JP6874701B2 - Accelerator pedal reaction force control device - Google Patents

Description

The present invention relates to a reaction force control device for an accelerator pedal that controls a reaction force with respect to a pedaling force of the accelerator pedal.

Conventionally, in order to change the pedaling force when the driver depresses the accelerator pedal and to improve the operability of the accelerator pedal, the reaction force is controlled while generating a reaction force to the depressing operation. A reaction force control device for an accelerator pedal is known. Further, the reaction force increases as the accelerator opening (the amount of operation of the accelerator pedal) and the driving force increase. An example of such a reaction force control device is described in Patent Document 1.

The reaction force control device described in Patent Document 1 is configured so that the driver can recognize when the operating position of the accelerator pedal falls within a predetermined range and when the operating position deviates from the predetermined range. For example, when the traveling region is switched from the region where the vehicle travels at a constant vehicle speed (constant traveling region) to the region where the vehicle accelerates and travels (accelerated traveling region), the rate of change of the reaction force is changed as compared with the case of the constant traveling region. It is configured to be large. On the contrary, when the traveling region is switched from the constant traveling region to the decelerating traveling region (deceleration traveling region), the rate of change of the above reaction force should be smaller than that in the constant traveling region. It is configured. In addition, Patent Document 2 and Patent Document 3 describe a configuration in which the above reaction force is increased at the time of kickdown when the driver requests sudden acceleration as compared with the case of normal driving.

Japanese Unexamined Patent Publication No. 2011-005929 Japanese Unexamined Patent Publication No. 2014-193688 Japanese Unexamined Patent Publication No. 2012-245853

According to the reaction force control device described in Patent Document 1 above, the rate of change of the reaction force changes greatly or small in a predetermined region, so that the driver feels the change by operating the accelerator pedal. As a result, it is possible to recognize that the traveling area has been switched. On the other hand, although the driving force (or acceleration) increases according to the amount of depression of the accelerator pedal as described above, the characteristics of the driving force of the vehicle are determined for each vehicle type or physique of the vehicle. Therefore, the vehicle does not always output the maximum driving force when the amount of depression of the accelerator pedal is maximum (that is, the accelerator opening is 100%). For example, even if the maximum driving force is output with a predetermined accelerator pedal depression amount, the driver may maximize the depression amount in order to output the maximum driving force, and in such a case. The stroke of the accelerator pedal after the above-mentioned predetermined depression amount is not reflected as a change in driving force. That is, the stroke after the predetermined stepping amount is an invalid stroke in which the driving force does not increase. Further, when such an invalid stroke occurs, for example, when the driving force is reduced from the state where the maximum driving force is output, the invalid stroke is reduced even when the driver reduces the stroke amount. The amount returned in the range of does not change the driving force, that is, does not cause a decrease in the driving force. That is, there is a possibility that the driving force intended by the driver may not be reached, which in turn complicates the operation of the accelerator pedal of the driver, and the operability of the accelerator pedal when controlling the driving force is lowered.

Further, particularly in a vehicle having a plurality of traveling modes, the stroke amount of the accelerator pedal that reaches the maximum driving force differs depending on the traveling mode, and the invalid stroke amount that is not caused by the above-mentioned change in the driving force also differs. Therefore, the operation of the accelerator pedal of the driver may become more complicated. As described above, in the conventional device, there is still room for improvement in order to improve the operability of the accelerator pedal.

The present invention has been conceived by paying attention to the above technical problems, and an object of the present invention is to provide a reaction force control device for an accelerator pedal capable of improving the operability of the accelerator pedal. ..

In order to achieve the above object, the present invention comprises an accelerator pedal that is stepped on and back operated by the driver, a reaction force applying mechanism that generates a reaction force with respect to the operation of the accelerator pedal by the driver, and the reaction. and a controller for controlling the force applying mechanism, a driving force is controlled in response to operation of the accelerator pedal, and the to adjust the reaction force by controlling the reaction force applying mechanism be possible, in the reaction force control device for setting the a Kuserupedaru possible plurality of running modes of the driving force generated in accordance with the normal mode and the operation of the accelerator pedal and the normal mode from the large sports mode, the controller, the accelerator When the pedal is depressed and the driving force reaches the maximum driving force, the rate of change of the reaction force is temporarily increased from a predetermined rate of change, and the driving force is applied to the driver. and broadcast knowledge that has reached the maximum driving force, and the configured rate of change of the reaction force after the rate of change of the reaction force is increased the predetermined rate than temporarily to "0", The sports mode is configured so that the range of the effective stroke in which the driving force changes according to the operation of the accelerator pedal is smaller than that in the normal mode, and notifies the driver that the maximum driving force has been reached. operation amount of the accelerator pedal at the time of is characterized in that you are smaller.

According to the present invention, when the driving force reaches a predetermined driving force, the rate of change of the reaction force (hereinafter, also simply referred to as the operation reaction force) with respect to the operation of the accelerator pedal is configured to temporarily increase. .. Specifically, when the driving force reaches the maximum driving force by depressing the accelerator pedal by the driver, the rate of change of the above-mentioned operating reaction force is temporarily increased from the predetermined rate of change, and the rate of change is temporarily increased. It is configured to notify the driver that the reaction force characteristics have changed. Therefore, the driver can accurately recognize that the driving force has reached the maximum driving force by feeling the above-mentioned change in the reaction force characteristic (for example, click feeling or vibration). That is, it is possible to accurately grasp the range of the effective stroke in which the driving force changes according to the change in the stroke amount of the accelerator pedal. Therefore, since the effective stroke caused by the change in the driving force can be grasped in this way, it is possible to suppress excessive depression of the accelerator pedal, in other words, it is possible to suppress or avoid the occurrence of the above-mentioned invalid stroke.

Further, according to the present invention, as described above, the effective stroke can be grasped, or the occurrence of the invalid stroke can be avoided, so that, for example, when the driver depresses the accelerator pedal to reduce the driving force. The change (decrease) in the driving force depends on the operation of the accelerator pedal. Therefore, it is possible to avoid inconveniences such as the driving force intended by the driver not being output. In other words, it is possible to suppress the driver's operation of the accelerator pedal from becoming complicated, and it is possible to suppress the deterioration of the operability (feeling) of the accelerator pedal.

Further, according to the present invention, when the reaction force control device of the accelerator pedal is mounted on a vehicle in which a plurality of driving modes can be set, control for changing the above reaction force characteristics for each driving mode is executed. Therefore, it is possible to suppress or avoid deterioration of the operability of the accelerator pedal in each traveling mode.

It is a figure which shows an example of the mechanism concerning the accelerator pedal which is the object of this invention. It is a figure explaining the relationship between the stroke amount of an accelerator pedal and a driving force, and the relationship between a stroke amount of an accelerator pedal, and a load (reaction force) in embodiment of this invention.

An embodiment of the present invention will be described with reference to the drawings. It should be noted that the embodiments shown below are merely examples of cases where the present invention is embodied, and do not limit the present invention.

FIG. 1 schematically shows an example of an accelerator pedal targeted by the present invention and a mechanism (accelerator pedal device) 1 including the accelerator pedal. The accelerator pedal 2 includes a tread surface 4 that receives the tread force of the driver 3 and a pedal arm 5 that supports the tread surface 4. When the driver 3 depresses the accelerator pedal 2, the pedal arm 5 moves in the front-rear direction of the vehicle. It is configured to rotate (rotate) with. Further, the accelerator pedal device 1 is provided with a reaction force applying mechanism 6 for returning the rotated accelerator pedal 2 to the origin position and generating a reaction force with respect to the pedaling force of the driver 3. In the example shown in FIG. 1, an accelerator position sensor 7 and a controller (ECU) 8 are provided as other main components. Hereinafter, a specific description will be given.

First, the accelerator pedal 2 is an operating device operated by the driver 3 to control the driving force of the vehicle, and is a driving force source according to the operating amount or the depression amount (stroke amount) of the accelerator pedal 2. The generated driving force, that is, engine torque or motor torque is adjusted. Further, the accelerator pedal 2 has a tread surface 4 and a pedal arm 5 as described above. The pedal arm 5 is suspended so as to rotate about a predetermined fulcrum (axis) 9, and extends to a floor side (not shown). A tread 4 is provided at the lower end of the pedal arm 5 extending toward the floor. The accelerator pedal 2 is a so-called haptic pedal that gives some feedback information to the driver by applying vibration or force.

Further, the accelerator pedal 2 is provided with an accelerator position sensor 7 for detecting the operation amount (accelerator opening degree) of the accelerator pedal 2 and the operation speed of the accelerator pedal 2. The accelerator position sensor 7 detects an angle from the origin position when the pedal arm 5 is rotated by, for example, the driver 3 stepping on the tread surface 4 or reducing the stepping force.

The reaction force applying mechanism 6 is a device that generates a reaction force with respect to the pedaling force of the driver 3, and in the example shown in FIG. 1, it is configured so that the magnitude of the reaction force can be controlled (adjustable). There is. Specifically, the reaction force applying mechanism 6 includes an actuator (for example, a motor), and by controlling the actuator, a reaction force corresponding to the operation position of the accelerator pedal 2 is generated, and the magnitude of the reaction force is determined. It is configured to control. The reaction force applying mechanism 6 includes a return spring that returns the rotated accelerator pedal 2 to the origin position.

The controller 8 is an electronic control unit (ECU) that receives signals from various sensors and controls a driving force source (not shown) such as an engine or the reaction force applying mechanism 6 described above. The controller 8 is configured mainly on a microcomputer, for example, performs an operation using pre-stored data such as input data, and outputs a control command signal based on the operation result. It is configured in. The input data includes various data such as the operation amount (accelerator opening) ACC of the accelerator pedal 2 detected by the accelerator position sensor 7 described above, the vehicle speed V, and the brake signal Br output when the brake pedal is depressed. This is the detection data. The output control command signal is, for example, the torque of the driving force source or the control command signal of the actuator in the reaction force applying mechanism 6. The control amount of the actuator is appropriately controlled according to the operation amount of the accelerator pedal 2.

Further, the vehicle equipped with the accelerator pedal device 1 shown in FIG. 1 is a vehicle in which a plurality of traveling modes can be set, and the plurality of traveling modes are, for example, a normal mode (standard mode) and its normal mode. It is a sports mode with better acceleration than the mode.

In the accelerator pedal device 1 configured in this way, when the accelerator pedal 2 is depressed by the driver 3, the pedal arm 5 rotates according to the depression operation amount. Further, the rotation angle of the pedal arm 5 (that is, the amount of operation of the accelerator pedal 2) is detected by the accelerator position sensor 7, and the driving force and the reaction force to the stepping operation are determined based on the detected data. Has been done. Further, the driving force and the operating reaction force change according to the operating amount of the accelerator pedal 2, that is, the larger the depression amount of the accelerator pedal 2 of the driver 3, the larger the driving force and the operating reaction force are.

On the other hand, the characteristics of the driving force differ depending on the vehicle type and the physique of the vehicle as described above, and the vehicle outputs the maximum driving force when the amount of depression of the accelerator pedal 2 is maximum (that is, the accelerator opening is 100%). Not always. That is, the maximum driving force is reached with a predetermined operating amount smaller than the maximum depression operation amount of the accelerator pedal 2, and the stroke of the accelerator pedal 2 after the predetermined operating amount is an invalid stroke that is not caused by the change in the driving force. In such a case, the driver 3 may feel a sense of discomfort because the driving force does not change even though the accelerator pedal 2 is depressed, in other words, the operability of the accelerator pedal 2 deteriorates. Therefore, in the embodiment of the present invention, it is configured to suppress the deterioration of the operability of the accelerator pedal 2.

Specifically, when the driving force reaches the maximum driving force, the reaction force is controlled. FIG. 2 is a diagram showing the relationship between the stroke amount (accelerator opening degree) of the accelerator pedal 2 and the driving force, and the relationship between the stroke amount of the accelerator pedal 2 and the reaction force. Further, regarding the relationship, in the example shown in FIG. 2, the case of the above-mentioned normal mode and the case of the sport mode are compared, and the solid line indicates the sport mode and the broken line indicates the normal mode. In the graph showing the relationship between the accelerator stroke amount and the reaction force, the upper side shows the change in the reaction force on the stepping side of the accelerator pedal 2, and the lower side shows the change in the reaction force on the stepping back side of the accelerator pedal 2. ing.

More specifically, first, when the accelerator pedal 2 is depressed by the driver 3, each driving force in the sports mode and the normal mode has a predetermined rate of change (inclination) determined in advance according to an increase in the amount of depression operation. ) Increases the driving force. The rate of change at that time is larger in the sports mode than in the normal mode. Further, as the stepping operation amount increases, the reaction force on the stepping side also increases at a predetermined rate of change.

Then, when the driver 3 further depresses the accelerator pedal 2 to increase the depressing amount (that is, the accelerator pedal stroke amount) to α% (α <maximum stroke amount), the driving force in the sports mode is driven to the maximum. Reach power. Further, in the embodiment of the present invention, when the maximum driving force is reached, the reaction force is temporarily increased at a rate of change larger than a predetermined rate of change. Then, a so-called click feeling or vibration is given to the driver 3 by the change of the reaction force. More specifically, by controlling the reaction force applying mechanism (that is, the actuator) 6 described above, a click feeling or vibration is generated. That is, in this sport mode, the stroke amount of the accelerator pedal 2 up to α% is the effective stroke due to the change in the driving force. Further, in the sport mode, when the accelerator pedal 2 is depressed to the above α% or more, the magnitude of the reaction force is controlled to be unchanged (flat) as shown in FIG.

On the other hand, in the normal mode, the rate of change of the driving force is smaller than that in the sports mode, and the stroke amount of the accelerator pedal 2 reaches the maximum driving force at β%. Then, in this normal mode as well, the reaction force characteristic when the maximum driving force is reached is controlled as in the sport mode. Specifically, when the driving force reaches the maximum driving force (that is, the accelerator pedal stroke is β%), the reaction force applying mechanism 6 temporarily increases the reaction force at a rate of change larger than a predetermined rate of change. Is controlled to give the driver 3 a so-called click feeling or vibration. That is, in this normal mode, the stroke amount of the accelerator pedal 2 up to β% is the effective stroke due to the change in the driving force. Then, the stroke after β% is controlled to a flat state so that the reaction force does not increase any more.

Next, the operation in the embodiment of the present invention will be described. As described above, when the accelerator pedal 2 is depressed by the driver 3, the driving force increases according to the depression operation. In addition, the reaction force against the pedaling force of the driver 3 also increases. On the other hand, in the embodiment of the present invention, as shown in FIG. 2, when the driving force reaches the maximum driving force with a predetermined stroke amount (α% or β%) of the accelerator pedal 2, the maximum driving force is reached. The above reaction force is controlled so as to inform the driver 3. Specifically, when the accelerator pedal 2 is depressed and the driving force reaches the maximum driving force, the rate of change of the reaction force is temporarily increased from the predetermined rate of change to give a so-called click feeling or vibration. It is configured as follows. That is, the reaction force applying mechanism (6 is controlled to control the above reaction force.

Therefore, the driver 3 can recognize that the driving force has reached the maximum driving force by feeling the click feeling and the vibration in the above reaction force. That is, it is possible to accurately grasp the range of the effective stroke in which the driving force changes according to the change in the stroke amount of the accelerator pedal 2. Therefore, since the effective stroke caused by the change in the driving force can be grasped in this way, it is possible to suppress excessive depression of the accelerator pedal 2, in other words, an invalid stroke not caused by the change in the driving force is generated. Can be suppressed or avoided.

Further, by being able to grasp the effective stroke or avoiding the occurrence of the invalid stroke, for example, when the driver 3 depresses the accelerator pedal 2 in order to reduce the driving force, the driving force is obtained. The change (decrease) of is in response to the operation of the accelerator pedal 2. That is, when this control is not executed, even if the accelerator pedal 2 is depressed, the range of the invalid stroke is not reflected as a change in the driving force, but according to the embodiment of the present invention. Such inconvenience does not occur. That is, when the accelerator pedal 2 is depressed, it is possible to suppress excessive depression of the accelerator pedal 2, and on the contrary, when the accelerator pedal 2 is depressed again, the occurrence of an invalid stroke is avoided. It is possible to suppress or avoid the occurrence of discomfort in the operation of the accelerator pedal. In other words, it is possible to suppress the operation of the accelerator pedal 2 of the driver 3 from becoming complicated and to prevent the operability (feeling) of the accelerator pedal 2 from deteriorating.

Further, the reaction force after a predetermined stroke reaching the above-mentioned maximum driving force is controlled to a flat state in which the reaction force does not change. Therefore, the driver 3 can recognize that the maximum driving force has been reached by feeling that the magnitude of the reaction force does not change.

Further, in the examples shown in FIGS. 1 and 2, the stroke amount of the accelerator pedal 2 that has a plurality of traveling modes of the sport mode and the normal mode and reaches the maximum driving force differs between the sport mode and the normal mode. Even in such a case, in each driving mode, the driver 3 reaches the maximum driving force by temporarily increasing the reaction force when the maximum driving force is reached to give a click feeling and vibration. It is possible to accurately recognize what has been done, and it is possible to accurately grasp the range of effective strokes in each traveling mode. Therefore, it is possible to suppress or avoid the stepping-up operation of the accelerator pedal 2, and it is possible to suppress the deterioration of the operability of the accelerator pedal 2 in each traveling mode.

Although a plurality of embodiments of the present invention have been described above, the present invention is not limited to the above-mentioned examples, and may be appropriately modified as long as the object of the present invention is achieved. In the above-described example, the accelerator pedal 2 targeted by the present invention has been described as a so-called suspension type accelerator pedal 2, but the present invention is not limited to this, and for example, a so-called organ type accelerator pedal known conventionally may be targeted. Good.

Further, in the above-described embodiment, although two driving modes, a normal mode and a sports mode, have been described as an example of the driving mode, the driving mode may be three or more (for example, the eco mode (for example, eco mode). Low output mode)). In such a case, in the reaction force characteristics in each traveling mode, when the driving force reaches the maximum driving force as in the example of FIG. 2, the above control such as giving a click feeling or vibration should be executed. Just do it.

1 ... accelerator pedal device, 2 ... accelerator pedal, 3 ... driver, 4 ... tread, 5 ... pedal arm, 6 ... reaction force applying mechanism, 7 ... accelerator position sensor, 8 ... controller (ECU), 9 ... fulcrum.

Claims (1)

The accelerator pedal, which is stepped on and returned by the driver,
A reaction force applying mechanism that generates a reaction force to the driver's operation of the accelerator pedal,
It is equipped with a controller that controls the reaction force applying mechanism.
Wherein the driving force controlled in accordance with operation of an accelerator pedal, and the A is possible to adjust the reaction force by controlling the reaction force applying mechanism, according to the operation of the normal mode and the accelerator pedal in the reaction force control device of a plurality of possible a Kuserupedaru setting the travel mode between large sports mode the driving force from the normal mode generated,
The controller
When the accelerator pedal is depressed and the driving force reaches the maximum driving force, the rate of change of the reaction force is temporarily increased from a predetermined rate of change, and the driver is given the driving force. construction but to the reaction force change rate after you broadcast knowledge that has reached the maximum driving force and the rate of change of the reaction force is increased the predetermined rate than temporarily to "0" Being done
The sports mode is configured so that the range of the effective stroke in which the driving force changes according to the operation of the accelerator pedal is smaller than that in the normal mode, and notifies the driver that the maximum driving force has been reached. The amount of operation of the accelerator pedal at the time of operation is small.
Reaction force control device of the accelerator pedal, wherein the this.

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