JP6530585B2 - Braking / driving force control device and braking / driving force control method - Google Patents

Description

  The present invention is a braking / driving force control device and braking / driving force control that controls the acceleration in the front-rear direction generated in the vehicle by controlling the braking force and the driving force of the vehicle by operating one braking / driving force operator. On the way.

Conventionally, by controlling the braking force and the driving force of the vehicle by an operation (accelerator operation) on one braking / driving force operator by the driver, the longitudinal acceleration (acceleration and deceleration) generated in the vehicle is controlled. As a technique, for example, there is a technique described in Patent Document 1.
In the technology described in Patent Document 1, when the opening degree of the braking / driving force operator (pedal) changed by the driver's operation is equal to or less than the reference opening degree, the target of the deceleration among the acceleration and the deceleration is Set only the value. Then, in order to cause the vehicle to generate only the target value deceleration, the opening degree of the throttle valve is adjusted.

Unexamined-Japanese-Patent No. 2000-205015

However, in the technology described in Patent Document 1, when the opening degree of the pedal by the driver's operation is equal to or less than the reference opening degree, control is performed to cause the vehicle to generate only deceleration among the acceleration and deceleration. For this reason, even if the driver operates the pedal with an intention to accelerate, acceleration does not occur when the degree of opening of the pedal is less than or equal to the reference opening, so the behavior of the vehicle with respect to the driver's intention to accelerate There may be a problem that the degree of reflection on the image is reduced.
The present invention has been made focusing on the above problems, and a braking / driving force control device and a braking / driving device capable of improving the degree of reflection on the behavior of the vehicle with respect to the driver's intention to accelerate. The purpose is to provide a force control method.

In order to solve the above problems, the present invention sets the correction neutral point, which is an operation amount smaller than the reference neutral point, when the driver's intention of acceleration / deceleration is determined to be acceleration intention, thereby accelerating the driver's intention. When it is determined that it is intention, in the range where the detected operation amount is less than the correction neutral point from the unoperated state, the braking force command value for generating the braking force according to the increase of the detected operation amount is set in advance. According to the deviation between the correction neutral point and the detected operation amount in the range in which the detected amount of operation is reduced from the initial braking force command value and the detected amount of operation is greater than the corrected neutral point and less than the reference neutral point The driving force command value for generating the driving force is set. In addition to this, when it is determined that the driver's intention is not the acceleration intention, in the range where the detected amount of operation is less than the reference neutral point from the unoperated state, the braking force is The braking force command value to be generated is decreased from the preset initial braking force command value, and in the range where the detected operation amount is equal to or greater than the reference neutral point, the driving force corresponding to the deviation between the reference neutral point and the detected operation amount Set the driving force command value to be generated.
Here, in the range where the reference neutral point is less than the reference neutral point, which is the operation amount switched to the braking force command value or the driving force command value set in advance, according to the increase in the operation amount of the braking / driving force operator. It is a threshold for decreasing the braking force command value for generating the braking force from the initial braking force command value set in advance, and is set in advance. In addition to this, the reference neutral point is a driving force corresponding to the deviation between the reference neutral point and the detected operation amount of the braking / driving force operator in a range where the operation amount of the braking / driving force operator is equal to or more than the reference neutral point. It is a threshold for setting the driving force command value to be generated , and is set in advance.

According to the present invention, when the driver's intention is an acceleration intention, the predetermined amount of operation and the predetermined amount of operation are controlled with the amount of operation of the braking / driving force operator smaller than the amount of operation corresponding to the predetermined amount of operation. It becomes possible to set the driving force command value according to the deviation from the operation amount of the driving force manipulator.
Thus, when the driver operates the braking / driving force operator with an intention to accelerate, the vehicle is driven to the vehicle even if the operation amount of the braking / driving force operator is less than the predetermined value of the uncorrected initial value. Force can be generated to generate acceleration. Therefore, the degree of reflection on the behavior of the vehicle can be improved with respect to the driver's intention to accelerate.

FIG. 1 is a block diagram showing a schematic configuration of a vehicle provided with a braking / driving force control device according to a first embodiment of the present invention. It is a block diagram which shows the structure of a braking / driving force controller. It is a time chart which shows processing performed by a braking / driving force controller when it is estimated that the driver's intention to accelerate is large. It is a time chart which shows processing performed by a braking / driving force controller when it is estimated that the driver's intention to accelerate is small. When a driver | operator's intention changes to maintenance of a vehicle speed from acceleration, it is a time chart which shows the processing which a braking / driving force controller performs. It is a time chart which shows processing performed by the braking / driving force controller when the driver's intention changes from acceleration to deceleration. It is a time chart of operation performed using a braking and driving force control device of a first embodiment of the present invention. It is a map which shows the relationship between the pedal opening degree for braking / driving force calculation, and a braking force command value and a driving force command value.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
First Embodiment
Hereinafter, a first embodiment of the present invention (hereinafter referred to as the present embodiment) will be described with reference to the drawings.
(Constitution)
FIG. 1 is a block diagram showing a schematic configuration of a vehicle V provided with the braking / driving force control device 1 of the present embodiment.
As shown in FIG. 1, a vehicle V including a braking / driving force control device 1 includes an accelerator operation amount sensor 2, a braking / driving force controller 4, a brake actuator 6, and a wheel cylinder 8. In addition to this, the vehicle V including the braking / driving force control device 1 includes a power control unit 10, a power unit 12, and wheels W (right front wheel WFR, left front wheel WFL, right rear wheel WRR, left rear wheel WRL). .

The accelerator operation amount sensor 2 is, for example, a sensor formed using a pedal stroke sensor to detect a depression operation amount of the acceleration / deceleration pedal 14 (accelerator pedal) by the driver. In addition, the accelerator operation amount sensor 2 is an information signal including the depression operation amount of the acceleration / deceleration pedal 14 by the driver (in the following description, it may be referred to as “depression operation amount signal”). Output to The acceleration / deceleration pedal 14 is a pedal that the driver of the vehicle V depresses in response to a braking force request or a driving force request.
The configuration of the accelerator operation amount sensor 2 is not limited to the configuration formed using the pedal stroke sensor. For example, the opening degree of the acceleration / deceleration pedal 14 by the driver's depression operation may be detected.

That is, the accelerator operation amount sensor 2 is a sensor that detects the operation amount of the acceleration / deceleration pedal 14 by the driver.
The braking / driving force controller 4 controls a braking force or a driving force generated on the vehicle V, and is configured by a microcomputer. The microcomputer includes, for example, a central processing unit (CPU), a random access memory (RAM), a read only memory (ROM), and the like.

In addition, the braking / driving force controller 4 performs various processes to be described later based on various information signals input, and is a command signal (braking command signal, drive command signal) for controlling the brake actuator 6 and the power unit 12. Output The specific configuration of the braking / driving force controller 4 will be described later.
Here, the braking command signal is an information signal including a braking force command value for controlling the hydraulic pressure of each wheel cylinder 8. Further, the braking force command value is calculated by the braking / driving force controller 4 in response to a braking force request from the driver of the vehicle V.

On the other hand, the drive command signal is an information signal including a drive force command value for controlling the drive force generated by the power unit 12. Further, the driving force command value is calculated by the braking / driving force controller 4 in response to a driving force request from the driver of the vehicle V.
The brake actuator 6 is a hydraulic pressure control device interposed between a master cylinder (not shown) and each wheel cylinder 8. Further, the brake actuator 6 changes the hydraulic pressure of each wheel cylinder 8 according to the braking force command value included in the braking command signal received from the braking / driving force controller 4 and applies the braking force to each wheel W.

The wheel cylinder 8 generates a pressing force for pressing a brake pad (not shown) constituting a disk brake against a disk rotor (not shown) that rotates integrally with each wheel W.
In FIG. 1, the wheel cylinder 8 disposed for the right front wheel WFR is referred to as a wheel cylinder 8FR, and the wheel cylinder 8 disposed for the left front wheel WFL is referred to as a wheel cylinder 8FL. Similarly, in FIG. 1, the wheel cylinder 8 disposed to the right rear wheel WRR is referred to as a wheel cylinder 8RR, and the wheel cylinder 8 disposed to the left rear wheel WRL is referred to as a wheel cylinder 8RL. Also in the following description, each wheel cylinder 8 may be indicated as described above.

The power control unit 10 controls the driving force generated by the power unit 12 according to the driving force command value included in the driving command signal received from the braking / driving force controller 4. In the present embodiment, as described later, the power unit 12 is formed using an engine. For this reason, the power control unit 10 controls values (e.g., drive torque, rotational speed, transmission gear ratio) regarding the driving force generated by the engine.
In addition, the power control unit 10 also generates an information signal (which may be described as a “current torque signal” in the following description) including the current torque (engine torque) generated by the power unit 12 (engine). Output to the braking / driving force controller 4.
The power unit 12 is configured to generate a driving force of the vehicle V, and applies a driving force to each wheel W via a drive shaft (not shown) or the like. In the present embodiment, as an example, the case where the power unit 12 is formed using an engine will be described.

(Specific configuration of braking / driving force controller 4)
Next, a specific configuration of the braking / driving force controller 4 will be described using FIG. 2 with reference to FIG.
FIG. 2 is a block diagram showing the configuration of the braking / driving force controller 4.
As shown in FIG. 2, the braking / driving force controller 4 includes an acceleration / deceleration intention estimation unit 16, a predetermined operation amount correction unit 18, an acceleration / deceleration G calculation unit 20, a braking force calculation unit 22, and a driving force calculation unit 24 is provided.
The acceleration / deceleration intention estimation unit 16 divides the depression operation amount by a preset sampling time based on the depression operation amount included in the depression operation amount signal input from the acceleration operation amount sensor 2. Thereby, the acceleration / deceleration intention estimation unit 16 calculates the operation speed (pedal operation speed) of the acceleration / deceleration pedal 14. In the present embodiment, as an example, the case where the sampling time is set to 0.2 [s] will be described.

  Then, the acceleration / deceleration intention estimation unit 16 estimates the driver's intention for acceleration / deceleration based on the calculated pedal operation speed. Furthermore, the acceleration / deceleration intention estimation unit 16 outputs an information signal including the estimated acceleration / deceleration intention (which may be referred to as “driver intention signal” in the following description) to the predetermined operation amount correction unit 18 . That is, the acceleration / deceleration intention estimation unit 16 estimates the driver's intention for acceleration / deceleration according to the operation amount of the acceleration / deceleration pedal 14 detected by the accelerator operation amount sensor 2. A process in which the acceleration / deceleration intention estimation unit 16 estimates the driver's acceleration / deceleration intention will be described later.

The predetermined operation amount correction unit 18 calculates the neutral point according to the acceleration / deceleration intention included in the driver intention signal received from the acceleration / deceleration intention estimation unit 16. Then, an information signal including the calculated neutral point (which may be referred to as “neutral point signal” in the following description) is output to the acceleration / deceleration G calculation unit 20. The process in which the predetermined operation amount correction unit 18 calculates the neutral point will be described later.
Here, the neutral point is a point at which the acceleration and deceleration generated in the vehicle V are switched, that is, a point at which the command signal output by the braking / driving force controller 4 is switched to the braking command signal or the drive command signal. Further, the neutral point is a parameter corresponding to the opening degree (pedal opening degree) of the acceleration / deceleration pedal 14 in accordance with the depression operation amount included in the depression operation amount signal.

  Further, the neutral point is a depression operation amount included in the depression operation amount signal, and indicates a predetermined operation amount which is a parameter corresponding to the operation amount of the acceleration / deceleration pedal 14 (the braking / driving force operator). Further, within a range where the operation amount of the acceleration / deceleration pedal 14 is less than the predetermined operation amount from the state of non-operation of the acceleration / deceleration pedal 14, the braking force command value will be described later according to the increase of the operation amount of the acceleration / deceleration pedal 14. It is a threshold for decreasing from the initial braking force command value. In addition to this, the predetermined operation amount sets the driving force command value according to the deviation between the predetermined operation amount and the operation amount of the acceleration / deceleration pedal 14 in a range where the operation amount of the acceleration / deceleration pedal 14 is equal to or more than the predetermined operation amount. Threshold for

  The acceleration / deceleration G calculation unit 20 is based on the depression operation amount included in the depression operation amount signal received from the acceleration operation amount sensor 2 and the neutral point included in the neutral point signal received from the predetermined operation amount correction unit 18 The braking force or driving force to be generated in the vehicle V is calculated. Then, when the braking force to be generated on the vehicle V is calculated, an information signal including the calculated braking force (which may be described as “a braking force signal” in the following description) is output to the braking force calculation unit 22 Do. On the other hand, when the driving force to be generated in the vehicle V is calculated, an information signal including the calculated driving force (hereinafter sometimes referred to as “driving force signal”) is output to the driving force calculation unit 24 Do. The process of calculating the braking force or the driving force by the acceleration / deceleration G calculation unit 20 will be described later.

The braking force calculation unit 22 calculates a braking force command value based on the braking force included in the braking force signal received from the acceleration / deceleration G calculation unit 20. Then, the braking force calculation unit 22 outputs an information signal including the calculated braking force command value (which may be described as "a braking force command value signal" in the following description) to the brake actuator 6.
The driving force calculation unit 24 calculates a driving force command value based on the driving force included in the driving force signal received from the acceleration / deceleration G calculation unit 20. Then, the driving force calculation unit 24 outputs an information signal including the calculated driving force command value (which may be described as “driving force command value signal” in the following description) to the power control unit 10.

(Processing performed by the braking / driving force controller 4)
Next, processing performed by the braking / driving force controller 4 according to the driver's intention to accelerate will be described using FIGS. 3 to 6 with reference to FIGS. 1 and 2.
-Processing according to the magnitude of the acceleration intention by the driver First, referring to FIGS. 1 and 2, the braking / driving force controller according to the magnitude of the acceleration intention by the driver using FIGS. 3 and 4 The process which 4 performs is demonstrated.
The processing performed by the braking / driving force controller 4 in accordance with the magnitude of the driver's intention to accelerate is, for example, the processing shown in FIGS. 3 and 4.

FIG. 3 is a time chart showing processing performed by the braking / driving force controller 4 when it is estimated that the driver's intention to accelerate is large. Further, FIG. 4 is a time chart showing a process performed by the braking / driving force controller 4 when it is estimated that the driver's intention for acceleration is small.
Moreover, in FIG. 3 and FIG. 4, an elapsed time (it describes as "time" in the figure) is shown on a horizontal axis. 3 (a) and 4 (a), the vertical axis shows the degree of opening of the acceleration / deceleration pedal 14 (denoted as "pedal opening degree" in the figure), and Figs. 3 (b) and 3 (a) and 4 (a). In 4 (b), the vertical axis indicates the operating speed of the acceleration / deceleration pedal 14 (described as "pedal operating speed" in the figure). Furthermore, in FIG. 3C and FIG. 4C, the vertical axis represents the braking force command value, and in FIG. 3D and FIG. 4D, the vertical axis represents the driving force command value.

In the process performed by the braking / driving force controller 4 according to the magnitude of the acceleration intention, first, the acceleration / deceleration intention estimation unit 16 determines whether the operation speed of the acceleration / deceleration pedal 14 exceeds a first operation speed threshold set in advance. Determine if
Here, the operation speed of the acceleration / deceleration pedal 14 to be compared with the first operation speed threshold is set in advance from the state in which the opening degree of the acceleration / deceleration pedal 14 is "0" as shown in FIG. The operation speed until the judgment time t1 elapses is used. The first operation speed threshold is, for example, an operation speed of the acceleration / deceleration pedal 14 corresponding to an acceleration intention for the driver to immediately start the stopped vehicle V.

In addition, if the operating speed of the acceleration / deceleration pedal 14 from the state where the opening degree of the acceleration / deceleration pedal 14 is "0" to the elapse of the determination time t1 exceeds the first operation speed threshold, the driver's intention for acceleration is Estimated to be large. Then, the driver intention signal including the estimated acceleration intention is output to the predetermined operation amount correction unit 18.
Further, when the acceleration / deceleration intention estimation unit 16 determines that the operation speed of the acceleration / deceleration pedal 14 is equal to or less than the first operation speed threshold, next, the operation speed of the acceleration / deceleration pedal 14 is a second operation speed threshold set in advance. It is determined whether or not

Here, the operation speed of the acceleration / deceleration pedal 14 to be compared with the second operation speed threshold is, as shown in FIG. 4B, from the state where the opening degree of the acceleration / deceleration pedal 14 is "0", the judgment time t1 is Use the operation speed until elapsed. The second operation speed threshold value is a value less than the first operation speed threshold value. For example, the driver operates the acceleration / deceleration pedal 14 corresponding to the acceleration intention for gently starting the stopped vehicle V. It is speed.
Then, when the operation speed of the acceleration / deceleration pedal 14 from the state where the opening degree of the acceleration / deceleration pedal 14 is “0” to the elapse of the determination time t1 exceeds the second operation speed threshold, the driver's intention for acceleration is Estimated to be small. Then, the driver intention signal including the estimated acceleration intention is output to the predetermined operation amount correction unit 18.
Therefore, when the acceleration / deceleration intention estimation unit 16 increases the operation speed of the acceleration / deceleration pedal 14 to exceed the operation speed threshold (first operation speed threshold, second operation speed threshold), the driver's intention is acceleration intention Estimate.

As shown in FIGS. 3 (a), 3 (c), 4 (a) and 4 (c), when the opening degree of the acceleration / deceleration pedal 14 is "0", the acceleration / deceleration G Calculation unit 20 outputs to braking force calculation unit 22 a braking force signal with the braking force generated by vehicle V as the maximum value. Then, as the opening degree of the acceleration / deceleration pedal 14 increases, as shown in FIGS. 3 (a), 3 (c), 4 (a) and 4 (c), the braking force generated on the vehicle V The braking force calculation unit 22 outputs a braking force signal that decreases the maximum value from the maximum value.
Here, the braking force command value included in the braking force signal that makes the braking force generated on the vehicle V the maximum value is an initial braking force command value, and is set in advance.

When the predetermined operation amount correction unit 18 receives an input of the driver intention signal including a large acceleration intention, the predetermined operation amount correction unit 18 is a neutral point set in advance, and the neutral point (reference neutral point) of the initial value as a reference is an initial value. The pedal opening is changed to a value corresponding to a smaller pedal opening than the value corresponding to the reference neutral point of. Thereby, when the driver's intention to accelerate is large, the predetermined operation amount correction unit 18 changes the reference neutral point from the initial value to a value corresponding to a small pedal opening degree, as shown in FIG. 3A. The correction is made, and the corrected neutral point (corrected neutral point) is calculated. In FIG. 3A, the reference neutral point of the initial value is indicated as "reference neutral point", and the reference neutral point changed from the initial value is indicated as "corrected neutral point".
That is, the reference neutral point corresponds to the predetermined operation amount of the uncorrected initial value.
Here, when the driver intention signal including a large acceleration intention is received, the amount of change from the initial value of the reference neutral point corresponds to the operation speed of the acceleration / deceleration pedal 14 exceeding the first operation speed threshold. Amount. Specifically, the amount of change from the initial value of the reference neutral point to a value corresponding to a smaller pedal opening degree as the amount exceeding the first operation speed threshold among the operation speeds of the acceleration / deceleration pedal 14 is larger. Increase the

Further, when receiving the input of the driver's intention signal including the small acceleration intention, the predetermined operation amount correction unit 18 changes the reference neutral point by a smaller amount than in the case where the driver's acceleration intention is large. The initial value is changed to the value corresponding to the pedal opening degree smaller than the value corresponding to the point. As a result, as shown in FIG. 4A, the predetermined operation amount correction unit 18 changes the reference neutral point to a value corresponding to a small pedal opening with a smaller amount of change than when the driver's intention for acceleration is large. The corrected neutral point is calculated by changing from the initial value. In FIG. 4A, as in FIG. 3A, the reference neutral point of the initial value is indicated as "reference neutral point", and the reference neutral point changed from the initial value is indicated as "corrected neutral point". .
Here, when the driver intention signal including a large acceleration intention is received, the amount of change from the initial value of the reference neutral point corresponds to the operation speed of the acceleration / deceleration pedal 14 exceeding the first operation speed threshold. Amount. Specifically, the amount of change from the initial value of the reference neutral point to a value corresponding to a smaller pedal opening degree as the amount exceeding the first operation speed threshold among the operation speeds of the acceleration / deceleration pedal 14 is larger. Increase the

On the other hand, when the driver intention signal including the small acceleration intention is received, the amount of change from the initial value of the reference neutral point corresponds to the operation speed of the acceleration / deceleration pedal 14 exceeding the second operation speed threshold. Amount. Specifically, the amount of change from the initial value of the reference neutral point to a value corresponding to a smaller pedal opening degree as the amount exceeding the second operation speed threshold among the operation speeds of the acceleration / deceleration pedal 14 is larger. Increase the
That is, the amount of change from the initial value of the reference neutral point to the value corresponding to the small pedal opening when receiving the driver intention signal including the small acceleration intention is the driver intention including the large acceleration intention. It is smaller than the case of receiving the signal input.

As described above, the predetermined operation amount correction unit 18 calculates a corrected neutral point in which the reference neutral point is changed from the initial value according to the driver's intention of acceleration / deceleration estimated by the acceleration / deceleration intention estimation unit 16. Thereby, the predetermined operation amount correction unit 18 corrects the predetermined operation amount according to the driver's intention of acceleration / deceleration estimated by the acceleration / deceleration intention estimation unit 16. Specifically, when it is determined that the driver's intention is the acceleration intention, the predetermined operation amount is corrected to be smaller than the initial value (decrease correction).
Further, when the driver's intention estimated by the acceleration / deceleration intention estimation unit 16 is the acceleration intention, the predetermined operation amount correction unit 18 increases the amount of change from the initial value with respect to the reference neutral point as the acceleration intention is larger. Calculate the corrected neutral point as follows. Thereby, if the driver's intention estimated by the acceleration / deceleration intention estimation unit 16 is the acceleration intention, the predetermined operation amount correction unit 18 corrects the predetermined operation amount smaller from the initial value (decreased correction) as the acceleration intention is larger. Do.

In addition, in FIG.3 and FIG.4, the case where a correction | amendment neutral point is hold | maintained at a fixed value, without changing according to the change of a pedal opening degree, elapsed time, etc. is shown as an example.
The predetermined operation amount correction unit 18 that has calculated the correction neutral point according to the acceleration intention outputs a neutral point signal including the correction neutral point to the acceleration / deceleration G calculation unit 20.
The acceleration / deceleration G calculation unit 20 compares the corrected neutral point included in the input neutral point signal with the amount of depression operation included in the depression operation amount signal input from the accelerator operation amount sensor 2. Then, in a state where the pedal opening degree corresponding to the depression operation amount is equal to or less than the correction neutral point, the braking force signal for reducing the braking force generated on the vehicle V from the maximum value as the opening degree of the acceleration / deceleration pedal 14 increases. , Output to the braking force calculation unit 22.

On the other hand, when the pedal opening degree corresponding to the stepping operation amount exceeds the correction neutral point, at this time t2, the acceleration / deceleration G calculation unit 20 stops the output of the braking force signal to the braking force calculating unit 22 and A driving force signal that causes V to generate a driving force is output to the driving force calculation unit 24. Furthermore, from the time point t2, as the opening degree of the acceleration / deceleration pedal 14 increases, a driving force signal to increase the driving force generated in the vehicle V is output to the driving force calculation unit 24.
Further, after time t2, a driving force signal for generating a driving force corresponding to the opening degree of the acceleration / deceleration pedal 14 is output to the driving force calculation unit 24. In addition, in FIG.3 and FIG.4, the case where the opening degree of the acceleration-deceleration pedal 14 increases continuously is shown as an example. Therefore, FIG. 3 and FIG. 4 show the case where the driving force command value is increased as the opening degree of the acceleration / deceleration pedal 14 is increased after time t2.

In FIG. 3C and FIG. 4C, the braking force command value corresponding to the reference neutral point of the initial value is shown by a broken line, and the braking force command value corresponding to the correction neutral point is shown by a solid line. Similarly, in FIGS. 3D and 4D, the driving force command value corresponding to the reference neutral point of the initial value is indicated by a broken line, and the driving force command value corresponding to the correction neutral point is indicated by a solid line.
Here, when the reference neutral point of the initial value is corrected to the corrected neutral point, the driving force is generated in response to the increase in the opening degree of the acceleration / deceleration pedal 14 by the driver as compared with the case where the reference neutral point is not changed from the initial value. It is possible to shorten the elapsed time (the time elapsing before time t2). In FIGS. 3 and 4, when the reference neutral point is not changed from the initial value, the time point at which the command signal output from the braking / driving force controller 4 is switched from the braking command signal to the drive command signal is indicated as “t3”. .
In addition, when the driver's acceleration intention is large, the elapsed time until the driving force is generated with respect to the increase in the degree of opening of the acceleration / deceleration pedal 14 by the driver as compared to the case where the driver's acceleration intention is small (time t1 It is possible to shorten the time elapsed from time t2 to time t2.

Therefore, the braking / driving force controller 4 generates a maximum braking force when the driver does not operate the acceleration / deceleration pedal 14 such as when the vehicle V is at rest. In a region where the operation amount of the acceleration / deceleration pedal 14 is less than the reference neutral point, the braking force is decreased from the maximum value as the operation amount of the acceleration / deceleration pedal 14 increases, and the operation amount of the acceleration / deceleration pedal 14 is at the reference neutral point In the above region, the driving force corresponding to the operation amount of the acceleration / deceleration pedal 14 is generated. That is, in the range where the operation amount of the acceleration / deceleration pedal 14 detected by the accelerator operation amount sensor 2 is less than the predetermined operation amount from the non-operation state, the braking / driving force controller 4 responds to the increase of the operation amount. Is decreased from the initial braking force command value. In the range where the operation amount of the acceleration / deceleration pedal 14 detected by the accelerator operation amount sensor 2 is equal to or greater than the predetermined operation amount, a driving force command value according to the deviation between the predetermined operation amount and the detected operation amount of the acceleration / deceleration pedal 14 Set
Further, the braking / driving force controller 4 determines that the operation amount of the acceleration / deceleration pedal 14 is equal to or greater than the correction neutral point if the intention estimated by the acceleration / deceleration intention estimation unit 16 is the acceleration intention. Generate a driving force according to the

As described above, in the braking / driving force control device 1 of the present embodiment, the driver's operation speed of the acceleration / deceleration pedal 14 is high, and the inclination until the braking force command value becomes “0” from the maximum value It is possible to increase according to the operation speed of Thus, the greater the driver's intention to accelerate, it is possible to shorten the time elapsed from the start of the braking force at the maximum value to the time of generation of the driving force. It becomes possible to reflect on behavior.
That is, in the present embodiment, the reference neutral point is changed from the initial value to calculate the correction neutral point, and the time when the driving force is generated is shown in comparison with the case where the reference neutral point is not changed from the initial value. It is possible to change from time t3 to time t2 shown in FIG. In this way, the reference neutral point is changed from the initial value to calculate the corrected neutral point, and the driving is performed in a region where the opening degree of the acceleration / deceleration pedal 14 is small compared to the case where the reference neutral point is not changed from the initial value. It is possible to reflect the driver's acceleration intention on the behavior of the vehicle V.

Although not shown in particular, when the operation speed of the acceleration / deceleration pedal 14 from the state where the opening degree of the acceleration / deceleration pedal 14 is "0" to the elapse of the determination time t1 is equal to or lower than the second operation speed threshold, Perform processing that does not change the neutral point from the initial value. Here, if the operation speed of the acceleration / deceleration pedal 14 from the state where the opening degree of the acceleration / deceleration pedal 14 is "0" to the elapse of the determination time t1 is equal to or less than the second operation speed threshold, the driver's intention is It corresponds to the case where the intention is not to accelerate.
Therefore, if the driver's intention estimated by the acceleration / deceleration intention estimation unit 16 is the acceleration intention, the predetermined operation amount correction unit 18 adds an amount smaller than the operation amount of the acceleration / deceleration pedal 14 corresponding to the initial value of the reference neutral point. The correction neutral point is calculated so that the driving force is generated in the vehicle V by the operation amount of the deceleration pedal 14. That is, when it is determined that the driver's intention estimated by the acceleration / deceleration intention estimation unit 16 is the acceleration intention, the predetermined operation amount correction unit 18 corrects the predetermined operation amount to be smaller than the initial value.

-Processing according to the driver's vehicle speed maintenance intention Next, referring to FIG. 1 to FIG. 4 and using FIG. 5, when the driver's intention is maintenance of the vehicle speed, the braking / driving force controller 4 performs The process will be described.
The process performed by the braking / driving force controller 4 when the driver's intention is maintenance of the vehicle speed is, for example, the process shown in FIG.
In the following description, the reference neutral point is changed from the initial value according to the driver's intention to accelerate and corrected to the corrected neutral point, and then the driver's intention changes from acceleration to maintenance of the vehicle speed. The process performed by the force controller 4 will be described.

  Further, in FIG. 5, as one example, until the driver's intention changes from acceleration to maintenance of the vehicle speed, the reference neutral point is the operating speed of the acceleration / deceleration pedal 14 regardless of the opening degree of the acceleration / deceleration pedal 14 Change from the initial value according to the change of. Therefore, in the process shown in FIG. 5, when the driver operates the acceleration / deceleration pedal 14, the process of changing the reference neutral point from the initial value until the driver's intention changes from acceleration to maintenance of the vehicle speed. I do. Further, in the process shown in FIG. 5, the amount of change from the initial value of the reference neutral point is increased as the operation speed of the acceleration / deceleration pedal 14 increases, until the driver's intention changes from acceleration to maintenance of the vehicle speed. Do the processing.

  FIG. 5 is a time chart showing processing performed by the braking / driving force controller 4 when the driver's intention changes from acceleration to maintenance of the vehicle speed. Further, in FIG. 5, the horizontal axis indicates an elapsed time (described as "time" in the figure). Further, in FIG. 5 (a), the vertical axis shows the degree of opening of the acceleration / deceleration pedal 14 (denoted as "pedal opening degree" in the figure), and in FIG. 5 (b), the vertical axis is acceleration / deceleration The operating speed of the pedal 14 (described as "pedal operating speed" in the drawing) is shown. Furthermore, in FIGS. 5 (a), 5 (c) and 5 (d), the reference neutral point of the initial value is referred to as a "reference neutral point". Further, in FIG. 5C and FIG. 5D, the reference neutral point changed from the initial value is referred to as a “corrected neutral point”.

In the process shown in FIG. 5, as shown in FIG. 5 (d), the difference between the correction neutral point to be changed according to the change in the operating speed of the acceleration / deceleration pedal 14 and the opening degree of the acceleration / deceleration pedal 14 is calculated. Do. In FIG. 5D, the correction neutral point is indicated by a dotted line, and the opening degree of the acceleration / deceleration pedal 14 is indicated by a solid line.
Then, when the opening degree of the acceleration / deceleration pedal 14 is less than the correction neutral point, the acceleration / deceleration G calculation unit 20 maximizes the braking force to be generated on the vehicle V as the opening degree of the acceleration / deceleration pedal 14 increases. A braking force signal to be decreased from the above is output to the braking force calculation unit 22.
On the other hand, when the opening degree of the acceleration / deceleration pedal 14 exceeds the correction neutral point, the acceleration / deceleration G calculation unit 20 causes the driving force to be generated to the vehicle V to increase as the opening degree of the acceleration / deceleration pedal 14 increases. The force signal is output to the driving force calculating unit 24.

When the opening degree of the acceleration / deceleration pedal 14 that increases after exceeding the correction neutral point is held at a constant value, at this time t4, the acceleration / deceleration intention estimation unit 16 estimates that the driver's intention is maintenance of the vehicle speed. Do. Then, the driver intention signal including the estimated intention is output to the predetermined operation amount correction unit 18.
When the predetermined operation amount correction unit 18 receives an input of the driver intention signal including the intention to maintain the vehicle speed (vehicle speed maintenance intention), the reference neutral point changed from the initial value is an initial value according to the passage of time. The corrected neutral point is calculated so as to return to Then, the neutral point signal including the corrected neutral point calculated according to the vehicle speed maintenance intention is output to the acceleration / deceleration G calculation unit 20.

That is, when the intention estimated by the acceleration / deceleration intention estimation unit 16 changes from the acceleration intention to the vehicle speed maintenance intention, the predetermined operation amount correction unit 18 changes the reference neutral point changed from the initial value according to the magnitude of the acceleration intention The corrected neutral point is calculated so as to return to the initial value as time e. Thereby, when the intention estimated by the acceleration / deceleration intention estimation unit 16 changes from the acceleration intention to the vehicle speed maintenance intention, the predetermined operation amount correction unit 18 calculates the predetermined operation amount from the initial value corrected according to the magnitude of the acceleration intention. The predetermined operation amount is corrected so as to return to the initial value as time e.
After the time t4, when the reference neutral point changed according to the passage of time returns to the initial value, the reference neutral point is maintained at the initial value when the opening degree of the acceleration / deceleration pedal 14 does not change after the time t5. As a result, when the opening degree of the acceleration / deceleration pedal 14 does not change after time t5, a driving force signal for generating a driving force for maintaining the vehicle speed is output to the driving force calculation unit 24.

  As described above, in the braking / driving force control device 1 of the present embodiment, the driving force to be generated in the vehicle V is gradually reduced as time passes without being reduced immediately when the driver's intention becomes maintenance of the vehicle speed. It is possible to reduce. Thus, it is suppressed that the driver directly feels that the magnitude of the driving force is changed due to the change of the neutral point, and that the driver having the vehicle speed maintenance intention feels a stall feeling. As a result, the driver's intention can be reflected in the behavior of the vehicle V.

-Processing according to the driver's intention for deceleration Next, referring to FIGS. 1 to 5 and using FIG. 6, the braking / driving force controller 4 performs when the driver's intention changes from acceleration to deceleration. The process will be described.
The process performed by the braking / driving force controller 4 when the driver's intention changes from acceleration to deceleration is, for example, the process shown in FIG.
In the following description, after the reference neutral point is changed from the initial value according to the driver's intention for acceleration, the processing performed by the braking / driving force controller 4 when the driver's intention changes from acceleration to deceleration is described. Do.

  Further, in FIG. 6, as one example, until the driver's intention changes from acceleration to deceleration, the reference neutral point is changed regardless of the opening degree of the acceleration / deceleration pedal 14, the change in the operating speed of the acceleration / deceleration pedal 14 Shows the case of changing from the initial value according to. Therefore, in the processing shown in FIG. 6, when the driver operates the acceleration / deceleration pedal 14, processing is performed to change the reference neutral point from the initial value until the driver's intention changes from acceleration to deceleration. . Further, in the processing shown in FIG. 6, processing is performed to largely change the reference neutral point from the initial value as the operation speed of the acceleration / deceleration pedal 14 increases, until the driver's intention changes from acceleration to deceleration.

FIG. 6 is a time chart showing processing performed by the braking / driving force controller 4 when the driver's intention changes from acceleration to deceleration. Further, in FIG. 6, the horizontal axis indicates an elapsed time (described as "time" in the figure). Further, in FIG. 6 (a), the vertical axis shows the degree of opening of the acceleration / deceleration pedal 14 (described as "pedal opening degree" in the figure), and in FIG. 6 (b), the vertical axis is acceleration / deceleration The operating speed of the pedal 14 (described as "pedal operating speed" in the drawing) is shown. Furthermore, in FIG. 6A and FIG. 6C, the reference neutral point of the initial value is indicated as “reference neutral point”. Further, in FIG. 6C, the reference neutral point changed from the initial value is referred to as a “corrected neutral point”.
In the process shown in FIG. 6, when the opening degree of the acceleration / deceleration pedal 14 which has been increased according to the driver's acceleration intention starts to decrease, at this time t6, the acceleration / deceleration intention estimation unit 16 determines the driver's intention. Is calculated to change from acceleration to deceleration. Then, the driver intention signal including the calculated deceleration intention is output to the predetermined operation amount correction unit 18.

The predetermined operation amount correction unit 18 corrects the neutral point so that the reference neutral point, which has been changed from the initial value, returns to the initial value according to the passage of time when the driver intention signal including the deceleration intention is received. Calculate Then, the neutral point signal including the corrected neutral point calculated according to the deceleration intention is output to the acceleration / deceleration G calculation unit 20.
Specifically, the predetermined operation amount correction unit 18 receives the driver intention signal including the deceleration intention so that the ratio of the opening degree of the acceleration / deceleration pedal 14 to the braking force generated on the vehicle V becomes constant. The correction neutral point is calculated according to the opening degree of the acceleration / deceleration pedal 14 which decreases with the passage of time.

That is, when the intention estimated by the acceleration / deceleration intention estimation unit 16 changes from the acceleration intention to the deceleration intention, the predetermined operation amount correction unit 18 changes the reference neutral point changed from the initial value according to the magnitude of the acceleration intention. A corrected neutral point is calculated so as to return to the initial value as time passes. Thereby, when the intention estimated by the acceleration / deceleration intention estimation unit 16 changes from the acceleration intention to the deceleration intention, the predetermined operation amount correction unit 18 corrects the predetermined operation amount corrected from the initial value according to the magnitude of the acceleration intention. The predetermined operation amount is corrected to return to the initial value as time passes.
After time t6, when the reference neutral point changed from the initial value according to the passage of time returns to the initial value, after time t7, the reference neutral point is set to the initial value regardless of the opening degree of the acceleration / deceleration pedal 14. maintain. Thus, after time t7, the driving force signal for reducing the driving force according to the opening degree of the acceleration / deceleration pedal 14 until the opening degree of the acceleration / deceleration pedal 14 becomes equal to the reference neutral point of the initial value It is output to the driving force calculating unit 24. Then, when the opening degree of the acceleration / deceleration pedal 14 becomes less than the reference neutral point of the initial value, from this time point t8, a braking force signal for increasing the braking force is output to the braking force calculation unit 22.

As described above, in the braking / driving force control device 1 of the present embodiment, the driving force to be generated in the vehicle V is gradually reduced as time passes without being reduced immediately when the driver's intention changes from acceleration to deceleration. It is possible to reduce. In addition, according to the opening degree of the acceleration / deceleration pedal 14 which decreases with the passage of time, it is changed from the initial value so that the ratio of the opening degree of the acceleration / deceleration pedal 14 and the braking force generated to the vehicle V becomes constant. Return the reference neutral point to the initial value.
This makes it possible to change the driving force and the braking force generated by the vehicle V in the decelerating state according to the operation state of the acceleration / deceleration pedal 14 by the driver whose intention has changed from acceleration to deceleration. Therefore, it is possible to control the acceleration in the front-rear direction generated in the vehicle V by the driver having the intention to decelerate, and to reflect the driver's intention on the behavior of the vehicle V.

(Operation)
Next, an example of the operation performed using the braking / driving force control device 1 of the present embodiment will be described using FIGS. 7 and 8 with reference to FIGS. 1 to 6.
FIG. 7 is a time chart of the operation performed using the braking / driving force control device 1 of the present embodiment.
The following description will be made of the operation when the driver's intention changes from the acceleration intention to the vehicle speed maintenance intention.
Further, in FIG. 7, as an example, until the driver changes from the acceleration intention to the vehicle speed maintenance intention, the reference neutral point is the operating speed of the acceleration / deceleration pedal 14 regardless of the opening degree of the acceleration / deceleration pedal 14. Change from the initial value according to the change of. Therefore, in the process shown in FIG. 7, when the driver operates the acceleration / deceleration pedal 14, the reference neutral point is changed from the initial value until the driver's intention changes from the acceleration intention to the vehicle speed maintenance intention. Do the processing. Further, in the process shown in FIG. 7, the process of changing the reference neutral point from the initial value largely as the operation speed of the acceleration / deceleration pedal 14 increases, until the driver's intention changes from the acceleration intention to the vehicle speed maintenance intention. Do.

In FIG. 7, the horizontal axis indicates the elapsed time (denoted as "time" in the figure). In FIG. 7 (a), the vertical axis shows the degree of opening of the acceleration / deceleration pedal 14 (denoted as "pedal opening degree" in the figure), and in FIG. 7 (b), the vertical axis is acceleration / deceleration The operating speed of the pedal 14 (described as "pedal operating speed" in the drawing) is shown. Furthermore, in FIG. 7A and FIGS. 7C to 7E, the reference neutral point of the initial value is referred to as a “reference neutral point”. Moreover, in FIG.7 (c)-(e), the reference | standard neutral point changed from the initial value is shown as a "correction | amendment neutral point."
When the braking / driving force control device 1 starts processing, as shown in FIG. 7C, the reference neutral point is changed according to the change in the operating speed of the acceleration / deceleration pedal 14, regardless of the opening degree of the acceleration / deceleration pedal 14. Change from the initial value.

Further, when the braking / driving force control device 1 starts processing, as shown in FIG. 7E, a reference neutral point (corrected neutral point) to be changed from the initial value according to the change in the operating speed of the acceleration / deceleration pedal 14 The difference between the opening degree of the acceleration / deceleration pedal 14 and the opening degree of the acceleration / deceleration pedal 14 is calculated. In FIG. 7E, the correction neutral point is indicated by a dotted line, and the opening degree of the acceleration / deceleration pedal 14 is indicated by a solid line.
Then, the correction neutral point is divided from the opening degree of the acceleration / deceleration pedal 14 to calculate the difference between the correction neutral point and the opening degree of the acceleration / deceleration pedal 14 as the control pedal opening degree.

Further, when the braking / driving force control device 1 starts processing, as shown in FIG. 7D, a reference neutral point (corrected neutral point) to be changed from the initial value according to the change in the operating speed of the acceleration / deceleration pedal 14 And the difference between the full opening degree of the acceleration / deceleration pedal 14 is calculated. The fully open degree of the acceleration / deceleration pedal 14 is the opening degree of the acceleration / deceleration pedal 14 in a state where the acceleration / deceleration pedal 14 is depressed to the maximum value.
Then, the correction neutral point is divided from the full opening degree of the acceleration / deceleration pedal 14 to calculate a difference between the correction neutral point and the full opening degree of the acceleration / deceleration pedal 14 as a pedal opening degree reference value.
When the control pedal opening and the pedal opening reference value are calculated as described above, the calculated control pedal opening and pedal opening reference value are input to the following equation (1) to calculate the braking / driving force Calculate the pedal opening degree.
Calculation of braking / driving force pedal opening = control pedal opening / pedal opening reference value ... (1)

Next, a braking force command value or a driving force command value is calculated by inputting the opening degree of the braking / driving force calculation pedal calculated using the above equation (1) into the map shown in FIG. FIG. 8 is a map showing the relationship between the braking / driving force calculation pedal opening degree and the braking force command value and the driving force command value. Specifically, FIG. 8 (a) is a map showing the relationship between the braking force calculation pedal opening degree and the driving force command value, and FIG. 8 (b) is the braking / driving force calculation pedal opening degree. It is a map which shows a relationship with a braking force command value.
According to the opening degree of the braking / driving force calculation calculated as described above, an output of the braking force signal to the braking force calculating unit 22 or an output of the driving force signal to the driving force calculating unit 24 is performed. Then, when the opening degree of the acceleration / deceleration pedal 14 that increases after exceeding the correction neutral point is held at a constant value, at this time t4, the driver's intention changes from the acceleration intention to the vehicle speed maintenance intention. Therefore, the reference neutral point is changed such that the reference neutral point, which has been changed from the initial value, returns to the initial value as time passes.

After the time point t4, when the reference neutral point changed from the initial value according to the passage of time returns to the initial value, when the opening degree of the acceleration / deceleration pedal 14 does not change after the time point t5, the reference neutral point is initialized Maintain the value. As a result, the degree of opening / closing of the braking / driving force calculation is maintained at a constant value, so the acceleration / deceleration G calculation unit 20 sends the driving force signal for generating the driving force for maintaining the vehicle speed to the driving force calculation unit 24. Output.
The above-described acceleration / deceleration pedal 14 corresponds to a braking / driving force operator.
Further, the above-described accelerator operation amount sensor 2 corresponds to the operation element operation amount detection unit.
The above-described braking / driving force controller 4 corresponds to a braking / driving force control unit.

Further, as described above, in the braking / driving force control method implemented by the operation of the braking / driving force control device 1 of the present embodiment, the operation amount of the acceleration / deceleration pedal 14 by the driver is detected. Then, in a region where the detected operation amount of the acceleration / deceleration pedal 14 is less than the predetermined operation amount from the unoperated state, the braking force command value is set to the initial braking force command value according to the increase in the detected operation amount of the acceleration / deceleration pedal 14 Decrease from On the other hand, in a region where the detected amount of operation of the acceleration / deceleration pedal 14 is equal to or greater than the predetermined amount of operation, a driving force command value corresponding to the deviation between the predetermined amount of operation and the detected amount of operation of the acceleration / deceleration pedal 14 is set.
In addition to this, if the driver's intention for acceleration / deceleration estimated according to the detected operation amount of the acceleration / deceleration pedal 14 is acceleration intention, the predetermined operation amount is corrected to be small.

(Effect of the first embodiment)
With the braking / driving force control device 1 of the present embodiment, it is possible to obtain the effects described below.
(1) Assuming that the driver's intention estimated by the predetermined operation amount correction unit 18 by the acceleration / deceleration intention estimation unit 16 is an acceleration intention, the amount of the acceleration / deceleration pedal 14 smaller than the operation amount corresponding to the predetermined operation amount of the initial value. The predetermined operation amount is corrected to be smaller so as to set the driving force command value by the operation amount. That is, if the driver's intention is an acceleration intention, the predetermined operation amount is decreased so that the driving force command value is set with the operation amount of the acceleration / deceleration pedal 14 smaller than the operation amount corresponding to the predetermined operation amount of the initial value. to correct.
Therefore, if the driver's intention is to accelerate, the amount of operation of the acceleration / deceleration pedal 14 that is smaller than the amount of operation corresponding to the predetermined amount of operation of the initial value It is possible to generate a corresponding driving force on the vehicle V.

As a result, when the driver operates the acceleration / deceleration pedal 14 with an intention to accelerate, the driving force is generated in the vehicle V even if the operation amount of the acceleration / deceleration pedal 14 is less than the predetermined operation amount of the initial value. It becomes possible to generate acceleration. This makes it possible to reduce the range in which the amount of operation of the acceleration / deceleration pedal 14 is less than the predetermined amount of operation changed from the initial value, that is, the range in which the braking force is generated on the vehicle V. With respect to the intention, it is possible to improve the degree of reflection on the behavior of the vehicle V.
Further, when the driver's intention is not the acceleration intention, the output from the braking force to the driving force is switched at the predetermined operation amount of the initial value. For this reason, when the driver's intention is not the acceleration intention, it is possible to achieve the effect of controlling the braking force and the driving force with only one pedal (acceleration / deceleration pedal 14), that is, the same effect as conventional. Become.

(2) If the intention of the driver estimated by the acceleration / deceleration intention estimation unit 16 by the predetermined operation amount correction unit 18 is an acceleration intention, the larger the acceleration intention, the larger the amount of change from the initial value. The predetermined operation amount is corrected to be small. That is, if the driver's intention is an acceleration intention, the predetermined operation amount is decreased and corrected so that the change amount from the initial value becomes larger as the acceleration intention is larger.
Therefore, it is possible to generate only the driving force in the vehicle V in a state where the amount of operation of the acceleration / deceleration pedal 14 is smaller as the driver's intention to accelerate is larger.
As a result, when the driver operates the acceleration / deceleration pedal 14 with an acceleration intention, the vehicle V generates acceleration in a state where the operation amount of the acceleration / deceleration pedal 14 is smaller as the driver's acceleration intention is larger. Is possible. This makes it possible to improve the degree of reflection on the behavior of the vehicle V with respect to the driver's intention to accelerate.

(3) When the acceleration / deceleration intention estimation unit 16 increases the operation speed of the acceleration / deceleration pedal 14 and exceeds the operation speed threshold (first operation speed threshold, second operation speed threshold), the driver's intention is acceleration intention Estimate that there is.
Therefore, it is possible to estimate the driver's intention by referring to the operation of the acceleration / deceleration pedal 14, that is, the operation speed of the acceleration / deceleration pedal 14 based on the operation essential for the operation of the vehicle V by the driver. .
As a result, it is possible to estimate the driver's intention without adding a configuration for estimating the driver's intention to the vehicle V.

(4) When the driver's intention estimated by the acceleration / deceleration intention estimation unit 16 changes from the acceleration intention to the vehicle speed maintenance intention, the predetermined operation amount correction unit 18 corrects the predetermined operation amount according to the magnitude of the acceleration intention. The predetermined operation amount is corrected so as to return to the initial value as time e.
For this reason, it is possible to gradually reduce the driving force generated in the vehicle V as time passes, without immediately reducing the driver's intention when the vehicle speed is maintained.
As a result, it is suppressed that the driver directly feels that the magnitude of the driving force is changed due to the change of the neutral point, and that the driver having the vehicle speed maintenance intention feels a stall feeling. Is possible. This makes it possible to reflect the driver's intention on the behavior of the vehicle V.

(5) When the driver's intention estimated by the acceleration / deceleration intention estimation unit 16 changes from the acceleration intention to the deceleration intention, the predetermined operation amount correction unit 18 corrects the predetermined operation amount according to the magnitude of the acceleration intention. The predetermined operation amount is corrected to return to the initial value as time passes.
For this reason, it is possible to gradually reduce the driving force generated in the vehicle V with the passage of time, without immediately reducing the driver's intention when the driver's intention changes from acceleration to deceleration.
As a result, it is possible to change the driving force and the braking force generated by the vehicle V in the decelerating state according to the operation state of the acceleration / deceleration pedal 14 by the driver whose intention has changed from acceleration to deceleration. As a result, the acceleration in the front-rear direction generated in the vehicle V can be controlled by the driver having a deceleration intention, and the driver's intention can be reflected in the behavior of the vehicle V.

(6) In the braking / driving force control method implemented by the operation of the braking / driving force control device 1 of the present embodiment, when it is determined that the driver's intention is the acceleration intention, the operation amount corresponding to the predetermined operation amount of the initial value The predetermined operation amount is corrected to be small so that the driving force is generated with a small amount of operation of the acceleration / deceleration pedal 14. That is, if the driver's intention is an acceleration intention, the predetermined operation amount is decreased so that the driving force command value is set with the operation amount of the acceleration / deceleration pedal 14 smaller than the operation amount corresponding to the predetermined operation amount of the initial value. to correct.
Therefore, if the driver's intention is to accelerate, the amount of operation of the acceleration / deceleration pedal 14 that is smaller than the amount of operation corresponding to the predetermined amount of operation of the initial value It is possible to generate a corresponding driving force on the vehicle V.

As a result, when the driver operates the acceleration / deceleration pedal 14 with an intention to accelerate, the driving force is generated in the vehicle V even if the operation amount of the acceleration / deceleration pedal 14 is less than the predetermined operation amount of the initial value. It becomes possible to generate acceleration. This makes it possible to reduce the region where the operation amount of the acceleration / deceleration pedal 14 is less than the predetermined operation amount changed from the initial value, that is, the region where the braking force is generated in the vehicle V. With respect to the intention, it is possible to improve the degree of reflection on the behavior of the vehicle V.
Further, when the driver's intention is not the acceleration intention, the output from the braking force to the driving force is switched at the predetermined operation amount of the initial value. For this reason, when the driver's intention is not the acceleration intention, it is possible to achieve the effect of controlling the braking force and the driving force with only one pedal, that is, the same effect as the conventional one.

(Modification)
(1) In the present embodiment, the power unit 12 is formed using an engine, but the configuration of the power unit 12 is not limited to this. That is, the power unit 12 may be formed using, for example, a motor, or may be formed using an engine and a motor.
(2) In the present embodiment, although the acceleration / deceleration pedal 14 in which the driver steps on the braking / driving force operation with the foot is used, the configuration of the braking / driving force operation is not limited to this. That is, for example, the braking / driving force operator may be a lever operated by the driver by hand.

Reference Signs List 1 braking / driving force control device 2 accelerator operation amount sensor 4 braking / driving force controller 6 brake actuator 8 wheel cylinder 10 power control unit 12 power unit 14 acceleration / deceleration pedal 16 acceleration / deceleration intention estimation unit 18 predetermined operation amount correction unit 20 acceleration / deceleration G calculation Unit 22 Braking Force Calculator 24 Driving Force Calculator V Vehicle

Claims (4)

A braking / driving force control device that generates a braking force or a driving force in a vehicle based on a braking force command value or a driving force command value set according to an operation amount of a braking / driving force operator.
A manipulator operation amount detection unit that detects a manipulation amount of the braking / driving force operator;
The operation amount of operator operation amount detecting unit detects is in the range is the state or al in less than stand point unmanipulated, the braking force command value for generating the braking force in response to an increase of the detected operation amount was reduced from preset initial brake force command value, it said range detected operation amount is pre SL in Tatsuten above, the driving force depending on the difference between the previous SL in Tatsuten the detected operation amount A braking / driving force control unit that sets the driving force command value to be generated;
When the operation speed of the braking / driving force operator calculated based on the operation amount detected by the operation element operation amount detection unit exceeds an operation speed threshold set in advance, it is estimated that the driver's intention is an acceleration intention, An acceleration / deceleration intention estimation unit that estimates that the driver's intention is the vehicle speed maintenance intention when the operation amount is held at a constant value ;
Estimating Then, the neutral point, and set to a value smaller than the predetermined initial value, intended acceleration the deceleration intention estimation unit has estimated that the deceleration intention estimation unit is intended for the driver is accelerating intention A predetermined operation amount correction unit that corrects the neutral point to gradually return from the value smaller than the initial value to the initial value over time when the intention changes to the vehicle speed maintenance intention;
A braking / driving force control device comprising: The braking-driving force control unit, intended for the deceleration intention estimation unit has estimated the driver When it is intention to accelerate, and calculates the neutral point so as to reduce as the acceleration intention is large The braking / driving force control device according to claim 1. The acceleration / deceleration intention estimation unit estimates that the driver's intention is a deceleration intention when the operation amount detected by the operation element operation amount detection unit decreases.
When the driver's intention estimated by the acceleration / deceleration intention estimation unit changes from acceleration intention to deceleration intention, the braking / driving force control unit changes the neutral point from the value smaller than the initial value to the initial value. The braking / driving force control device according to claim 1 or 2 , wherein correction is made so as to gradually return as time passes . A braking / driving force control method for causing a vehicle to generate a braking force or a driving force based on a braking force command value or a driving force command value set according to the operation amount of the braking / driving force operator.
Detecting an operation amount of the braking / driving force operator;
Operation amount and the detection, in the range which is state or al in less than stand point unmanipulated, initial brake force set in advance the braking force command value for generating the braking force in response to an increase of the detected operation amount decreases from the command value, the range detected operation amount is pre SL in Tatsuten above, the driving force command value for generating the driving force depending on the difference between the previous SL in Tatsuten the detected operation amount Set
When the operation speed of the braking / driving force operator calculated based on the detected operation amount exceeds the operation speed threshold set in advance, it is estimated that the driver's intention is an acceleration intention, and the operation amount becomes a constant value. If held, it is estimated that the driver's intention is the vehicle speed maintenance intention,
If it is estimated that the driver's intention is an acceleration intention, the neutral point is set to a value smaller than a predetermined initial value, and the estimated driver's intention changes from an acceleration intention to a vehicle speed maintenance intention. The control method according to claim 1, wherein the neutral point is corrected to gradually return from the value smaller than the initial value to the initial value as time passes .

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