JPH0914021A - Vehicular throttle control device - Google Patents

Abstract

PURPOSE: To improve operation feeling by computing operation characteristic at the time of accelerator operation, on the basis of a detection signal for an accelerator operation variable, and using a calculation result for learning and correcting target opening characteristic for throttle opening, depending on the accelerator operation variable. CONSTITUTION: When acceleration status is identified at a step 16, an actual accelerator operation speed dsAim from a first acceleration operation variable SAim to an 'i'-th accelerator operation variable SAim is computed at a step 17. and a mean operation variable SAim for an accelerator operation variable SA during acceleration is computed at a step 18. Then, an operation speed dSA at the mean operation variable SAim is read out from an operation speed characteristic map at a step 19. Thereafter, a reference operation speed dSA and an actual accelerator operation speed dSAim are compared to give a speed ratio dSAy at a step 20. Then, the ratio dSAy is weight averaged for the previous learning correction value KLim-1, and a learning correction value KLim is obtained for updating the previous value and saved at a step 21. Thereafter, the value KLim is used to correct a target opening of throttle opening as opening corresponding to accelerator operation tendency.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicular throttle control device suitable for controlling the opening / closing of a throttle valve of, for example, an automobile, and more particularly, to a driver's individuality by learning the driver's accelerator operation characteristics. The present invention relates to a throttle control device for a vehicle, which is capable of performing throttle opening control according to the above.

[0002]

2. Description of the Related Art Generally, an engine as a prime mover mounted on a vehicle such as an automobile rotates a throttle valve provided in the middle of an intake pipe in accordance with a depression operation amount of an accelerator pedal to open a throttle valve opening ( By changing the throttle opening), the output torque of the engine (engine speed etc.) is increased or decreased to variably control the traveling speed of the vehicle.

In a conventional throttle control device for a vehicle of this type, the throttle valve and the accelerator pedal are generally connected via a wire linkage or the like, and the throttle opening degree corresponds to the depression of the accelerator pedal. It is designed to be increased or decreased with a unique linear characteristic according to the operation amount.

[0004]

In the prior art described above, the throttle valve and the accelerator pedal are connected via a wire linkage or the like, and the throttle opening is uniquely changed according to the operation amount of the accelerator pedal. Thus, the engine speed is increased / decreased and the traveling speed of the vehicle is variably controlled via an automatic transmission or the like.

However, depending on the driver of the vehicle, the throttle opening may be increased faster to improve the acceleration of the vehicle, or the throttle opening may be increased or decreased more slowly in response to the depression of the accelerator pedal. There are various demands such as wanting to suppress acceleration and rapid deceleration, and it is difficult to control the throttle opening that is different for each vehicle according to the individuality of the driver, and it is necessary to respond to the driving tendency and taste of the driver. There is a problem that acceleration performance etc. cannot be exhibited.

Further, for example, in Japanese Unexamined Patent Publication No. 5-321729, an operation amount of an accelerator pedal is detected by an accelerator stroke sensor such as a potentiometer, and this detection signal is sent via a control unit to an electric motor (throttle, etc.) such as a servo motor. Output to the actuator)
There has been proposed a throttle control device (hereinafter, referred to as another conventional technique) configured to control a throttle opening variably by rotating a throttle valve with the electric motor.

However, even in such other conventional techniques, the mode control section of the control unit determines the mode,
By selecting one of the preset sports mode, hard mode, urban or suburban mode,
Since the throttle opening is controlled according to the amount of operation of the accelerator pedal according to the selected driving mode, it is difficult to control the throttle opening according to the driver's individuality. There is a problem that acceleration performance etc. according to taste cannot be exhibited.

The present invention has been made in view of the above-mentioned problems of the prior art. The present invention can control the throttle opening degree according to the personality of the driver and exhibits acceleration performance and the like according to the driver's preference. It is an object of the present invention to provide a vehicle throttle control device that can improve the driver's operation feeling of an accelerator pedal and the like and can improve safety and reliability.

[0009]

In order to solve the above-mentioned problems, the invention as set forth in claim 1 is an operation amount detecting means for detecting an accelerator operation amount, and a throttle opening degree according to the accelerator operation amount. The throttle control means for variably controlling the traveling speed of the vehicle, the characteristic storage means for storing the target opening characteristic of the throttle opening with respect to the accelerator operation amount, and the accelerator operation time based on the signal from the operation amount detection means. Accelerator operation characteristic calculating means for calculating an operation characteristic, and learning correction means for learning and correcting the target opening characteristic of the throttle opening by the characteristic storing means based on the calculation result of the accelerator operation characteristic calculating means according to the accelerator operation amount. The configuration consists of and.

Further, in the invention as set forth in claim 2, the characteristic storage means stores the target opening characteristic of the throttle opening and the reference operation speed characteristic of the accelerator operation amount in an updatable manner. The operation characteristic calculation means calculates the actual accelerator operation speed based on a signal from the operation amount detection means during acceleration of the vehicle, and compares and calculates the accelerator operation speed and the operation speed of the reference operation speed characteristic. It is configured.

Further, in the invention according to claim 3, the learning correction means calculates the learning correction value based on the result of the comparison operation by the accelerator operation characteristic calculation means, and the characteristic is based on the learning correction value. The target opening of the throttle opening by the storage means is corrected according to the accelerator operation amount.

Furthermore, in the invention described in claim 4,
Based on the actual accelerator operation speed calculated by the accelerator operation characteristic calculating means, the reference operation speed characteristic of the accelerator operation amount by the characteristic storing means is learned and corrected.

[0013]

With the above construction, in the invention described in claim 1,
Based on the signal from the operation amount detecting means, the operation characteristic at the time of accelerator operation can be calculated by the accelerator operation characteristic calculating means, and based on the calculation result, the learning correcting means calculates the target opening characteristic of the throttle opening by the characteristic storing means based on the accelerator operation amount. As the target opening characteristic of the throttle opening corresponding to the accelerator operation characteristic (operation tendency) of the driver can be set, the throttle opening that always reflects the accelerator operation tendency of the driver can be set. Degree control can be realized.

According to the second aspect of the present invention, the characteristic storage means stores the reference operation speed characteristic of the accelerator operation amount in a renewable manner so that the accelerator operation characteristic calculation means can accelerate the vehicle. At this time, while calculating the actual accelerator operation speed based on the signal from the operation amount detection means, the accelerator operation speed and the operation speed of the reference operation speed characteristic can be compared and calculated, and the result of this comparison operation is driven. It can be taken out as the accelerator operation tendency of the person.

Further, in the invention according to claim 3, the learning correction means can calculate the learning correction value based on the result of the comparison calculation by the accelerator operation characteristic calculation means (driver's accelerator operation tendency). Based on this learning correction value, the target opening degree of the throttle opening degree by the characteristic storage means can be corrected and controlled as an opening degree corresponding to the accelerator operation tendency of the driver.

Furthermore, in the invention described in claim 4,
Based on the actual accelerator operation speed calculated by the accelerator operation characteristic calculation means, the reference operation speed characteristic of the accelerator operation amount by the characteristic storage means is learned and corrected, so that this reference operation speed characteristic is always up to the previous time. The learning correction can be continued as the operation speed characteristic reflecting the driving tendency (accelerator operation tendency by the driver).

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A vehicle throttle control device according to an embodiment of the present invention will be described below with reference to FIGS.

In the figure, reference numeral 1 denotes an accelerator sensor as an operation amount detecting means for detecting an accelerator operation amount, and the accelerator sensor 1 is a depression operation amount of an accelerator pedal (not shown) provided at a front portion of a driver's cab of a vehicle. Is detected as the accelerator operation amount SA, and the detection signal is output to the control unit 5 described later.

Reference numeral 2 denotes a throttle actuator as a throttle control means. The throttle actuator 2 is to increase or decrease the output torque (engine speed etc.) of an engine mounted as a prime mover in the vehicle according to the accelerator operation amount SA. , A throttle valve (not shown) provided in the middle of the intake pipe of the engine, the control unit 5
It is rotationally displaced in accordance with the control signal from.

Here, the throttle actuator 2 is composed of an electric motor or the like, and the output torque (engine speed etc.) of the engine is changed by changing the opening of the throttle valve (hereinafter referred to as throttle opening θT). By increasing or decreasing, the traveling speed of the vehicle is variably controlled.

Reference numeral 3 denotes an engine switch provided in the driver's cab of the vehicle. The engine switch 3 is closed when the engine is started and opened when the engine is stopped.
Reference numeral 4 denotes a crank angle sensor as a rotation speed detecting means for detecting the engine rotation speed of the engine.

Reference numeral 5 denotes a control unit as a control device composed of a microcomputer or the like. The control unit 5 has an input side connected to an accelerator sensor 1, an engine switch 3, a crank angle sensor 4, etc., and an output side connected to a throttle. Actuator 2
Etc. are connected. The control unit 5 stores the programs and the like shown in FIGS. 5 and 6 in its storage circuit, and executes the throttle control process of the vehicle and the correction calculation process for calculating the learning correction value and the like.

Further, in the memory circuit of the control unit 5, the reference target opening θTK of the throttle opening θT with respect to the accelerator operation amount SA shown in FIG.
A target opening characteristic map in which is stored as a characteristic line 6, a learning correction value calculation map for calculating a learning correction value KL for the accelerator operation amount SA shown in FIG. 3 as a value along the characteristic line 7,
An operation speed characteristic map in which a reference operation speed characteristic of the operation speed dSA of the accelerator with respect to the accelerator operation amount SA shown in FIG. 4 is stored as a characteristic line 8, a counter C and a predetermined accelerator operation amount α (for example, an angle before and after 10 degrees) Etc. are stored so that they can be updated. The storage area 5A of the control unit 5 constitutes a characteristic storage means for storing the target opening characteristic by the characteristic line 6 in FIG. 2 and the operation speed characteristic by the characteristic line 8 in FIG.

The characteristic line 6 of the target opening characteristic map shown in FIG. 2 shows a basic table for deriving the reference target opening θTK of the throttle opening θT with respect to the accelerator operation amount SA. As a target opening characteristic suitable for each vehicle based on experimental data and the like, in FIG. 2, a convex curved characteristic line 6A indicated by a one-dot chain line, a concave curved characteristic line 6B indicated by a two-dot chain line, or a meandering shape indicated by a dotted line. The characteristic line 6C and the like may be replaced with the characteristic line 6 and stored in advance.

Further, the characteristic line 7 of the learning correction value calculation map shown in FIG. 3 is initially set so that the learning correction value KL becomes KL = 1 in advance, and for example, the characteristic line 7A or two points shown by a one-dot chain line after that. The learning correction is performed as the characteristic line 7B shown by the chain line. When the characteristic line 7A in FIG. 3 is corrected and calculated (for example, multiplied) with respect to the characteristic line 6 in FIG. 2, a target opening characteristic having a convex curve like the characteristic line 6A is obtained, for example. Characteristic line 6 in FIG. 3 with respect to characteristic line 6
When the correction calculation (for example, multiplication) is performed, the characteristic line 6B
As described above, the target opening characteristic having a concave curved shape can be obtained.

Further, the characteristic line 8 of the operation speed characteristic map shown in FIG. 4 assumes that the driver of the vehicle depresses the accelerator pedal by an angle of 80 degrees for a time of 200 ms, for example. The speed dSA is a constant value dSAc (d
SAc = 0.4 degrees / ms), and thereafter, based on the actual accelerator operation speed dSAim by the driver, the characteristic line 8A shown by the one-dot chain line or the characteristic line 8B shown by the two-dot chain line It is learned and corrected as described above.

The vehicle throttle control device according to the present embodiment has the above-mentioned configuration. Next, the throttle control process and the correction calculation process by the control unit 5 will be described with reference to FIGS. 5 and 6.

First, when the processing operation is started by starting the engine or the like, in step 1, the accelerator operation amount SA is read as the accelerator operation amount SAin based on the detection signal from the accelerator sensor 1, and in step 2, the target shown in FIG. From the characteristic line 6 of the opening characteristic map, the reference target opening θTK of the throttle opening θT according to the accelerator operation amount SAin
Is read as the reference target opening θTKin, for example.

Then, in the next step 3, for example, the learning correction value KL corresponding to the accelerator operation amount SAin is learned from the characteristic line 7A (corrected by the correction calculation process described later) of the learning correction value calculation map shown in FIG. The target throttle opening degree θTin with respect to the accelerator operation amount SAin is calculated by reading out as the correction value KLin and proceeding to step 4 to correct (calculate, for example) the learning correction value KLin with respect to the reference target opening degree θTKin. Then, by outputting a control signal to the throttle actuator 2, the throttle control for rotating and displacing the throttle valve so that the opening of the throttle valve becomes the throttle opening θTin is executed, and the process returns in step 5.

Here, when the characteristic line 7A in FIG. 3 is corrected and calculated (for example, multiplied) with respect to the characteristic line 6 in FIG.
Assuming that the target opening characteristic having a convex curved shape as shown by the characteristic line 6A is obtained, the throttle opening θTin located on the characteristic line 6A in FIG. 2 indicates the throttle operation tendency of the driver with respect to the accelerator operation amount SAin. The opening value of the throttle valve is reflected, and the driver's operation feeling of the accelerator pedal or the like can be sufficiently improved.

Next, the correction calculation process performed in parallel with the throttle control process will be described with reference to FIG. 6. First, in step 11, the counter C is reset to zero,
In step 12, the accelerator operation amount SA is read at a constant sampling period Ts, and the process proceeds to step 13, where the sampling period Ts is

[0032]

## EQU1 ## The count value of the counter C is incremented by "1" as C ← C + 1.

Then, in the next step 14, it is judged whether or not the count value of the counter C reaches C = i (i = 2, 3, ..., 10), and "NO". The process from step 12 onward is repeated while the determination is made. When it is determined "YES" in step 14, the process proceeds to step 15 and the count value i-th accelerator operation amount SAin
And the difference ΔSA between the first (first count value) accelerator operation amount SA1n,

[0034]

[Formula 2] ΔSA = SAin−SA1n

Next, in step 16, the difference Δ at this time is calculated.
It is determined whether or not SA is equal to or greater than a predetermined accelerator operation amount α (for example, the angle before and after 10 degrees). When it is determined to be "YES", it is determined that the vehicle is in an acceleration state and it is determined to be "NO". Step 1 assuming that the vehicle is not in acceleration while
The processing after 1 is repeated.

When it is determined in step 16 that the vehicle is in an accelerating state, the routine proceeds to step 17, where the actual accelerator operation speed dSAim by the driver from the first accelerator operation amount SA1n to the i-th accelerator operation amount SAin is reached.
(Accelerator operation amount per unit time)

[0037]

## EQU3 ## Calculation is performed as dSAim = (SAin-SA1n) / Ts * i.

Next, at step 18, during acceleration (from the first accelerator operation amount SA1n to the i-th accelerator operation amount SAin).
(Time to reach)), the average operation amount SAim of the accelerator operation amount SA

[0039]

## EQU4 ## Calculation is made as SAim = (SA1n + ... + SAin) / (i + 1).

Then, in step 19, the characteristic line 8 shown in FIG.
The reference operation speed dSA based on the average operation amount SAim is read from the operation speed characteristic map shown as. Here, in the initial stage of the operation, the accelerator operation speed dSA is initially set along the characteristic line 8 to be a constant value dSAc (dSAc = 0.4 degrees / ms), so the reference operation speed dSA is set.
Is read from the operating speed characteristic map with dSA = dSAc.

Next, at step 20, the reference operation speed dSA (dSA = dSA) read from the operation speed characteristic map.
c) and the actual accelerator operation speed dSAim by the driver,

[0042]

[Mathematical formula-see original document] A comparison calculation is performed with dSAr = dSAim / dSA to calculate the speed ratio dSAr.

Then, in step 21, this speed ratio dS
The learning correction value KLin is calculated by weighted averaging Ar with respect to the previous learning correction value KLin-1,

[0044]

[Equation 6] KLin = KLin-1 × (1-1 / Y) + dSAr × 1 / Y is used for correction calculation (learning correction), and this learning correction value KLin is updated with respect to the previous learning correction value KLin-1. To remember.

Further, the learning correction values KLi-1n and KLi + 1n before and after the learning correction value KLin are calculated in substantially the same manner by repeating the processing from step 11 to step 21, and these values are calculated. Learning correction value KLi-1n, KLi
n, KLi + 1n, ... are smoothed, for example, the characteristic line 7A
Alternatively, the learning correction value calculation map as shown by the characteristic line 7B is created while being sequentially updated.

Next, in step 22, the above step 17
Actual accelerator operating speed dSAi calculated by the driver
The corrected reference operation speed d is obtained by weighting and averaging m with respect to the previous reference operation speed dSAin-1.
Sain

[0047]

## EQU00007 ## dSAin = dSAin-1.times. (1-1 / Z) + dS
The correction operation is performed as Aim × 1 / Z, and the operation speed after correction dSAin
Is updated and stored with respect to the previous operation speed dSAin-1, and the routine returns in step 23.

The operation speeds dSAi-1n and dSAi + 1n before and after the operation speed dSAin are also calculated in substantially the same manner by repeating the processing from step 11 to step 22, and these operation speeds are calculated. dSAi-1n, d
SAin, dSAi + 1n, ... Are smoothed, and the operating speed characteristic map as shown by, for example, the characteristic line 8A or the characteristic line 8B is sequentially updated and created.

Thus, according to this embodiment, the accelerator operation amount SA is stored in the storage area 5A of the control unit 5.
The target opening characteristic map of the reference target opening θTK, the learning correction value calculation map of the learning correction value KL, and the operation speed characteristic map of the reference operation speed dSA for The accelerator operation speed dSAim when the accelerator is actually stepped on during acceleration is calculated based on the accelerator operation amount SA (accelerator operation amounts SA1n to SAin) from the accelerator sensor 1 and the actual accelerator operation speed dSAim. And the reference operation speed dSA based on the operation speed characteristic map, the speed ratio dSAr
The comparison calculation is performed as follows.

As a result, the actual accelerator operation speed dSAi
Based on the speed ratio dSAr calculated by comparing m with the reference operation speed dSA, the driver's accelerator operation tendency at the time of acceleration can always be fetched as the latest information, and this speed ratio dSAr (driver's accelerator operation tendency ), The learning correction value KL of the learning correction value calculation map is set to the learning correction value KLin of this time with respect to the learning correction value KLin-1 of the previous time.
You can continue to update as this learning correction value KLin
Based on the above, the target opening of the throttle opening θT can be corrected and controlled as an opening corresponding to the accelerator operation tendency of the driver.

Further, the reference operation speed characteristic of the accelerator operation amount SA can be learned and corrected from the first characteristic line 8 to the characteristic line 8A (8B) illustrated in FIG. 4 based on the actual accelerator operation speed dSAim. The reference operation speed characteristic is always the driving tendency up to the previous time (driver's accelerator operation tendency)
The learning correction can be continued as the operation speed characteristic reflecting

Therefore, according to the present embodiment, by taking the accelerator operation tendency of the driver as the actual accelerator operation speed dSAim at the time of acceleration of the vehicle, the throttle opening θT corresponding to the driver's individuality (accelerator operation tendency). The control can be executed and the acceleration performance of the vehicle according to the driver's preference can be derived. Then, the driver's operation feeling of the accelerator pedal and the like can be effectively improved, and safety and reliability at the time of acceleration of the vehicle can be surely enhanced.

Note that, in the above-described embodiment, a specific example of the accelerator operation characteristic calculating means of the programs shown in FIGS. 5 and 6 in which the processing from step 11 to step 20 is a constituent of the present invention is shown, and step 21 And step 3 and step 4 of FIG. 5 show a specific example of the learning correction means.

In the above embodiment, the target opening characteristic map shown as the characteristic line 6 in FIG. 2 and the learning correction value calculation map shown as the characteristic line 7 in FIG. 3 are stored in the storage area 5A of the control unit 5. Although it is described as being stored in advance, instead of this, for example, the characteristic line 6A (7A) shown by the one-dot chain line or the characteristic line 6 shown by the two-dot chain line in FIG. 2 (FIG. 3).
A map such as B (7B) may be stored in advance.

[0055]

As described in detail above, according to the invention described in claim 1, the operation characteristic at the time of accelerator operation is calculated by the accelerator operation characteristic calculating means based on the signal from the operation amount detecting means, and this calculation is also performed. Based on the result, the learning correction means learns and corrects the target opening characteristic of the throttle opening by the characteristic storage means according to the accelerator operation amount, so that the throttle opening degree corresponding to the accelerator operation characteristic (operation tendency) of the driver The target opening can be obtained, and throttle control that always reflects the accelerator operation tendency of the driver can be realized. Therefore, it is possible to execute the throttle opening control according to the driver's individuality (accelerator operation tendency), bring out the acceleration performance of the vehicle according to the driver's taste, and effectively operate the accelerator pedal etc. by the driver. It is possible to improve the safety and reliability of the vehicle during acceleration.

Further, in the invention according to claim 2, the characteristic storage means stores the reference operation speed characteristic of the accelerator operation amount in a renewable manner, and the accelerator operation characteristic calculation means, the operation amount detection means during acceleration of the vehicle. While the actual accelerator operation speed is calculated based on the signal from, the accelerator operation speed and the operation speed of the reference operation speed characteristic are compared and calculated. The tendency can be accurately extracted, and the individuality of the driver can be surely reflected in the learning correction content by the learning correction means.

Further, in the invention according to claim 3, while the learning correction means calculates the learning correction value based on the result of the comparison operation by the accelerator operation characteristic calculation means, the learning correction value is calculated based on the learning correction value. Since the target opening of the throttle opening by the memory means is configured to be corrected according to the accelerator operation amount, the target opening of the throttle opening variably controlled by the throttle control means is opened according to the accelerator operation tendency of the driver. The driving performance of the vehicle can be derived according to the operation feeling of the driver.

Further, in the invention according to claim 4,
Since the reference operation speed characteristic of the accelerator operation amount by the characteristic storage means is learned and corrected based on the actual accelerator operation speed calculated by the accelerator operation characteristic calculation means, this reference operation speed characteristic is always operated up to the previous time. The learning correction can be continued as the operation speed characteristic reflecting the tendency (accelerator operation tendency by the driver), and the learning correction value accurately corresponding to the learning correction value by the learning correction means according to the driver's individuality (accelerator operation tendency). Can be

[Brief description of the drawings]

FIG. 1 is a control block diagram showing a vehicle throttle control device according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram showing a target opening characteristic map stored in a storage area of a control unit.

FIG. 3 is an explanatory diagram showing a learning correction value calculation map stored in a storage area of a control unit.

FIG. 4 is an explanatory diagram showing an operation speed characteristic map serving as a reference of an accelerator stored in a storage area of a control unit.

FIG. 5 is a flowchart showing throttle control processing when the vehicle is traveling.

FIG. 6 is a flowchart showing a correction calculation process for learning correction values and the like.

[Explanation of symbols]

 1 accelerator sensor (operation amount detection means) 2 throttle actuator (throttle control means) 3 engine switch 4 crank angle sensor 5 control unit 5A storage area (characteristic storage means) KL, KLin learning correction value SA, SAin accelerator operation amount dSA operation speed dSAim Actual accelerator operating speed θT, θTin Throttle opening θTKin Reference target opening

Claims (4)

[Claims] 1. An operation amount detecting means for detecting an accelerator operation amount, a throttle control means for variably controlling a traveling speed of a vehicle by changing a throttle opening according to the accelerator operation amount, and a throttle opening for the accelerator operation amount. Characteristic storing means for storing a target opening characteristic of degree, accelerator operation characteristic calculating means for calculating an operation characteristic at the time of accelerator operation based on a signal from the operation amount detecting means, and a calculation result of the accelerator operating characteristic calculating means. A vehicle throttle control device comprising: a learning correction means for learning-correcting the target opening characteristic of the throttle opening based on the characteristic storage means according to the accelerator operation amount. 2. The characteristic storage means is configured to store the target opening characteristic of the throttle opening and the reference operation speed characteristic of the accelerator operation amount so that the characteristic can be updated, and the accelerator operation characteristic calculation means can store the accelerator operation characteristic of the vehicle. 2. The vehicle according to claim 1, wherein the accelerator operation speed and the operation speed of the reference operation speed characteristic are compared and calculated while calculating the actual accelerator operation speed based on a signal from the operation amount detection means during acceleration. Throttle control device. 3. The learning correction means calculates a learning correction value based on a result of a comparison calculation by the accelerator operation characteristic calculation means, and based on the learning correction value, a target opening of the throttle opening degree by the characteristic storage means. The vehicle throttle control device according to claim 2, wherein the degree is corrected according to the accelerator operation amount. 4. The structure according to claim 2, wherein the reference operation speed characteristic of the accelerator operation amount by the characteristic storage means is learned and corrected based on the actual accelerator operation speed calculated by the accelerator operation characteristic calculation means. Vehicle throttle control device.