended vehicle speed (restricted vehicle speed) corresponding to the current position (road) of the host vehicle detected by the navigation device 23.

  In step S <b> 13, the depression amount acquisition unit 41 acquires the depression amount PA of the accelerator pedal 13 detected by the accelerator opening sensor 15.

  In step S14, the target reaction force setting unit 47 refers to the current vehicle speed of the host vehicle and the recommended vehicle speed, sets the target vehicle speed as a target, and sets the target vehicle speed, the current vehicle speed, and the recommended vehicle speed thus set. Based on the above, a reaction force application characteristic table 49 having a reaction force application characteristic as illustrated in FIG. 2A is generated. Next, the target reaction force setting unit 47 reads the reaction force RF corresponding to the depression amount PA of the accelerator pedal 13 acquired by the depression amount acquisition unit 41 with reference to the generated reaction force application characteristic table 49 and reads the read reaction force. The force RF is temporarily set as the target reaction force RFtg.

  Next, in the first subroutine Sub1 shown in FIG. 3B, a driving intention coefficient calculation process is executed. That is, in step S21 of the first subroutine Sub1, the depression speed acquisition unit 43 acquires the depression speed PS of the accelerator pedal 13.

  In step S22 of the first subroutine Sub1, the target reaction force setting unit 47 refers to the driving intention coefficient table 51 storing the driving intention coefficient characteristics illustrated in FIG. A driving intention coefficient DI corresponding to the stepping speed PS is calculated.

  In step S23 of the first subroutine Sub1, the target reaction force setting unit 47 determines whether or not the driving intention coefficient DI calculated in step S22 based on the depression speed PS of the accelerator pedal 13 takes a positive value. It is determined whether or not the driving intention coefficient DI based on the speed PS has an acceleration intention.

  As a result of the determination in step S23, if it is determined that the driving intention coefficient DI based on the stepping speed PS does not have an intention to accelerate, the ECU 25 ends the flow of a series of processes related to the first subroutine Sub1. Return the processing flow to the main routine.

  On the other hand, as a result of the determination in step S23, if it is determined that the driving intention coefficient DI based on the stepping speed PS has an intention to accelerate, the ECU 25 advances the process flow to the next step S24. .

  In step S24 of the first subroutine Sub1, the target reaction force setting unit 47 refers to the first acceleration intention correction gain table 53 that stores the first acceleration intention correction gain characteristics illustrated in FIG. The first acceleration intention correction gain G1 corresponding to the stepping amount PA acquired in step 1 is calculated.

  In step S25 of the first subroutine Sub1, the actual reaction force acquisition unit 45 acquires the actual reaction force RFat detected by the torque sensor 17.

  In step S26 of the first subroutine Sub1, the target reaction force setting unit 47 refers to the second acceleration intention correction gain table 55 storing the second acceleration intention correction gain characteristic illustrated in FIG. A second acceleration intention correction gain G2 corresponding to the actual reaction force RFat acquired in 45 is calculated.

  In step S27 of the first subroutine Sub1, the target reaction force setting unit 47 calculates the first acceleration intention calculated in step S24 with respect to the driving intention coefficient DI based on the depression speed PS of the accelerator pedal 13 calculated in step S22. Multiplying the correction gain G1 by the second acceleration intention correction gain G2 calculated in step S26, the operation after correction (after update) based on the viewpoint of the depression amount PA of the accelerator pedal 13 and the reaction force RF The intention coefficient DI is calculated.

  When the corrected driving intention coefficient DI is calculated in step S27 of the first subroutine Sub1, the ECU 25 ends the flow of the series of processes related to the first subroutine Sub1, and returns the process flow to the main routine. .

  Next, in step S15 of the main routine shown in FIG. 2A, the target reaction force setting unit 47 after correction based on the viewpoint of the depression amount PA of the accelerator pedal 13 and the reaction force RF calculated in the first subroutine Sub1. It is determined whether or not the driving intention coefficient DI has a positive value, that is, whether or not the corrected driving intention coefficient DI has an acceleration intention.

  As a result of the determination in step S15, when it is determined that the corrected driving intention coefficient DI does not have an acceleration intention, the ECU 25 advances the process flow to step S16. In this case, in step S16, the target reaction force setting unit 47 sets the target reaction force RFtg temporarily set in step S14 as an official target reaction force.

  On the other hand, if it is determined in step S15 that the corrected (updated) driving intention coefficient DI is an acceleration intention, the ECU 25 determines the target reaction force related to the second subroutine Sub2. Proceed to the correction process.

  In step S31 of the second subroutine Sub2 shown in FIG. 3C, the reaction force correction gain table 57 storing the reaction force correction gain characteristics exemplified in FIG. 2E is referred to, and the accelerator pedal 13 calculated in the first subroutine Sub1 is calculated. A reaction force correction gain G3 corresponding to the driving intention coefficient DI after correction (after update) based on the viewpoint of the stepping amount PA and the reaction force RF is calculated.

  In step S32 of the second subroutine Sub2, the target reaction force setting unit 47 performs the reaction force correction gain G3 calculated in step S31 of the second subroutine Sub2 with respect to the target reaction force RFtg temporarily set in step S14 of the main routine. Is multiplied to calculate the target reaction force RFtg after correction (after update) based on the viewpoint of the corrected driving intention coefficient DI.

  When the corrected (updated) target reaction force RFtg is calculated in step S32 of the second subroutine Sub2, the ECU 25 ends the series of processing steps related to the second subroutine Sub2, and the processing flow is main. Return to routine.

  Next, in step S16 of the main routine shown in FIG. 2A, the target reaction force setting unit 47 sets the corrected (updated) target reaction force RFtg calculated in the second subroutine Sub2 as an official target reaction force. .

  After setting the corrected (updated) target reaction force RFtg in step S <b> 16, the ECU 25 ends a series of flows related to the main routine.

[Effects of the pedal reaction force applying device 11 according to the embodiment of the present invention]
Next, the operation and effect of the pedal reaction force applying device 11 according to the embodiment of the present invention will be described. In the pedal reaction force applying apparatus 11 according to the embodiment of the present invention, the target reaction force setting unit 47 adopts a configuration in which the target reaction force RFtg is set to a smaller side as the depression speed PS of the accelerator pedal 14 is higher. ing.

  Here, “the target reaction force setting unit 47 sets the target reaction force RFtg to a smaller side as the depression speed PS of the accelerator pedal 14 is larger” means that in the description of the present embodiment, the target reaction force setting unit 47 This corresponds to the next operation performed by 47.

  That is, the target reaction force setting unit 47 refers to the driving intention coefficient table 51, calculates the driving intention coefficient DI corresponding to the depression speed PS of the accelerator pedal 13, and refers to the driving intention coefficient DI thus calculated. Then, the reaction force correction gain G3 is calculated, and the temporarily set target reaction force RFtg is corrected from the viewpoint of the strength of the intention of acceleration by the driver, using the reaction force correction gain G3 thus calculated.

  In the pedal reaction force applying device 11 according to the embodiment of the present invention, for example, when the driver performs a stepping operation on the accelerator pedal 13 at a high speed, the target reaction force RFtg is set to the small side. As a result, since a high-speed stepping operation presumed to be performed by the driver with an intention to accelerate is prioritized, it is possible to prevent the driver from feeling uncomfortable when the accelerator pedal 13 is depressed.

  In addition, according to the pedal reaction force applying device 11 according to the embodiment of the present invention, the target reaction force setting unit 47 increases the target reaction force based on the depression speed PS of the accelerator pedal 13 as the depression amount PA of the accelerator pedal 13 increases. In order to increase the degree of setting the force RFtg to the small side, for example, when the driver performs the depression operation of the accelerator pedal 13 at a high speed and the depression amount PA of the accelerator pedal 13 at that time is large, the depression is performed. The target reaction force RFtg is set to a smaller side than when the amount PA is small.

  Here, “the target reaction force setting unit 47 increases the degree of setting the target reaction force RFtg to the smaller side based on the depression speed PS of the accelerator pedal 13 as the depression amount PA of the accelerator pedal 13 is larger”. In the description of the present embodiment, this corresponds to the following operation performed by the target reaction force setting unit 47.

  That is, the target reaction force setting unit 47 refers to the first acceleration intention correction gain table 53, calculates the first acceleration intention correction gain G1 corresponding to the depression amount PA of the accelerator pedal 13, and calculates the first acceleration thus calculated. With reference to the acceleration intention correction gain G1, the driving intention coefficient DI is corrected from the viewpoint of the amount of depression PA of the accelerator pedal 13, and the driving intention coefficient DI corrected in this way is referenced to correspond to the driving intention coefficient DI. The reaction force correction gain G3 to be calculated is calculated, and the target reaction force RFtg temporarily set from the viewpoint of the strength of the intention of acceleration by the driver is corrected using the reaction force correction gain G3 thus calculated.

  Even when the depression speed PS of the accelerator pedal 13 is the same, when the depression amount PA of the accelerator pedal 13 is large, it is considered that the driver has a stronger acceleration intention than when the depression amount PA is small.

In this regard, in the pedal reaction force imparting device 11 according to the embodiment of the present invention, since the high-speed and large stepping operation presumed to have been performed by the driver with a strong acceleration intention is prioritized, when the accelerator pedal 13 is depressed, Giving the person a sense of discomfort can be further suppressed.
Therefore, according to the pedal reaction force application device 11 according to the embodiment of the present invention, it is possible to provide the pedal reaction force application device 11 that is excellent in the operational feeling of the accelerator pedal 13.

  Further, in the pedal reaction force applying device 11 according to the embodiment of the present invention, the target reaction force setting unit 47 decreases the target reaction force RFtg based on the depression speed PS of the accelerator pedal 13 as the actual reaction force RFat increases. In order to increase the degree of setting to the side, for example, when the driver depresses the accelerator pedal 13 at a high speed, the actual reaction force RFat actually applied to the accelerator pedal 13 at that time is large. In some cases, the target reaction force RFtg is set to a smaller side than when the actual reaction force RFat is small.

  Here, “the target reaction force setting unit 47 increases the degree of setting the target reaction force RFtg to the smaller side based on the depression speed PS of the accelerator pedal 13 as the actual reaction force RFat is larger” In the description of the embodiment, this corresponds to the next operation performed by the target reaction force setting unit 47.

  That is, the target reaction force setting unit 47 refers to the second acceleration intention correction gain table 55, calculates the second acceleration intention correction gain G2 corresponding to the actual reaction force RFat, and calculates the second acceleration intention correction thus calculated. The driving intention coefficient DI is corrected from the viewpoint of the magnitude of the actual reaction force RFat with reference to the gain G2, and the reaction force correction gain G3 corresponding to the driving intention coefficient DI is referred to with reference to the corrected driving intention coefficient DI. And the target reaction force RFtg temporarily set from the viewpoint of the strength of the intention of acceleration by the driver is corrected using the reaction force correction gain G3 thus calculated.

  Even if the accelerator pedal depressing speed is the same, if the actual reaction force applied to the accelerator pedal is large, the depressing operation was performed with a small actual reaction force. Compared to times, the driver seems to have a stronger acceleration intention.

In this respect, in the pedal reaction force applying device 11 according to the embodiment of the present invention, the accelerator pedal is prioritized in order to give priority to a high-speed stepping operation that is presumed that the driver has performed a strong acceleration intention against the large actual reaction force RFat. It is possible to further suppress the driver from feeling uncomfortable at the time of the 13 stepping operation.
Therefore, according to the pedal reaction force imparting device 11 according to the embodiment of the present invention, it is possible to provide a pedal reaction force imparting device excellent in the operational feeling of the accelerator pedal 13.

  Further, according to the pedal reaction force applying apparatus 11 according to the embodiment of the present invention, the target reaction force setting unit 47 increases the actual reaction force RFat currently applied to the accelerator pedal 13 as the accelerator reaction force of the accelerator pedal 13 increases. In order to increase the degree to which the target reaction force RFtg set using the stepping speed PS and the stepping amount PA is set to the small side, for example, when the driver depresses the accelerator pedal 13 at high speed and large In this case, when the actual reaction force RFat currently applied to the accelerator pedal 13 is large, the target reaction force RFtg is set to a smaller side than when the actual reaction force RFat is small.

  Here, the “target reaction force setting unit 47 sets the target reaction force set using the depression speed PS and the depression amount PA of the accelerator pedal 13 as the actual reaction force RFat currently applied to the accelerator pedal 13 is larger. “Increasing the degree of setting the force RFtg to the small side” corresponds to the next operation performed by the target reaction force setting unit 47 in the description of the present embodiment.

  That is, the target reaction force setting unit 47 refers to the first acceleration intention correction gain table 53, calculates the first acceleration intention correction gain G1 corresponding to the depression amount PA of the accelerator pedal 13, and calculates the second acceleration intention correction gain. The second acceleration intention correction gain G2 corresponding to the actual reaction force RFat is calculated with reference to the table 55, and the accelerator is determined with reference to the first acceleration intention correction gain G1 and the second acceleration intention correction gain G2 thus calculated. The driving intention coefficient DI is corrected from the viewpoint of the amount of depression PA of the pedal 13 and the actual reaction force RFat, and the reaction force corresponding to the driving intention coefficient DI is referred to with reference to the corrected driving intention coefficient DI. The correction gain G3 is calculated, and the reaction force correction gain G3 calculated in this way is used to temporarily set the target reaction force RFt that is set from the viewpoint of the intention of acceleration by the driver. It is corrected.

  Even when the depression speed PS and the depression amount PA of the accelerator pedal 13 are the same, when the depression operation is performed in a state where the actual reaction force RFat currently applied to the accelerator pedal 13 is large, the actual reaction force RFat It is considered that the driver has a stronger acceleration intention than when the stepping operation is performed in a state where is small.

In this respect, in the pedal reaction force imparting device 11 according to the embodiment of the present invention, the accelerator is given priority to a high-speed and large stepping operation presumed that the driver performed with a strong acceleration intention against the large actual reaction force RFat. It is possible to further suppress the driver from feeling uncomfortable when the pedal 13 is depressed.
Therefore, according to the pedal reaction force imparting device 11 according to the embodiment of the present invention, it is possible to provide a pedal reaction force imparting device excellent in the operational feeling of the accelerator pedal 13.

[Configuration and Operation of Pedal Reaction Force Applying Device 11A According to First Modification of the Present Invention]
Next, the configuration and operation of the pedal reaction force applying apparatus 11A according to the first modification of the present invention will be described with reference to FIGS. FIG. 4 is an operation explanatory view of the pedal reaction force applying apparatus 11A according to the first modified example of the present invention. Among these, FIG. 4A is an explanatory diagram showing a change with time of the depression amount PA (accelerator pedal opening) of the accelerator pedal 13. FIG. 4B is an explanatory diagram showing a change with time of the depression speed PS of the accelerator pedal 13. FIG. 4C is an explanatory diagram showing the change over time in the driving intention coefficient DI.

  The configuration of the pedal reaction force application device 11A according to the first modification of the present invention is substantially the same as the configuration of the pedal reaction force application device 11 according to the embodiment of the present invention, except for the function of the target reaction force setting unit 47A. Is the same. Therefore, the difference from the pedal reaction force applying device 11 according to the embodiment of the present invention will be described to replace the description of the configuration of the pedal reaction force applying device 11A according to the first modification of the present invention.

  The pedal reaction force application device 11A according to the first modification example of the present invention is that the target reaction force setting unit 47A has a peak hold function related to the driving intention coefficient DI, and the pedal reaction force application according to the embodiment of the present invention. This is different from the apparatus 11. That is, as shown in FIG. 4, the target reaction force setting unit 47A has a depression speed PS that exceeds a predetermined speed threshold PSth (see time t1 in FIG. 4B), and the accelerator pedal opening (depression amount). When PA exceeds a predetermined opening threshold PAth (see time t1 in FIG. 4 (a)), the time point when the stepping speed PS exceeds the speed threshold PSth (see time t1 in FIG. 4 (b)) starts. It is set when the depression speed PS exceeds the speed threshold PSth over a period Tpk that ends when the accelerator pedal opening (depression amount) PA falls below the opening threshold (see time t2 in FIG. 4A). The target reaction force (see the driving intention coefficient DIpk in FIG. 4C) is held. This is the peak hold function related to the driving intention coefficient DI.

  The time chart shown in FIG. 4 shows an example in which the peak value DIpk of the driving intention coefficient DI is held instead of the target reaction force RFtg. However, the target reaction force RFtg is obtained by multiplying the temporarily set target reaction force RFtg by a reaction force correction gain G3 calculated based on the driving intention coefficient DI. Then, it can be said that the target reaction force RFtg is a function of the driving intention coefficient DI. Therefore, it can be said that holding the peak value DIpk of the driving intention coefficient DI is substantially the same as holding the target reaction force RFtg.

[Effects of the pedal reaction force applying device 11A according to the first modification of the present invention]
In the pedal reaction force imparting device 11A according to the first modified example of the present invention, the target reaction force setting unit 47A has a stepping speed PS that exceeds a predetermined speed threshold PSth (see time t1 in FIG. 4B), and When the accelerator pedal opening (depression amount) PA exceeds a predetermined opening threshold PAth (see time t1 in FIG. 4 (a)), when the depression speed PS exceeds the speed threshold PSth (FIG. 4 (b)). The depression speed PS is a speed threshold over a period Tpk starting from the time t1) and ending when the accelerator pedal opening (depression amount) PA falls below the opening threshold (see time t2 in FIG. 4A). A configuration is employed in which a target reaction force (see the driving intention coefficient DIpk in FIG. 4B) that is set when PSth is exceeded is maintained.

The depression speed PS of the accelerator pedal 13 has a property that a value can be obtained only while the depression operation of the pedal 13 is being performed. For this reason, the depression speed PS of the accelerator pedal 13 is not maintained at a high value for a long time.
However, when the accelerator pedal opening (depression amount) PA is maintained at a high value exceeding a predetermined opening threshold PAth, that is, when the driver keeps the accelerator pedal 13 depressed greatly. Even if the stepping speed PS decreases, it is considered that the strong acceleration intention is maintained.

In this regard, in the pedal reaction force imparting device 11A according to the first modified example of the present invention, when the depression operation of the accelerator pedal 13 is performed at a high speed and the accelerator pedal opening is largely maintained, the depression speed PS is The target reaction set when the stepping speed PS exceeds the speed threshold PSth over a period Tpk starting from the time when the speed threshold PSth is exceeded and ending when the accelerator pedal opening PA is below the opening threshold PAth. Since the force is maintained, it is possible to further suppress the driver from feeling uncomfortable when the accelerator pedal 13 is depressed.
Therefore, according to the pedal reaction force imparting device 11A according to the first modification of the present invention, it is possible to provide the pedal reaction force imparting device 11A excellent in the operational feeling of the accelerator pedal 13.

[Configuration and Operation of Pedal Reaction Force Applying Device 11B According to Second Modification of the Present Invention]
Next, the configuration and operation of the pedal reaction force applying apparatus 11B according to the second modification of the present invention will be described with reference to FIGS. 1, 5A, and 5B. FIG. 5A is an explanatory diagram showing the relationship between the reaction force RF and the accelerator pedal opening PA in the pedal reaction force applying apparatus 11B according to the second modification of the present invention. FIG. 5B is an explanatory diagram illustrating the relationship between the reaction force RF and the accelerator pedal opening PA along the time axis t in the pedal reaction force applying apparatus 11B according to the second modified example of the present invention. Among these, FIG. 5B (a) is explanatory drawing showing reaction force RF along the time-axis t. FIG. 5B (b) is an explanatory diagram showing the accelerator pedal opening degree PA along the time axis t.

  The configuration of the pedal reaction force application device 11B according to the second modification of the present invention is substantially the same as the configuration of the pedal reaction force application device 11 according to the embodiment of the present invention, except for the function of the target reaction force setting unit 47B. Is the same. Therefore, the difference from the pedal reaction force applying device 11 according to the embodiment of the present invention will be described to replace the description of the configuration of the pedal reaction force applying device 11B according to the second modified example of the present invention.

  The pedal reaction force imparting device 11B according to the second modification of the present invention has a function in which the target reaction force setting unit 47B corrects the target reaction force RFtg using the depression amount PA of the accelerator pedal 13 when the reaction force is increased. This is different from the pedal reaction force applying device 11 according to the embodiment of the present invention. That is, when the reaction force RF by the reaction force actuator 21 increases and the accelerator pedal 13 is depressed, the target reaction force setting unit 47B regards the driver as having an intention to accelerate and increases the reaction force RF. The target reaction force RFtg set at the time of correction is corrected to the small side.

  FIG. 5A is a characteristic diagram showing an example of a correspondence relationship between the reaction force RF and the accelerator pedal opening degree PA in the pedal reaction force applying apparatus 11B according to the second modified example of the present invention. In the characteristic diagram shown in FIG. 5A, the inner region represents the deceleration intended region with the diagram as a boundary, while the outer region represents the acceleration intended region.

  FIG. 5B shows an example of a characteristic diagram showing the correspondence between the reaction force RF and the accelerator pedal opening PA along the time axis in the pedal reaction force applying apparatus 11B according to the second modification of the present invention. It is. The time change of the characteristic diagram shown in FIG. 5B will be described according to the passage of time.

  First, the time change of the characteristic diagram 61 of the reaction force FR will be described. In the period from time t11 to time t12 shown in FIG. 5B (a), the characteristic diagram 61 of the reaction force FR draws a substantially linear and upwardly rising locus from 0 to RF3. In the period from time t12 to time t13 shown in FIG. 5B (a), the characteristic diagram 61 of the reaction force FR depicts a locus for maintaining RF3. In the period from time t13 to time t14 shown in FIG. 5B (a), the characteristic diagram 61 of the reaction force FR draws a substantially linear and downward-sloping locus from RF3 to 0.

  Next, the time change of the characteristic diagram of the accelerator pedal opening PA will be described. FIG. 5B shows characteristic diagrams (first to fourth characteristic diagrams 63, 65, 67, 69) of the four accelerator pedal openings PA.

  In the period from time t11 to t12 shown in FIG. 5B (b), the first and second characteristic diagrams 63 and 65 of the accelerator pedal opening degree PA are substantially linear and draw a trajectory of a downward slope. In the period from time t12 to time t13 shown in FIG. 5B (b), the first and second characteristic diagrams 63 and 65 of the accelerator pedal opening PA both depict a locus for maintaining a small opening. In the period from time t13 to time t14 shown in FIG. 5B (b), the first and second characteristic diagrams 63 and 65 of the accelerator pedal opening PA are substantially linear and draw a trajectory that rises to the right.

  In short, the first and second characteristic diagrams 63 and 65 of the accelerator pedal opening degree PA receive the reaction force when the reaction force RF of the accelerator pedal 13 increases based on, for example, inter-vehicle control or vehicle speed control. This indicates that the driver depresses the accelerator pedal 13. In such an example, it can be assumed that the driver does not have an intention to accelerate.

  Next, the third characteristic diagram 67 of the accelerator pedal opening degree PA depicts a substantially horizontal locus in the entire period from the time t11 to t14 shown in FIG. 5B.

  In short, the third characteristic diagram 67 of the accelerator pedal opening degree PA shows that when the reaction force RF of the accelerator pedal 13 increases, the driver lightly depresses the accelerator pedal 13 against the reaction force. Represents. In such an example, it can be assumed that the driver has a weak acceleration intention. In this case, the target reaction force setting unit 47B assumes that the driver has an intention to accelerate, and the reaction force is determined based on the accelerator pedal opening (depression amount) PA when the reaction force RF of the accelerator pedal 13 increases. The target reaction force RFtg set when it increases is corrected to the smaller side.

  Next, in the period from time t11 to time t12 shown in FIG. 5B, the fourth characteristic line diagram 69 of the accelerator pedal opening PA is substantially linear and shows a locus that rises to the right, similar to the characteristic line diagram 61 of the reaction force FR. I'm drawing. In the period from time t12 to time t13 shown in FIG. 5B, the fourth characteristic diagram 69 of the accelerator pedal opening PA shows a locus for maintaining a relatively large opening. In the period from time t13 to time t14 shown in FIG. 5B, the fourth characteristic diagram 69 of the accelerator pedal opening PA shows a substantially linear and downward-sloping locus like the characteristic diagram 61 of the reaction force FR. .

  In short, the fourth characteristic diagram 69 of the accelerator pedal opening degree PA shows that when the reaction force RF of the accelerator pedal 13 increases, the driver strongly depresses the accelerator pedal 13 against the reaction force. Represents. In such an example, it can be assumed that the driver has a strong acceleration intention. In this case, the target reaction force setting unit 47B considers that a strong driver has an intention to accelerate, and based on the accelerator pedal opening (depression amount) PA when the reaction force RF of the accelerator pedal 13 increases, The target reaction force RFtg set when the value increases is corrected to the smaller side.

[Effect of pedal reaction force applying device 11B according to the second modification of the present invention]
In the pedal reaction force imparting device 11B according to the second modified example of the present invention, the target reaction force setting unit 47B has an intention to accelerate when the accelerator pedal 13 is depressed when the reaction force increases. It is considered that the target reaction force set when the reaction force increases is corrected to the smaller side.

  For example, when the reaction force of the accelerator pedal is increased based on distance control, speed control, etc., how the driver operated the accelerator pedal in response to the reaction force (whether the pedal was depressed or depressed) ) Is important for grasping the driver's intention to drive.

In this respect, in the pedal reaction force imparting device 11B according to the second modification of the present invention, the target reaction force setting unit 47B accelerates the driver when the accelerator pedal 13 is depressed when the reaction force increases. Since the target reaction force set when the reaction force increases is corrected to the smaller side, assuming that it has an intention, the target reaction force can be finely corrected in consideration of the driver's acceleration / deceleration intention. . As a result, it is possible to further suppress the driver from feeling uncomfortable when the accelerator pedal 13 is depressed.
Therefore, according to the pedal reaction force application device 11B according to the second modification of the present invention, it is possible to provide the pedal reaction force application device 11B that is excellent in the operational feeling of the accelerator pedal 13.

[Other Embodiments]
The embodiment described above shows an embodiment of the present invention. Therefore, the technical scope of the present invention should not be limitedly interpreted by these. This is because the present invention can be implemented in various forms without departing from the gist or main features thereof.

  That is, for example, in the description according to the embodiment of the present invention, an example of the stepping speed acquisition unit 43 that acquires the stepping speed of the accelerator pedal 13 by time differentiation of the stepping amount PA acquired by the stepping amount acquisition unit 41 is given. However, the present invention is not limited to this example. In this invention, you may employ | adopt the structure of the depression speed acquisition part 43 which acquires the depression speed of the accelerator pedal 13 independently from the depression amount acquisition part 41. FIG.

  In the description according to the embodiment of the present invention, the target reaction force setting unit 47 corresponds to the depression amount PA of the accelerator pedal 13 acquired by the depression amount acquisition unit 41 with reference to the generated reaction force application characteristic table 49. The reaction force RF to be read is read and the read reaction force RF is temporarily set as the target reaction force RFtg (see step S14 in FIG. 3A). However, the present invention is not limited to this example.

  The gist of the present invention is to use the depression speed PS of the accelerator pedal 13 as a main correction element, and use the depression amount PA of the accelerator pedal 13 and / or the actual reaction force RFat as a correction element to follow. The point is to correct the force RFtg. Therefore, it does not matter whether the target reaction force RFtg to be corrected is set using any procedure.

DESCRIPTION OF SYMBOLS 11 Pedal reaction force provision apparatus which concerns on embodiment of this invention 11A Pedal reaction force provision apparatus which concerns on the 1st modification of this invention 11B Pedal reaction force provision apparatus which concerns on the 2nd modification of this invention 13 Accelerator pedal 15 Accelerator opening degree Sensor 17 Torque sensor 21 Reaction force actuator (reaction force applying part)
23 Navigation device 25 ECU
41 Depression amount acquisition unit 43 Depression speed acquisition unit 45 Actual reaction force acquisition unit 47 Target reaction force setting unit 47A according to the embodiment of the present invention Target reaction force setting unit 47B according to the first modification of the present invention Second of the present invention Target reaction force setting unit 59 reaction force control unit according to modification

Claims (6)

A reaction force applying unit that applies a reaction force to an accelerator pedal operated when adjusting the speed of the vehicle;
A stepping-speed acquisition unit that acquires the stepping-on speed of the accelerator pedal;
A depression amount acquisition unit for acquiring an accelerator pedal opening as the depression amount of the accelerator pedal ;
A target reaction force setting unit that sets a target reaction force to be applied to the accelerator pedal using at least the stepping speed and the stepping amount;
A reaction force control unit that controls the reaction force applied by the reaction force application unit based on the target reaction force,
The target reaction force setting unit is
The higher the depression speed is high, and sets the target reaction force on the side of the small, as the depression amount is large, and increase the degree of setting the target reaction force on the side of the small,
When the stepping speed exceeds a predetermined speed threshold value and the accelerator pedal opening exceeds a predetermined opening threshold value, the time point when the stepping speed exceeds the speed threshold value is set as an initial stage, and the accelerator pedal opening degree Maintaining the target reaction force set when the stepping speed exceeds the speed threshold over a period that ends when the opening degree threshold is exceeded,
A pedal reaction force applying device. The pedal reaction force applying device according to claim 1,
An actual reaction force acquisition unit that acquires an actual reaction force that is currently applied to the accelerator pedal by the reaction force application unit;
The target reaction force setting unit increases the degree of setting the target reaction force on the smaller side as the actual reaction force increases.
A pedal reaction force applying device. The pedal reaction force applying device according to claim 1 or 2 ,
The stepping amount acquisition unit acquires the accelerator pedal opening when the reaction force by the reaction force application unit increases,
The target reaction force setting unit corrects the target reaction force set when the reaction force increases, using the accelerator pedal opening when the reaction force increases.
A pedal reaction force applying device. A reaction force applying unit that applies a reaction force to an accelerator pedal operated when adjusting the speed of the vehicle;
A stepping-speed acquisition unit that acquires the stepping-on speed of the accelerator pedal;
A depression amount acquisition unit for acquiring an accelerator pedal opening as the depression amount of the accelerator pedal ;
A target reaction force setting unit that sets a target reaction force to be applied to the accelerator pedal using at least the stepping speed and the stepping amount;
A reaction force control unit that controls the reaction force applied by the reaction force application unit based on the target reaction force,
The target reaction force setting unit is
As the stepping speed and the stepping amount increase, it is considered that the driver intends to accelerate, and the target reaction force is set to a small side ,
When the stepping speed exceeds a predetermined speed threshold and the accelerator pedal opening exceeds a predetermined opening threshold, the driver's intention to accelerate is considered to be large, and the stepping speed exceeds the speed threshold. Holding the target reaction force set when the stepping speed exceeds the speed threshold over a period starting from a time point and ending when the accelerator pedal opening falls below the opening threshold value;
A pedal reaction force applying device. The pedal reaction force applying device according to claim 4 ,
An actual reaction force acquisition unit that acquires an actual reaction force that is currently applied to the accelerator pedal by the reaction force application unit;
The target reaction force setting unit considers that the driver's intention to accelerate is larger as the actual reaction force is larger, and increases the degree of setting the target reaction force on the smaller side.
A pedal reaction force applying device. The pedal reaction force applying device according to claim 4 or 5 ,
The stepping amount acquisition unit acquires the accelerator pedal opening when the reaction force by the reaction force application unit increases,
The target reaction force setting unit assumes that the driver has an intention to accelerate when the accelerator pedal is depressed when the reaction force increases, and the target reaction force setting unit is set when the reaction force increases. Correct the target reaction force to the small side,
A pedal reaction force applying device.

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