Accelerator device

Abstract

An accelerator device (1) is provided with a pedal lever (20) that can operate in response to depression, a drive source (31) that generates a driving force by energization, a power transmission mechanism (40) that transmits the driving force of the drive source (31) to the pedal lever (20) and applies a reaction force, which is a force in the opposite direction to the depression direction of the pedal lever (20), and a control unit (60) that controls the pedal lever (20) and the power transmission mechanism (40). The control unit (60) has a reaction force control unit (65) for controlling the reaction force applied to the pedal lever (20) by controlling the drive source (31), and the reaction force control unit (65) holds the initial reaction force for a reaction force holding time from the start of the application of the reaction force, and controls the reaction force applied to the pedal lever (20) after the reaction force holding time has elapsed. A reaction force reduction control for reducing the reaction force is performed using a time function.

Description

[0001] Cross-reference to related applications

[0002] This application is based on Japanese patent application No. 2022-135477 filed on August 29, 2022, and the contents thereof are cited herein. Technical Field

[0003] The present disclosure relates to accelerator devices. Background Art

[0004] Conventionally, there is known a reaction force device for controlling the reaction force to the accelerator pedal. For example, in Patent Document 1, if the pedaling speed exceeds the acceleration intention boundary threshold, the reaction force is reduced, and if the pedaling speed is lower than the acceleration intention boundary threshold, the reaction force is maintained.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent No. 4747206 Summary of the invention

[0008] In Patent Document 1, when it is determined that the acceleration is slow, the reaction force is maintained. Therefore, when the driver attempts to continue to step on the pedal at a slow pedaling speed according to the acceleration intention, the reaction force is maintained, making it difficult to step on the pedal, and there is a risk that the operability of the pedal will deteriorate. The purpose of the present disclosure is to provide an accelerator device that can appropriately apply a reaction force.

[0009] The accelerator device disclosed in the present invention comprises a pedal rod, a driving source, a power transmission mechanism, and a control unit. The pedal rod can be moved by being stepped on. The driving source generates a driving force by being energized. The power transmission mechanism transmits the driving force of the driving source to the pedal rod and applies a force in a direction opposite to the stepping direction of the pedal rod, i.e., a reaction force. The control unit controls the reaction force applied to the pedal rod by controlling the driving source. The reaction force control unit maintains the initial reaction force during the reaction force holding time from the start of the reaction force application, and after the reaction force holding time has passed, performs a reaction force reduction control to reduce the reaction force using a time function. In this way, the reaction force can be appropriately applied. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The above-mentioned object and other objects, features and advantages of the present disclosure will become more apparent through the following detailed description with reference to the accompanying drawings. The accompanying drawings are:

[0011] Figure 1 is a schematic diagram showing an accelerator device according to a first embodiment,

[0012] Figure 2is a flowchart for explaining the reaction force application control according to the first embodiment.

[0013] Figure 3 is a timing chart for explaining the reaction force application control of the first embodiment.

[0014] Figure 4 2 is an explanatory diagram for explaining the setting of the reaction force holding time in the first embodiment.

[0015] Figure 5 2 is an explanatory diagram for explaining the setting of the reaction force reduction time in the first embodiment.

[0016] Figure 6 is a flowchart for explaining the reaction force application control according to the second embodiment.

[0017] Figure 7 This is a timing chart for explaining the reaction force application control according to the second embodiment. DETAILED DESCRIPTION

[0018] (First Embodiment)

[0019] Hereinafter, the accelerator device of the present disclosure will be described based on the drawings. In the following, in a plurality of embodiments, substantially the same components are denoted by the same reference numerals and description thereof will be omitted. Figure 1 to Figure 5 A first embodiment will be described.

[0020] like Figure 1 As shown, the accelerator device 1 includes a pedal lever 20, a motor 31, a power transmission mechanism 40, an ECU 50, and the like.

[0021] The pedal lever 20 includes a pad 21, an arm 23, and a pedal 25, and is integrally driven by a driver's stepping operation or the like. The pad 21 is provided so that the driver can step on it. The pad 21 is rotatably supported by a fulcrum member 22 provided on the housing H. Figure 1 , the pad 21 is shown as a so-called floor-standing type (accordion type) provided in a direction extending along one side of the housing H, but it may also be a suspended type (suspension type). In this embodiment, the housing parts such as the pedal housing and the motor housing that are not driven by the drive of the motor 31 and the stepping operation of the pedal rod 20 are collectively referred to as "housing H".

[0022] The arm 23 connects the pad 21 and the pedal 25. One end of the pedal 25 is rotatably supported by the housing H via a fulcrum member 26, and the other end is connected to the arm 23. Thus, the pad 21, the arm 23, and the pedal 25 are integrally driven by the driver's operation of the pad 21. A pedal opening sensor 29 for detecting the pedal opening is provided on one end side of the pedal 25.

[0023] The pedal urging member 27 is a compression coil spring, one end of which is fixed to the pedal 25 and the other end of which is fixed to the housing H, and urges the pedal 25 in the accelerator closing direction. Figure 1 In FIG. 1 , the position of the pad 21 when the accelerator is fully opened is indicated by a dotted line.

[0024] The motor 31 is, for example, a brushed DC motor. The driving force of the motor 31 is transmitted to the pedal rod 20 via the power transmission mechanism 40. Here, the actuator 30 is a series of structures that transmit power from the motor 31 as a driving source to the pedal rod 20 via the power transmission mechanism 40.

[0025] The power transmission mechanism 40 includes a gear train 41, an actuator rod 45, an actuator rod urging member 47, etc. The gear train 41 is composed of a motor gear that rotates integrally with the motor shaft and a plurality of gears that mesh with the motor gear, and transmits the driving force of the motor 31 to the actuator rod 45. The position sensor 49 detects the rotational position of any gear constituting the gear train 41.

[0026] One end of the actuator rod 45 is connected to the gear train 41, and the other end thereof abuts against the pedal rod 20. Thus, the driving force of the motor 31 is transmitted to the pedal rod 20 via the power transmission mechanism 40. Figure 1 In the embodiment, the other end of the actuator rod 45 abuts against the pad 21, but it may also be configured to abut against the arm 23 or the pedal 25. The actuator rod urging member 47 is a compression coil spring that urges the actuator rod 45 in the direction of the reaction force application to keep the actuator rod 45 abutting against the pedal rod 20.

[0027] The ECU 50 includes a motor driver 51, a current sensor 52, a control unit 60, and the like. The motor driver 51 includes a switch element (not shown) related to switching of energization to the motor 31. The current sensor 52 detects a current flowing to the motor 31.

[0028] The control unit 60 is mainly composed of a microcomputer, etc., and has a CPU, ROM, RAM, I / O, and a bus connecting these structures, all of which are not shown in the figure. Each process in the control unit 60 can be a software process performed by the CPU executing a program pre-stored in a physical memory device such as ROM (that is, a non-temporary tangible recording medium that can be read), or it can be a hardware process performed by a dedicated electronic circuit. Figure 1 , although the case where each functional block is constituted by one control unit 60 is described, part of the functions may be constituted by other ECUs.

[0029] The control unit 60 includes a pedal opening detection unit 61, an actuator angle detection unit 62, and a reaction force control unit 65 as functional modules. The pedal opening detection unit 61 obtains the detection value of the pedal opening sensor 29 and detects the pedal angle θp, that is, the amount of pedaling of the pedal rod 20 from the fully closed position. In addition, the pedal opening detection unit 61 calculates the pedaling speed Vp based on the detection value of the pedal opening sensor 29. Figure 1 , it is described that the detection value is directly obtained from the pedal opening sensor 29, but the detection value may be obtained from other devices such as a host ECU through communication, for example.

[0030] The actuator angle detection unit 62 detects the actuator angle θa based on the detection value of the position sensor 49. The actuator angle θa is a rotation angle of the actuator rod 45 obtained based on the state in which the pedal rod 20 abuts against the actuator rod 45 at the fully closed position. The reaction force control unit 65 controls the reaction force applied to the pedal rod 20 by controlling the drive of the motor 31. In the present embodiment, current feedback control is performed in a manner to achieve a desired reaction force.

[0031] The reaction force control unit 65 applies a reaction force to the pedal rod 20 by energizing the motor 31, for example, according to the pedal angle θp that causes deterioration in fuel efficiency, or the vehicle speed, etc. Here, for example, when the driver attempts to continuously step on the pedal rod 20 at a slow stepping speed in accordance with the intention of acceleration, if a constant reaction force is continuously applied, the pedal rod 20 becomes difficult to step on, and there is a risk of deteriorating operability.

[0032] Therefore, when the reaction force is applied to the pedal rod 20, the initial reaction force F0 corresponding to the action mode is maintained for the reaction force holding time Xh, and after the reaction force holding time Xh has passed since the reaction force application started, the reaction force is gradually reduced to the original pedal characteristics using a time function. Thus, the sense of incongruity when the driver continues to step on the pedal rod 20 with the intention of accelerating can be reduced, and smooth pedal operation can be performed regardless of rapid acceleration or slow acceleration.

[0033] based on Figure 2 The flowchart of the present embodiment describes the reaction force application control process. This process is performed by the control unit 60 at a predetermined cycle. Hereinafter, the "step" in step S101 and the like is omitted and is recorded as a symbol "S".

[0034] In S101, the control unit 60 determines whether to implement reaction force application control. Here, an affirmative judgment is made when the pedal angle θp becomes greater than the reaction force application start angle θp_th. An affirmative judgment may also be made when the vehicle acceleration A becomes greater than the judgment threshold value A_th. In addition, the judgment may be made using parameters other than the pedal angle θp and the vehicle acceleration A, or based on instructions from other ECUs, etc. When it is determined that the reaction force application control is not implemented (S101: No), the processing after S102 is skipped and the motor 31 is not energized. When it is determined that the reaction force application control is implemented (S101: Yes), move to S102.

[0035] In S102, the reaction force control unit 65 obtains the current pedaling speed of the pedal rod 20 as the pedaling speed Vs at the start of control. In S103, the reaction force control unit 65 determines the reaction force holding time Xh based on the pedaling speed Vs at the start of control. In S104, the reaction force control unit 65 determines the reaction force reduction time Xd based on the pedaling speed Vs at the start of control. The setting of the reaction force holding time Xh and the reaction force reduction time Xd will be described later. In S105, the control unit 60 performs reaction force application control to apply a specified initial reaction force F0 corresponding to the action mode. In S106, the control unit 60 counts the elapsed time X1 from the start of reaction force application.

[0036] In S107, the control unit 60 determines whether the time X1 elapsed from the start of the reaction force application is longer than the reaction force holding time Xh. If it is determined that the time X1 elapsed from the start of the reaction force application is shorter than the reaction force holding time Xh (S107: No), the process moves to S105, and the reaction force application control under the initial reaction force F0 is continued. If it is determined that the time X1 elapsed from the start of the reaction force application is longer than the reaction force holding time Xh (S107: Yes), the process moves to S108.

[0037] In S108, the control unit 60 performs the reaction force reduction control so that the reaction force becomes 0 after the reaction force reduction time Xd has passed. In S109, the control unit 60 measures the elapsed time X2 from the start of the reaction force reduction control.

[0038] In S110, the control unit 60 determines whether the time X2 elapsed from the start of the reaction force reduction control is greater than the reaction force reduction time Xd. If it is determined that the time X2 elapsed from the start of the reaction force reduction control is less than the reaction force reduction time Xd (S110: No), the control unit 60 returns to S108 and continues the reaction force reduction control. If it is determined that the time X2 elapsed from the start of the reaction force reduction control is greater than the reaction force reduction time Xd (S110: Yes), the control unit 60 moves to S111, cuts off the power supply to the motor 31, and ends the reaction force application.

[0039] based on Figure 3 The timing diagram of FIG. 1 illustrates the reaction force application control of this embodiment. Figure 3 In the figure, the common time axis is used as the horizontal axis, and from the top, the applied reaction force, motor current, pedal opening, and pedaling speed are set.

[0040] When the pedal rod 20 is stepped on from time x10 , the motor 31 is not energized until time x11 when the pedal angle θp reaches the reaction force application start angle θp_th, and the reaction force is not applied to the pedal rod 20 .

[0041] If the pedal angle θp reaches the reaction force application start angle θp_th at the moment x11, the drive of the motor 31 is controlled to apply the specified initial reaction force F0 corresponding to the action mode. At this time, the pedal position is maintained by the driver increasing the pedal force to balance the applied reaction force. In addition, there is also a situation where the pedal position changes according to the pedal force from the driver. In addition, the pedaling speed at the moment x11 when the reaction force application starts is set to the pedaling speed Vs at the start of control, and the reaction force holding time Xh and the reaction force reduction time Xd are set based on the pedaling speed Vs at the start of control.

[0042] based on Figure 4 The setting of the reaction force holding time Xh is described below. As shown by the solid line, the reaction force holding time Xh is set to a predetermined value Vp1, and the greater the pedaling speed Vs is at the start of control, the shorter the distance to the maximum value Xh_max is. When the pedaling speed Vs is greater than the predetermined value Vp1 at the start of control, the reaction force holding time Xh is set to the minimum holding time Xh_min. When the pedaling speed Vs is high at the start of control, it is highly likely that the driver has a strong intention to accelerate, so by shortening the reaction force holding time Xh, the time during which the pedaling is felt to be obstructed is shortened, and smooth pedal operation can be achieved.

[0043] In the area where the pedaling speed Vs at the start of control is below the specified value Vp1, the pedaling speed Vs at the start of control and the reaction force holding time Xh can be a linear relationship as shown by the solid line, or a nonlinear relationship as shown by the dotted line. In addition, as shown by the single-point chain line, it can also be set as follows: in the range where the pedaling speed Vs at the start of control is below the value Vp2, it is set to the maximum value Xh_max, and in the range of Vp2<Vs≤Vp1, the reaction force holding time Xh is shortened corresponding to the pedaling speed Vs at the start of control. In the single-point chain line, in the range of Vp2<Vs≤Vp1, the reaction force holding time Xh is set to shorten linearly, but it can also be set to shorten nonlinearly.

[0044] based on Figure 5 The setting of the reaction force reduction time Xd is described. As shown by the solid line, the reaction force reduction time Xd is set to a predetermined value Vp3, and the greater the pedaling speed Vs at the start of control, the longer the distance to the minimum value Xd_min. When the pedaling speed Vs at the start of control is greater than the predetermined value Vp3, the reaction force reduction time Xd is set to the maximum reduction time Xd_max. The predetermined values ​​Vp1 and Vp3 can be the same value or different values. The same applies to the values ​​Vp2 and Vp4.

[0045] When the pedaling speed Vs is large at the beginning of the control, if the reaction force reduction time Xd is short, the reaction force decreases sharply, and the driver may over-step on the pedal rod 20. Therefore, by increasing the reaction force reduction time Xd and reducing the reaction force reduction speed, excessive stepping can be suppressed and smooth pedal operation can be achieved.

[0046] In the area where the pedaling speed Vs at the start of control is below the specified value Vp3, the pedaling speed Vs at the start of control and the reaction force reduction time Xd can be a linear relationship as shown by the solid line, or a nonlinear relationship as shown by the dotted line. In addition, as shown by the single-point chain line, it can also be set as follows: in the range where the pedaling speed Vs at the start of control is below the value Vp4, it is set to the minimum value Xd_min, and in the range of Vp4<Vs≤Vp3, the reaction force reduction time Xd becomes longer corresponding to the pedaling speed Vs at the start of control. In the single-point chain line, in the range of Vp4<Vs≤Vp3, the reaction force reduction time Xd is set to linearly increase, but it can also be set to nonlinearly increase.

[0047] return Figure 3 The initial reaction force F0 is maintained from the time x11 as the reaction force application start timing to the time x12 after the set reaction force holding time Xh. In order to prevent the fuel consumption from deteriorating, the initial reaction force F0 is maintained during the reaction force holding time Xh to suppress the pedal rod 20 from being stepped on.

[0048] At time x12 after the reaction force holding time Xh has passed since the reaction force was applied, the reaction force reduction control starts. In the reaction force reduction control, the time function F=f(t) is used to reduce the applied reaction force so that at time x13 after the reaction force reduction time Xd has passed, the applied reaction force becomes 0, returning to the original pedal characteristics. The reaction force reduction curve in the reaction force reduction control can be linear as shown by the solid line or nonlinear as shown by the double-dotted line. After time x13, the applied reaction force becomes 0, returning to the original pedal characteristics.

[0049] In this embodiment, when the reaction force is applied, the reaction force holding time Xh is set as the time required to suppress the stepping of the pedal rod 20. After the reaction force holding time Xh has passed, the reaction force is reduced by the time function and returns to the original pedal characteristics. Therefore, after the reaction force holding time Xh has passed, the reaction force gradually disappears by the reaction force reduction control, so compared with the case where the reaction force is maintained, the difficulty of stepping on the pedal rod 20 is suppressed. When the driver continues to operate the pedal rod 20 with the intention of accelerating, whether it is rapid acceleration or slow acceleration, the pedal operation with less discomfort can be performed.

[0050] As described above, the accelerator device 1 includes the pedal rod 20, the motor 31, the power transmission mechanism 40, and the control unit 60. The pedal rod 20 can be operated by stepping on. The motor 31 generates a driving force by being energized. The power transmission mechanism 40 transmits the driving force of the motor 31 to the pedal rod 20, and applies a force in the opposite direction to the stepping direction of the pedal rod 20, that is, a reaction force.

[0051] The control unit 60 includes a reaction force control unit 65, which controls the reaction force applied to the pedal rod 20 by controlling the motor 31. The reaction force control unit 65 maintains the initial reaction force F0 during the reaction force holding time Xh from the start of the reaction force application, and after the reaction force holding time Xh has passed, performs a reaction force reduction control to reduce the reaction force using a time function. Thus, the reaction force can be appropriately applied, and an undesirable pedal operation caused by a sudden reaction force change can be suppressed. In addition, a pedal action corresponding to the driver's acceleration intention can be performed.

[0052] The reaction force control unit 65 sets the reaction force holding time Xh based on the pedaling speed of the pedal rod 20 when the reaction force starts to be applied, that is, the control start pedaling speed Vs. In this embodiment, the greater the control start pedaling speed Vs, the shorter the reaction force holding time Xh. Thus, the pedal action corresponding to the driver's acceleration intention can be performed.

[0053] The reaction force control unit 65 sets the reaction force reduction time Xd for the reaction force reduction control based on the pedaling speed Vs at the start of the control. In the present embodiment, the reaction force reduction time Xd is made longer as the pedaling speed Vs at the start of the control is greater. Thus, excessive pedaling caused by the reaction force reduction can be suppressed, and the pedal action corresponding to the driver's intention can be performed.

[0054] (Second Embodiment)

[0055] exist Figure 6 as well as Figure 7 A second embodiment is shown in FIG. 2. When the pedal rod 20 is stepped on while the motor 31 is powered and a reaction force is applied, the pedal rod 20 rotates in the direction opposite to the reaction force application direction through the power transmission mechanism 40, thereby generating a counter electromotive force. If the reaction force changes due to the generation of the counter electromotive force, there is a risk of deteriorating the driving performance.

[0056] Therefore, by using current feedback control to control the drive of the motor 31, the influence of the back electromotive force generated by the driver stepping on the pedal is offset, thereby suppressing the change of the applied reaction force. In particular, in the present embodiment, when the back electromotive force is generated, the change of the applied reaction force is suppressed by switching the feedback constant to a value corresponding to the transient current change.

[0057] based on Figure 6 The flowchart of FIG. 1 illustrates the reaction force application control process of this embodiment. The processes of S201 to S209 are similar to those of Figure 2 The processing of S101 to S109 in is the same. In S210, which is moved to after S209, the control unit 60 determines whether a back electromotive force has been generated. In the present embodiment, based on the detection value of the position sensor 49, when it is considered that a back electromotive force above the determination threshold has been generated, a positive judgment is made. When it is determined that a back electromotive force has not been generated (S210: No), the process moves to S211, and when it is determined that a back electromotive force has been generated (S210: Yes), the process moves to S212.

[0058] In S211, the reaction force control unit 65 applies the control constant for steady state to perform current feedback control. In S212, the control constant for transition is applied to perform current feedback control. When the back electromotive force is generated, since it is a transient change, the control constant for transition is switched. The control constant for transition is set in a way that the proportional term and the integral term become smaller than the control constant for steady state. The processing of S213 and S214 is the same as that of Figure 2 The processing of S110 and S111 is the same.

[0059] based on Figure 7The timing diagram of FIG. 1 illustrates the reaction force application control of this embodiment. Figure 7 In FIG. 1 , the common time axis is used as the horizontal axis, and the applied reaction force, motor current, pedal force, pedal angle, actuator angle, motor speed, back electromotive force, and current feedback control constant switching switch are shown from the upper section. The case where current feedback control is performed is represented by a solid line, and the case where current feedback control is not performed is represented by a dotted line. In addition, the pedal force applied by the driver is represented by a single-point dashed line.

[0060] Time x20~Time x22 and Figure 3 The processing at time x10 to time x12 in is the same. At time x22 after the reaction force holding time Xh has passed since the reaction force application started, the reaction force reduction control starts. If the driver increases the pedal force to step on the pedal rod 20 as the reaction force is reduced, the motor 31 rotates in the direction opposite to the reaction force application direction, thereby generating a counter electromotive force. As shown by the dotted line, if the current feedback control is not performed in the state where the counter electromotive force is generated, the reaction force vibration is applied and the driving performance deteriorates.

[0061] Therefore, in this embodiment, the change of the applied reaction force is suppressed by performing current feedback control. In addition, in the current feedback control, due to the transient change in the generation of the back electromotive force, the current feedback control constant switching switch is turned on at time x22 to switch to the control constant for transition, thereby further suppressing the change of the applied reaction force. If the applied reaction force becomes 0 at time x23, the current feedback control constant switching switch is turned off to return the control constant to the control constant for steady state.

[0062] In the reaction force reduction control, the reaction force control unit 65 switches the control constant in the current feedback control to a value different from that in the steady state according to the back electromotive force of the motor 31. This can suppress the change in the reaction force application caused by the back electromotive force and prevent the drivability from being deteriorated. In addition, the same effect as the above-mentioned embodiment is achieved.

[0063] In the embodiment, the motor 31 corresponds to the “drive source”, and the control start time pedaling speed Vs corresponds to the “pedaling speed of the pedal rod when the reaction force application starts”.

[0064] (Other embodiments)

[0065] In the above-mentioned embodiment, the reaction force holding time and the reaction force reduction time are made variable according to the pedaling speed at the start of control. In other embodiments, at least one of the reaction force holding time and the reaction force reduction time can also be set to a specified value regardless of the pedaling speed at the start of control. In a second embodiment, the current feedback constant is switched according to the back electromotive force. In other embodiments, the current feedback constant may not be switched when the back electromotive force is small. In addition, the drive source may also be controlled by a control method other than current feedback control.

[0066] In the above embodiment, the driving source is a brushed DC motor. In other embodiments, a motor other than a brushed DC motor or a device other than a motor may be used as the driving source. In addition, the structure and component arrangement of the power transmission mechanism may also be different from the above embodiment.

[0067] The present disclosure may also be set as "In the accelerator device described in any one of methods 1 to 3, the reaction force control unit switches the control constant in the current feedback control to a value different from that in the steady state according to the back electromotive force of the drive source in the reaction force reduction control."

[0068] The control unit and method described in the present disclosure may also be implemented using a dedicated computer provided by constituting the following processor and memory, and the processor is programmed to perform one or more functions embodied by a computer program. Alternatively, the control unit and method described in the present disclosure may also be implemented using a dedicated computer provided by constituting a processor composed of one or more dedicated hardware logic circuits. Alternatively, the control unit and method described in the present disclosure may also be implemented by one or more dedicated computers composed of the following combination, which is a combination of a processor and memory programmed to perform one or more functions, and a processor composed of one or more hardware logic circuits. In addition, the computer program may also be stored in a computer-readable non-transitional tangible recording medium as an instruction executed by a computer. As described above, the present disclosure is not limited to the above-mentioned embodiments, and can be implemented in various ways without departing from its main purpose.

[0069] The present disclosure is described based on the implementation mode. However, the present disclosure is not limited to the implementation mode and structure. The present disclosure also includes various modifications and modifications within the equivalent range. In addition, various combinations and methods, and other combinations and methods including only one element, above, or below the element also fall within the scope and thought range of the present application.

Claims

1. An accelerator device, comprising: A pedal rod (20) capable of being moved by being stepped on; A driving source (31) generates a driving force by supplying electricity; A power transmission mechanism (40) transmits the driving force of the driving source to the pedal rod to apply a force in a direction opposite to the stepping direction of the pedal rod, i.e., a reaction force; and The control unit (60) includes a reaction force control unit (65) which controls the reaction force applied to the pedal rod by controlling the driving source. The reaction force control unit maintains the initial reaction force during a reaction force holding time from the start of reaction force application, and performs reaction force reduction control for reducing the reaction force using a time function after the reaction force holding time has elapsed.

2. The accelerator device according to claim 1, The reaction force control unit sets the reaction force holding time based on a stepping speed of the pedal rod when the reaction force application starts.

3. The accelerator device according to claim 1 or 2, The reaction force control unit sets a reaction force reduction time for performing the reaction force reduction control based on a depression speed of the pedal rod when the reaction force application starts.

4. The accelerator device according to claim 1, The reaction force control unit switches a control constant in current feedback control to a value different from that in a steady state according to a back electromotive force of the drive source during the reaction force reduction control.

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