Vehicle control device

Abstract

To moderate a change in an attitude of a vehicle when acceleration of the vehicle changes from acceleration to deceleration.SOLUTION: A control device for a vehicle (1) includes: a motor (2) for generating torque for driving or braking the vehicle; an accelerator pedal sensor (16) for detecting an operation amount of an accelerator pedal; and a PCM (14) for controlling the motor. The PCM sets target acceleration on the basis of the accelerator pedal operation amount detected by the accelerator pedal sensor, and sets a target jerk on the basis of the target acceleration. When the target acceleration decreases from a value larger than 0 toward 0, the PCM sets the target jerk so that an absolute value of the target jerk becomes smaller as the target acceleration approaches 0. The PCM sets torque output or regenerated by the motor, on the basis of the target acceleration and the target jerk.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device. [Background technology]

[0002] Conventionally, there are known vehicle control devices that control the output torque of a power source in response to the driver's operation of an accelerator pedal. For example, Patent Document 1 describes an engine control device that sets a target acceleration of the vehicle based on the accelerator pedal position and controls engine torque to achieve the target acceleration. The control device described in Patent Document 1 sets acceleration characteristics that define the relationship between the accelerator pedal position and the target acceleration so that a desired jerk is generated in the vehicle when the driver depresses the accelerator pedal. The control device also imposes a limit on the change in target torque in response to the target acceleration so that the magnitude of the jerk generated in the vehicle when the accelerator pedal position decreases does not exceed a predetermined value. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-217294 Summary of the Invention [Problem to be solved by the invention]

[0004] Some vehicles, such as electric vehicles and hybrid vehicles, have an electric motor as a power source, and can control not only vehicle acceleration but also deceleration in response to accelerator pedal operation. In such vehicles, if the accelerator pedal is suddenly operated when the acceleration changes from acceleration to deceleration and crosses over zero, the vehicle's pitch direction posture changes significantly across the horizontal. As a result, the force applied to the occupant's neck changes significantly from front to back, reducing comfort.

[0005] The present invention has been made to solve the problems of the prior art described above, and aims to provide a vehicle control device that can smooth out changes in the vehicle's posture when the vehicle's acceleration changes from acceleration to deceleration. [Means for solving the problem]

[0006] In order to achieve the above object, the present invention provides a control device for a vehicle including a power source that generates torque for driving or braking the vehicle, an accelerator pedal sensor that detects an accelerator pedal operation amount, and a control unit that controls the power source, wherein the control unit sets a target acceleration based on the accelerator pedal operation amount detected by the accelerator pedal sensor, sets a target jerk based on the target acceleration, and when the target acceleration is decreasing from a value greater than 0 toward 0, sets the target jerk so that the absolute value of the target jerk becomes smaller as the target acceleration approaches 0, The target jerk is set so that the degree of change in the target jerk in response to a change in the target acceleration when the target acceleration is decreasing from a value equal to or less than 0 is smaller than the degree of change in the target jerk in response to a change in the target acceleration when the target acceleration is decreasing from a value greater than 0 toward 0; The torque to be output or regenerated by the power source is set based on the target acceleration and the target jerk. In the present invention configured as described above, the rate of change in vehicle acceleration decreases as the target acceleration of the vehicle approaches 0 from a positive value, so even if the driver suddenly releases the accelerator pedal during acceleration, the vehicle's attitude change in the pitch direction can be made more gradual as it moves from a backward tilt to horizontal. This makes it possible to suppress a sudden change in the force applied to the occupant's neck when the vehicle's attitude in the pitch direction crosses horizontal, thereby maintaining comfort. In addition, since the degree of change in the vehicle acceleration after the target acceleration of the vehicle decreases from a positive value and crosses over zero becomes smaller, even if the accelerator pedal is suddenly released during acceleration, the change in the vehicle's attitude in the pitch direction after switching from a backward tilt to a forward tilt across the horizontal can be made more gradual.

[0008] In the present invention, the control unit is preferably configured to obtain an accelerator pedal operation speed based on an accelerator pedal operation amount, and, when the accelerator pedal operation amount is decreasing, to set the target jerk so that the absolute value of the target jerk increases as the absolute value of the accelerator pedal operation speed increases. In the present invention configured as described above, the more abruptly the driver releases the accelerator pedal, the greater the degree of change in acceleration, thereby reflecting the driver's intention in operating the accelerator pedal.

[0009] In the present invention, preferably, the control unit is configured to set the target jerk such that, when the target acceleration is decreasing from a value equal to or less than 0, the absolute value of the target jerk decreases as the absolute value of the target acceleration increases. In the present invention configured in this manner, the larger the absolute value of the target acceleration (i.e., the target deceleration) becomes in response to the release of the accelerator pedal, the smaller the rate of increase in the absolute value of the vehicle's acceleration (i.e., the rate of increase in deceleration), thereby reducing the feeling of sudden braking.

[0010] In the present invention, the power source is preferably an electric motor. In the present invention configured as described above, the power source is an electric motor, so that the torque for driving or braking the vehicle can be controlled with high precision in accordance with the set target acceleration and target jerk. Alternatively, the present invention is a vehicle control device comprising a power source that generates torque to drive or brake the vehicle, an accelerator pedal sensor that detects the amount of accelerator pedal operation, and a control unit that controls the power source, wherein the control unit is configured to set a target acceleration based on the amount of accelerator pedal operation detected by the accelerator pedal sensor, set a target jerk based on the target acceleration, and, if the target acceleration is decreasing from a value greater than 0 toward 0, set the target jerk so that the absolute value of the target jerk becomes smaller as the target acceleration approaches 0, and, if the target acceleration is decreasing from a value equal to or less than 0, set the target jerk so that the absolute value of the target jerk becomes smaller as the absolute value of the target acceleration becomes larger, and set the torque to be output or regenerated by the power source based on the target acceleration and the target jerk. [Effects of the Invention]

[0011] According to the vehicle control device of the present invention, it is possible to make the change in the vehicle's attitude gentle when the acceleration of the vehicle changes from acceleration to deceleration. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a plan view showing a schematic configuration of a vehicle to which a vehicle control device according to an embodiment of the present invention is applied; [Figure 2] 1 is a block diagram showing a functional configuration of a vehicle control device according to an embodiment of the present invention; [Figure 3] 1 is a control block diagram of a vehicle control device according to an embodiment of the present invention. [Figure 4] FIG. 4 is a diagram showing an example of a target jerk map when the accelerator pedal is depressed according to an embodiment of the present invention. [Figure 5] FIG. 10 is a diagram showing an example of a target jerk map when the accelerator pedal is released, according to an embodiment of the present invention. [Figure 6] 4 is a flowchart illustrating a torque control process according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0013] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A vehicle control device according to an embodiment of the present invention will now be described with reference to the accompanying drawings.

[0014] <System configuration> First, the configuration of a vehicle control device according to this embodiment will be described with reference to Figures 1 and 2. Figure 1 is a plan view showing a schematic configuration of a vehicle to which a vehicle control device according to this embodiment is applied, and Figure 2 is a block diagram showing the functional configuration of the vehicle control device according to this embodiment.

[0015] As shown in FIG. 1, the vehicle 1 of this embodiment is an electric vehicle equipped with a motor 2 as a power source that generates torque for driving or braking the vehicle 1. The motor 2 is mounted, for example, on the front of the vehicle body of the vehicle 1. The torque output from the motor 2 is transmitted to a reducer 4. The reducer 4 outputs the output torque of the motor 2 to a pair of drive shafts 6 at a predetermined reduction ratio. This drives a pair of drive wheels 8 (left and right front wheels in the example of FIG. 1) attached to the outer ends of each drive shaft 6 in the vehicle width direction.

[0016] A battery 10 that supplies power to the motor 2 is mounted, for example, at the rear of the vehicle body of the vehicle 1. Furthermore, an inverter 12 is disposed near the motor 2. The inverter 12 converts DC power supplied from the battery 10 into AC power and supplies it to the motor 2, and also converts regenerative power generated by the motor 2 into DC power and supplies it to the battery 10, thereby charging the battery 10. Furthermore, the inverter 12 is electrically connected to a PCM 14 (Powertrain Control Module) so that control signals can be input and output to and from the PCM 14.

[0017] The vehicle 1 also has an accelerator pedal sensor 16 that detects the accelerator pedal opening (corresponding to the amount the driver presses the accelerator pedal), and a vehicle speed sensor 18 that detects the vehicle speed. Each of these sensors is electrically connected directly or indirectly to the PCM 14, and outputs a detection signal corresponding to each detection value to the PCM 14.

[0018] The PCM 14 performs various controls in the vehicle 1. In this embodiment, the PCM 14 functions as a controller of the powertrain system of the vehicle 1. That is, the PCM 14 controls the inverter 12 in response to the driver's operation of the accelerator pedal, and supplies electric power from the battery 10 to the motor 2 via the inverter 12, or supplies regenerative electric power from the motor 2 to the battery 10, thereby realizing a desired output torque or regenerative torque in response to the accelerator operation.

[0019] As shown in FIG. 2, the PCM 14 has a processor 20 and a memory 22 (ROM, RAM, etc.) for storing various programs (including basic control programs such as an OS and application programs that are launched on the OS and realize specific functions) that are interpreted and executed on the processor 20, and various data.

[0020] Next, an outline of control by the vehicle control device of this embodiment will be described with reference to Fig. 3. Fig. 3 is a control block diagram of the vehicle control device according to the embodiment of the present invention.

[0021] As shown in Fig. 3, the PCM 14 sets the target acceleration based on the amount of accelerator pedal operation (target acceleration setting). For example, the target acceleration is set to a negative value when the amount of accelerator pedal operation is less than a predetermined value (for example, 20%), and to 0 [m / s 2 ], which is a positive value when it is greater than a predetermined value, and is set so that the target acceleration increases as the accelerator pedal operation amount increases (i.e., the more the accelerator pedal is depressed). Furthermore, the PCM 14 may set the target acceleration so that the target acceleration is greater when the vehicle speed is low than when the vehicle speed is high.

[0022] Furthermore, the PCM 14 sets a target jerk based on the set target acceleration and the operation speed of the accelerator pedal (target jerk setting). Then, based on the set target acceleration and target jerk, the PCM 14 calculates a driver-requested torque. For example, the PCM 14 calculates the torque that the motor 2 should generate in order to accelerate or decelerate the vehicle 1 at the target acceleration. Then, the PCM 14 determines a rate of change in the driver-requested torque so that the rate of change in the acceleration of the vehicle 1 becomes the target jerk when the driver-requested torque is changed to the calculated torque. Based on this rate of change and the driver-requested torque in the previous command execution cycle, the PCM 14 calculates the driver-requested torque in the current command execution cycle and outputs it to the inverter 12.

[0023] The inverter 12 performs vibration suppression control based on the driver requested torque input from the PCM 14 and the rotation speed of the motor 2. For example, the inverter 12 calculates a command value for the drive torque or regenerative torque of the motor 2 so as to suppress the natural vibration frequency component of the power transmission system of the vehicle 1 in the driver requested torque and to suppress the rotation speed vibration of the motor 2. Then, the inverter 12 controls the current flowing through the motor 2 based on the calculated command value.

[0024] When the motor 2 generates torque in response to the current control of the inverter 12, the torque is transmitted to the reducer 4. The reducer 4 outputs the torque of the motor 2 to the drive shaft 6 at a predetermined reduction ratio. As a result, the driving torque or braking torque is transmitted to the ground via the tires of a pair of drive wheels 8 attached to the drive shaft 6, causing the vehicle 1 to accelerate or decelerate.

[0025] <Relationship between target acceleration and target jerk> Next, the relationship between the target acceleration and the target jerk will be described with reference to Fig. 4 and Fig. 5. Fig. 4 is a diagram showing an example of a target jerk map showing the relationship between the target acceleration and the target jerk when the accelerator pedal is depressed, according to an embodiment of the present invention, and Fig. 5 is a diagram showing an example of a target jerk map when the accelerator pedal is released, according to an embodiment of the present invention. The horizontal axis in Fig. 4 and Fig. 5 represents the target acceleration [m / s2 is shown, and the vertical axis represents the target jerk [m / s 3 . When the target acceleration is positive, it means that a target acceleration for accelerating vehicle 1 forward is set, and when the target acceleration is negative, it means that a target acceleration for decelerating vehicle 1 forward is set.

[0026] When the target acceleration increases in response to the depression of the accelerator pedal, the target jerk is set as illustrated in the map of FIG. 4. S1 to S6 in FIG. 4 represent target jerk maps at different accelerator pedal operation speeds S1, S2, S3, S4, S5, S6 [% / s], and the magnitude relationship of each accelerator pedal operation speed is S1 < S2 < S3 < S4 < S5 < S6. When depressing the accelerator pedal, that is, when the operation amount of the accelerator pedal is increasing, as shown in FIG. 4, for the same target acceleration, the greater the operation speed of the accelerator pedal (that is, the faster the accelerator pedal is depressed), the greater the target jerk.

[0027] When the accelerator pedal operation speed is greater than or equal to a predetermined value (a value between S2 and S3 in this embodiment), as shown in S3 to S6 of FIG. 4, in response to the depression of the accelerator pedal, the target acceleration increases from a value less than 0 toward 0, and the closer it gets to 0, the smaller the target jerk becomes. That is, when the operation speed of the accelerator pedal is relatively high, as the target acceleration of vehicle 1 approaches 0 from a negative value, the degree of change in the acceleration of vehicle 1 becomes smaller. Therefore, even when the accelerator pedal is operated abruptly, the change in the attitude of vehicle 1 in the pitch direction can be made gentler as the attitude changes from a forward tilt to being closer to horizontal.

[0028] Also, when the accelerator pedal operation speed is less than or equal to the predetermined value, as shown in S1 and S2 of FIG. 4, in the range where the target acceleration is less than 0, the target jerk is constant. That is, when the operation speed of the accelerator pedal is relatively low, when the target acceleration of vehicle 1 approaches 0 from a negative value, the degree of change in the acceleration of vehicle 1 does not change, so the degree of change when the attitude of vehicle 1 in the pitch direction changes from a forward tilt to being closer to horizontal also does not change.

[0029] Further, when the target acceleration is increasing from a value of 0 or more in response to the depression of the accelerator pedal, as shown in S1 to S6 of FIG. 4, the target jerk increases as the target acceleration increases. That is, as the target acceleration increases in response to the depression of the accelerator pedal, the degree of increase in the acceleration of the vehicle 1 becomes larger, so that a stretching acceleration feeling can be realized.

[0030] Here, when the accelerator pedal operation speed is equal to or higher than a predetermined value (a value between S3 and S4 in the present embodiment), as shown in S4 to S6 of FIG. 4, when the target acceleration is increasing from a value smaller than 0 toward 0, the degree of change in the target jerk (the slope of each line in FIG. 4) corresponding to the change in the target acceleration is smaller than the degree of change in the target jerk corresponding to the change in the target acceleration when the target acceleration is increasing from a value of 0 or more. That is, when the operation speed of the accelerator pedal is relatively high, the degree of change in the acceleration of the vehicle 1 after the target acceleration of the vehicle 1 increases from a negative value and crosses 0 becomes smaller. Therefore, even when the accelerator pedal is operated suddenly, the posture change after the posture of the vehicle 1 in the pitch direction switches from forward tilt to horizontal and then to backward tilt can be made smoother.

[0031] On the other hand, when the target acceleration decreases in response to the release of the accelerator pedal, the target jerk is set as illustrated in the map of FIG. 5. S11 to S15 in FIG. 5 represent target jerk maps at different accelerator pedal operation speeds S11, S12, S13, S14, and S15 [% / s], and the magnitude relationship of the absolute values of the respective accelerator pedal operation speeds is S11 < S12 < S13 < S14 < S15. When the accelerator pedal is released, that is, when the operation amount of the accelerator pedal is decreasing, as shown in FIG. 5, for the same target acceleration, the absolute value of the target jerk increases as the absolute value of the accelerator pedal operation speed increases (that is, the faster the accelerator pedal is released).

[0032] When the absolute value of the accelerator pedal operation speed is equal to or greater than a predetermined value (a value between S11 and S12 in this embodiment), the target acceleration decreases from a value greater than 0 toward 0 in response to accelerator pedal release, and the absolute value of the target jerk decreases as the target acceleration approaches 0, as shown in S12 to S15 in Fig. 5. In other words, when the absolute value of the accelerator pedal operation speed is relatively high, the rate of change in the acceleration of vehicle 1 decreases as the target acceleration of vehicle 1 approaches 0 from a positive value. Therefore, even if the accelerator pedal is suddenly operated, the attitude change in the pitch direction of vehicle 1 can be made more gradual as the attitude of vehicle 1 moves from a backward tilt toward horizontal.

[0033] Furthermore, when the accelerator pedal operation speed is equal to or less than a predetermined value, the target jerk is constant regardless of the target acceleration, as shown in S11 of Fig. 5. In other words, when the accelerator pedal operation speed is relatively low, the degree of change in the acceleration of the vehicle 1 does not change, and therefore the degree of change when the attitude of the vehicle 1 in the pitch direction approaches horizontal from a backward tilt does not change either.

[0034] Furthermore, when the target acceleration is decreasing from a value equal to or less than 0 in response to the accelerator pedal being released, the target jerk decreases as the absolute value of the target acceleration increases, as shown in S12 to S15 of Fig. 4. In other words, the rate of increase in the absolute value of the acceleration of the vehicle 1 (i.e., the rate of increase in deceleration) decreases as the absolute value of the target acceleration (i.e., the target deceleration) increases in response to the accelerator pedal being released, thereby reducing the feeling of sudden braking.

[0035] Here, when the absolute value of the accelerator pedal operation speed is equal to or greater than a predetermined value (a value between S11 and S12 in this embodiment), as shown in S12 to S15 of Fig. 4, the degree of change in the target jerk in response to a change in the target acceleration when the target acceleration is decreasing from a value equal to or less than 0 is smaller than the degree of change in the target jerk in response to a change in the target acceleration when the target acceleration is decreasing from a value greater than 0 toward 0 (the slope of each line in Fig. 5). In other words, when the absolute value of the accelerator pedal operation speed is relatively high, the degree of change in the acceleration of the vehicle 1 after the target acceleration of the vehicle 1 decreases from a positive value and crosses 0 becomes smaller. Therefore, even if the accelerator pedal is suddenly operated, the change in attitude of the vehicle 1 after it switches from a backward tilt to a forward tilt across the horizontal can be made more gentle.

[0036] <Control processing> Next, the torque control process according to this embodiment will be described with reference to Fig. 6. Fig. 6 is a flowchart showing the torque control process according to this embodiment. This flow is started by the PCM 14 when the power of the vehicle 1 is turned on, and is repeatedly executed at a predetermined cycle.

[0037] First, in step S101, the PCM 14 acquires the accelerator pedal operation amount detected by the accelerator pedal sensor 16. At this time, the PCM 14 may acquire the vehicle speed detected by the vehicle speed sensor 18.

[0038] Next, in step S102, the PCM 14 obtains the accelerator pedal operation speed by time-differentiating the accelerator pedal operation amount obtained in step S101.

[0039] Next, in step S103, the PCM 14 sets a target acceleration based on the accelerator pedal operation amount acquired in step S101. For example, the target acceleration is set to a negative value when the accelerator pedal operation amount is less than a predetermined value (for example, 20%), or to 0 [m / s 2], which is a positive value when it is greater than a predetermined value, and is set so that the target acceleration increases as the accelerator pedal operation amount increases (i.e., the accelerator pedal is depressed more deeply). Furthermore, when the PCM 14 acquires the vehicle speed in step S101, the PCM 14 may set the target acceleration so that the target acceleration is greater when the vehicle speed is low than when the vehicle speed is high.

[0040] Next, in step S104, the PCM 14 sets a target jerk based on the target acceleration set in step S103 and the accelerator pedal operation speed acquired in step S102. When the accelerator pedal is depressed, the PCM 14 sets a target jerk according to the target acceleration and accelerator pedal operation speed based on a map such as that shown in Fig. 4. When the accelerator pedal is released, the PCM 14 sets a target jerk according to the target acceleration and accelerator pedal operation speed based on a map such as that shown in Fig. 5.

[0041] Next, in step S105, the PCM 14 sets the driver requested torque based on the target acceleration set in step S103 and the target jerk set in step S104. For example, the PCM 14 calculates the torque that the motor 2 should generate in order to accelerate or decelerate the vehicle 1 at the target acceleration. The PCM 14 then determines the rate of change of the driver requested torque so that the rate of change of the acceleration of the vehicle 1 becomes the target jerk when the driver requested torque is changed to the calculated torque. The PCM 14 sets the driver requested torque in the current command execution cycle based on this rate of change and the driver requested torque in the previous command execution cycle.

[0042] Next, in step S106, the PCM 14 outputs the driver requested torque set in step S105 to the inverter 12. As a result, the inverter 12 controls the current flowing to the motor 2 based on the driver requested torque input from the PCM 14. After step S106, the PCM 14 ends the torque control process in the current command execution cycle.

[0043] <Modification> Next, a modified example of the embodiment of the present invention will be described. In the above-described embodiment, the vehicle 1 is described as being equipped with the motor 2 as a power source that generates torque for driving or braking the vehicle 1. However, an internal combustion engine such as a gasoline engine or a diesel engine may be equipped as a power source together with or instead of the motor 2. In this case, the PCM 14 controls the throttle valve, fuel injection valve, variable valve mechanism, etc. of the internal combustion engine in step S106 based on the driver requested torque set in step S105 of FIG. 6.

[0044] <Action and effect> Next, the effects of the vehicle control device according to the above-described embodiment and other embodiments will be described.

[0045] First, when the target acceleration increases from a value smaller than 0 toward 0, the PCM 14 sets the target jerk so that the target jerk decreases as the target acceleration approaches 0, and sets the torque to be output or regenerated by the power source based on the target acceleration and the target jerk. Therefore, as the target acceleration of the vehicle 1 approaches 0 from a negative value, the degree of change in the acceleration of the vehicle 1 decreases, and therefore, even if the driver suddenly presses the accelerator pedal during deceleration, the attitude change in the pitch direction of the vehicle 1 can be made gentler as the attitude of the vehicle 1 approaches horizontal from a forward tilt. This makes it possible to suppress a sudden change in the force applied to the neck of the occupant when the attitude of the vehicle 1 in the pitch direction crosses horizontal, thereby maintaining comfort.

[0046] Furthermore, the PCM 14 sets the target jerk so that the degree of change in the target jerk in response to a change in the target acceleration when the target acceleration is increasing from a value equal to or greater than 0 is smaller than the degree of change in the target jerk in response to a change in the target acceleration when the target acceleration is increasing from a value smaller than 0 toward 0. Therefore, the degree of change in the acceleration of vehicle 1 after the target acceleration of vehicle 1 increases from a negative value and crosses zero becomes smaller, so even if the driver suddenly presses the accelerator pedal during deceleration, the change in posture after the posture of vehicle 1 in the pitch direction switches from a forward tilt to a backward tilt across the horizontal can be made more gentle.

[0047] Furthermore, when the accelerator pedal operation amount is increasing, the PCM 14 sets the target jerk so that the target jerk increases as the accelerator pedal operation speed increases. Therefore, the more suddenly the driver depresses the accelerator pedal, the greater the degree of change in acceleration can be made, thereby reflecting the driver's intention in operating the accelerator pedal.

[0048] In addition, when the target acceleration increases from a value smaller than 0 toward 0, and the accelerator pedal operation speed is equal to or greater than a predetermined value, the PCM 14 sets the target jerk so that the target jerk decreases as the target acceleration approaches 0. Therefore, when the driver depresses the accelerator pedal suddenly more than a predetermined value during deceleration, the degree of change in the acceleration of the vehicle 1 decreases as the target acceleration of the vehicle 1 approaches 0 from a negative value, so the attitude change in the pitch direction of the vehicle 1 can be made more gradual as the attitude of the vehicle 1 approaches horizontal from a forward tilt. This makes it possible to reliably suppress a sudden change in the force applied to the occupant's neck when the attitude of the vehicle 1 in the pitch direction crosses horizontal in response to a sudden operation of the accelerator pedal.

[0049] Furthermore, when the target acceleration decreases from a value greater than 0 toward 0, the PCM 14 sets the target jerk so that the absolute value of the target jerk decreases as the target acceleration approaches 0. Therefore, as the target acceleration of the vehicle 1 approaches 0 from a positive value, the degree of change in the acceleration of the vehicle 1 decreases, so that even if the driver suddenly releases the accelerator pedal during acceleration, the attitude change in the pitch direction of the vehicle 1 can be made gentler as the attitude of the vehicle 1 approaches horizontal from a backward tilt. This makes it possible to suppress a sudden change in the force applied to the neck of the occupant when the attitude of the vehicle 1 in the pitch direction crosses horizontal, thereby maintaining comfort.

[0050] Furthermore, when the target acceleration is increasing from a value equal to or greater than 0, the PCM 14 sets the target jerk so that the target jerk increases as the target acceleration increases. Therefore, the greater the target acceleration in response to depression of the accelerator pedal, the greater the degree of increase in the acceleration of the vehicle 1, thereby achieving a smooth feeling of acceleration.

[0051] Furthermore, the PCM 14 sets the target jerk so that the degree of change in the target jerk in response to a change in the target acceleration when the target acceleration is decreasing from a value equal to or less than 0 is smaller than the degree of change in the target jerk in response to a change in the target acceleration when the target acceleration is decreasing from a value greater than 0 toward 0. Therefore, the degree of change in the acceleration of vehicle 1 after the target acceleration of vehicle 1 decreases from a positive value and crosses 0 becomes smaller, so even if the accelerator pedal is suddenly released during acceleration, the change in posture after the pitch direction posture of vehicle 1 switches from a backward tilt to a forward tilt across the horizontal can be made more gentle.

[0052] Furthermore, when the accelerator pedal operation amount is decreasing, the PCM 14 sets the target jerk so that the absolute value of the target jerk increases as the absolute value of the accelerator pedal operation speed increases. Therefore, the more suddenly the driver releases the accelerator pedal, the greater the degree of change in acceleration can be made, thereby reflecting the driver's intention in operating the accelerator pedal.

[0053] Furthermore, when the target acceleration is decreasing from a value equal to or less than 0, the PCM 14 sets the target jerk so that the absolute value of the target jerk decreases as the absolute value of the target acceleration increases. Therefore, the larger the absolute value of the target acceleration (i.e., target deceleration) becomes in response to the accelerator pedal release, the smaller the rate of increase in the absolute value of the acceleration of the vehicle 1 (i.e., the rate of increase in deceleration), thereby reducing the sudden braking sensation.

[0054] Furthermore, since the power source is an electric motor, the torque for driving or braking the vehicle 1 can be controlled with high precision in accordance with the set target acceleration and target jerk. [Explanation of symbols]

[0055] 1 vehicle 2 motors 4 Reducer 6 drive shaft 8 drive wheels 10 Battery 12 inverters 14 PCM 16 Accelerator pedal sensor 18 Vehicle speed sensor 20 processors 22 Memory

Claims

1. a power source that generates torque to drive or brake the vehicle; an accelerator pedal sensor that detects an amount of accelerator pedal operation; a control unit for controlling the power source; A vehicle control device comprising: The control unit setting a target acceleration based on an accelerator pedal operation amount detected by the accelerator pedal sensor; setting a target jerk based on the target acceleration; When the target acceleration is decreasing from a value greater than 0 toward 0, the target jerk is set so that the absolute value of the target jerk decreases as the target acceleration approaches 0; The target jerk is set so that a degree of change in the target jerk in response to a change in the target acceleration when the target acceleration is decreasing from a value equal to or less than 0 is smaller than a degree of change in the target jerk in response to a change in the target acceleration when the target acceleration is decreasing from a value greater than 0 toward 0, a torque to be output or regenerated by the power source is set based on the target acceleration and the target jerk; Vehicle control device.

2. The control unit acquiring an accelerator pedal operation speed based on the accelerator pedal operation amount; 2. The vehicle control device according to claim 1, wherein, when the accelerator pedal operation amount is decreasing, the target jerk is set such that the absolute value of the target jerk increases as the absolute value of the accelerator pedal operation speed increases.

3. 3. The vehicle control device according to claim 1, wherein the control unit is configured to set the target jerk such that, when the target acceleration is decreasing from a value equal to or less than 0, the absolute value of the target jerk decreases as the absolute value of the target acceleration increases.

4. The vehicle control device according to claim 1 , wherein the power source is an electric motor.

5. A power source that generates torque to drive or brake a vehicle; an accelerator pedal sensor that detects an amount of accelerator pedal operation; a control unit for controlling the power source; A vehicle control device comprising: The control unit setting a target acceleration based on an accelerator pedal operation amount detected by the accelerator pedal sensor; setting a target jerk based on the target acceleration; When the target acceleration is decreasing from a value greater than 0 toward 0, the target jerk is set so that the absolute value of the target jerk decreases as the target acceleration approaches 0; When the target acceleration is decreasing from a value equal to or less than 0, the target jerk is set so that the absolute value of the target jerk decreases as the absolute value of the target acceleration increases; a torque to be output or regenerated by the power source is set based on the target acceleration and the target jerk; Vehicle control device.

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