Test specimen testing system, test specimen driving system, test specimen testing method, and test specimen testing program

Abstract

The present invention relates to a test specimen testing system for testing a test specimen by controlling vehicle pedals of the test specimen to target operation amounts while imparting running resistance to the test specimen, the test specimen testing system comprising; a driving device 2 for driving the test specimen V by operating the vehicle pedals V3, V4 of the test specimen V or inputting operation signals corresponding to the operation of the vehicle pedals; a dynamometer 4 that imparts running resistance corresponding to the vehicle speed of the test specimen V being driven by the driving device 2; a data acquiring unit 31 that acquires target operation amount data, which are time-series data of the target operation amounts of the vehicle pedals V3, V4; and a driving device control unit 33 that performs feed-forward control of a driving robot 2 on the basis of the target operation amount data acquired by the data acquiring unit 31.

Description

Specimen testing system, specimen operation system, specimen testing method, and specimen testing program

[0001] The present invention relates to a specimen testing system, a specimen operating system, a specimen testing method, and a specimen testing program.

[0002] Conventionally, as shown in Patent Document 1, a vehicle testing system includes a chassis dynamometer on which a vehicle is mounted and a driving robot that drives the vehicle on the chassis dynamometer, in which the driving robot operates the accelerator, brakes, etc. of the vehicle to cause it to travel in a predetermined travel pattern while the chassis dynamometer applies running resistance to the vehicle.

[0003] This vehicle testing system calculates an opening command for the accelerator actuator and an opening command for the brake actuator based on the actual vehicle speed and the vehicle speed command, and inputs these opening commands to the driving robot to make the actual vehicle speed follow the vehicle speed command.

[0004] JP 2013-134151 A

[0005] Meanwhile, in addition to the method of testing a vehicle by making the actual vehicle speed follow a vehicle speed command, there is a growing demand for a method of testing a vehicle while reproducing pedal operation of the accelerator pedal or brake pedal in a predetermined pattern (for example, an operation pattern in a past driving test).

[0006] Therefore, the present invention has been made in consideration of the above-mentioned problems, and its main object is to test a test specimen by controlling the vehicle pedal of the test specimen to a target operation amount while applying a running resistance according to the vehicle speed of the test specimen.

[0007] That is, the vehicle testing system of the present invention is a specimen testing system for testing a vehicle or a specimen that is a part thereof, and is characterized by comprising: a driving device that drives the specimen by operating the vehicle pedals of the specimen or by inputting an operation signal corresponding to the operation of the vehicle pedals; a dynamometer that applies running resistance according to the vehicle speed of the specimen driven by the driving device; a data acquisition unit that acquires target operation amount data that is time-series data of the target operation amount of the vehicle pedals; and a driving device control unit that feedforward controls the driving device based on the target operation amount data acquired by the data acquisition unit.

[0008] With such a vehicle testing system, the dynamometer applies running resistance to the test specimen in accordance with its vehicle speed, while feedforward control of the driving device is performed based on target vehicle pedal operation amount data. This allows the test specimen to be tested by applying running resistance to the test specimen in accordance with its vehicle speed, while controlling the test specimen's vehicle pedal to the target operation amount.

[0009] Here, if the specifications and test conditions of the test specimen to be tested in the test specimen testing system are the same as those in the past when the target operation amount data was acquired, the vehicle speed of the test specimen should also be the same as the past vehicle speed. However, if the specifications and test conditions of the test specimen are different, the vehicle speed of the test specimen will differ from the past vehicle speed. Therefore, it is desirable that the data acquisition unit acquires target vehicle speed data, which is time-series data of the target vehicle speed of the test specimen, and the driving device control unit feedback-controls the driving device based on the deviation between the target vehicle speed and the actual vehicle speed of the test specimen. With this configuration, the test specimen can be tested while controlling the vehicle pedal of the test specimen to the target vehicle speed. This allows the test specimen to be tested while controlling the vehicle pedal of the test specimen to the target operation amount and also satisfying a predetermined vehicle speed standard. Note that the predetermined standard is, for example, falling within a tolerance (allowable range) between upper and lower limit speed data set for the time-series data of the target speed.

[0010] As a specific embodiment of the driving device control section, it is desirable that the driving device control section controls the driving device in accordance with a preset control ratio between the feedforward control and the feedback control.

[0011] In order to be able to change the control ratio between feedforward control and feedback control in the driving device control unit depending on the purpose of the test, it is desirable that the test specimen testing system of the present invention further include a setting change unit that can change the setting of the control ratio. With this configuration, the test specimen can be tested with various control ratios, such as when giving priority to controlling the pedal operation amount over the vehicle speed, or when giving priority to controlling the vehicle speed over the pedal operation amount.

[0012] In order to test the test specimen by controlling the accelerator pedal of the test specimen to a target operation amount, it is desirable that the driving device operates the accelerator pedal as the vehicle pedal, and that the data acquisition unit acquires time-series data of accelerator opening, accelerator depression amount, and / or accelerator pedal position as the target operation amount data. Here, the time-series data of accelerator opening, accelerator depression amount, and / or accelerator pedal position may be, for example, time-series data of accelerator opening, accelerator depression amount, and / or accelerator pedal position acquired in the past, or may be processed time-series data. Furthermore, the time-series data may be obtained by simulation.

[0013] In order to test the test specimen by controlling the brake pedal of the test specimen to a target operation amount, it is desirable that the driving device operates the brake pedal as the vehicle pedal, and that the data acquisition unit acquires time-series data of a brake opening, a brake depression amount, and / or a target brake pedal position as the target operation amount of the brake pedal. Here, the time-series data of the brake opening, the brake depression amount, and / or the brake pedal position may be, for example, time-series data of the brake opening, the brake depression amount, and / or the brake pedal position acquired in the past, or may be processed time-series data. Furthermore, the time-series data may be obtained by simulation.

[0014] Furthermore, the test specimen driving system according to the present invention is characterized by comprising: a driving device that drives the test specimen by operating vehicle pedals of the test specimen or by inputting an operation signal corresponding to the operation of the vehicle pedals; a data acquisition unit that acquires target operation amount data, which is time-series data of the target operation amount of the vehicle pedals; and a driving device control unit that feedforward controls the driving device based on the target operation amount data acquired by the data acquisition unit.

[0015] Furthermore, the test specimen testing method according to the present invention is a test specimen testing method for testing a test specimen that is a vehicle or a part thereof, characterized in that the test specimen is tested by using a driving device that drives the test specimen by operating the vehicle pedals of the test specimen or by inputting an operation signal corresponding to the operation of the vehicle pedals, and a dynamometer that applies running resistance according to the vehicle speed of the test specimen driven by the driving device, and by feedforward controlling the driving device based on time-series data of the target operation amount of the vehicle pedals.

[0016] Furthermore, the test specimen testing program of the present invention is a program used in a test specimen testing system that includes a driving device that drives a test specimen by operating the vehicle pedals of a vehicle or a part thereof, or by inputting an operation signal corresponding to the operation of the vehicle pedals, and a dynamometer that applies running resistance according to the vehicle speed of the test specimen driven by the driving device, and is characterized in that the program has a function as a data acquisition unit that acquires target operation amount data, which is time-series data of the target operation amount of the vehicle pedals, and a function as a driving device control unit that feedforward controls the driving device based on the target operation amount data acquired by the data acquisition unit.

[0017] According to the present invention as described above, the test specimen can be tested by controlling the vehicle pedal of the test specimen to the target operation amount while applying a running resistance according to the vehicle speed of the test specimen.

[0018] It is an overall schematic diagram of a specimen testing system according to one embodiment of the present invention. It is a functional block diagram of a robot control device of the same embodiment. It is a functional block diagram of a robot control device of a modified embodiment. It is a diagram showing an example of a setting screen for performing change input of the modified embodiment.

[0019] <One Embodiment of the Invention> Hereinafter, one embodiment of a vehicle testing system according to the present invention will be described with reference to the drawings. Note that in all of the drawings shown below, parts are appropriately omitted or exaggerated for clarity. Identical components are assigned the same reference numerals, and descriptions thereof will be omitted as appropriate.

[0020] 1. Configuration of the Vehicle Testing System The vehicle testing system 100 of this embodiment tests a vehicle or a part thereof, that is, a test specimen V. Here, the vehicle may be an engine vehicle, a hybrid vehicle (HV), an electric vehicle (EV), a fuel cell vehicle (FCV), a hydrogen engine vehicle, or the like. Furthermore, the test specimen V may not only be a completed vehicle, but also a part of a vehicle that has a vehicle pedal (at least one of an accelerator pedal V3 or a brake pedal V4) and a configuration (for example, wheels, axles, etc.) that can apply running resistance using the dynamometer 2.

[0021] Specifically, the vehicle testing system includes a driving robot (driving device) 2 for automatically driving the test specimen V by operating the vehicle pedals (accelerator pedal V3 or brake pedal V4, etc.) of the test specimen V, a robot control device (driving device control device) 3 for controlling the driving robot 2, a dynamometer 4 for applying running resistance to the test specimen V driven by the driving robot 2 according to the vehicle speed of the test specimen V, and a dynamometer control device 5 for controlling the dynamometer 4.

[0022] <2. Dynamometer 4 and dynamo control device 5>

[0023] First, the dynamometer 4 and the dynamo control device 5 will be described. As shown in Figure 1, the dynamometer 4 is a so-called chassis dynamometer, and has rollers 41a and 41b on which the wheels V1 and V2 of the test specimen V are placed, and power absorbing units 42a and 42b, such as motors, connected to the rollers 41a and 41b. Note that Figure 1 shows a configuration in which the front wheel V1 and rear wheel V2 of the test specimen V are placed on the rollers 41a and 41b, respectively, but it is also possible for the drive wheels of the test specimen V to be placed on the rollers. Alternatively, the dynamometer 4 may be connected to each wheel (hub) or each axle of the test specimen V.

[0024] The dynamo control device 5 controls the torque of the power absorbing units 42a, 42b so as to achieve a target running resistance determined for a predetermined running pattern. Specifically, the dynamo control device 5 controls the torque of the power absorbing units 42a, 42b so as to provide a target running resistance corresponding to the vehicle speed of the test specimen V, which is driven by the driving robot 2 and running on the rollers 41a, 41b. Here, the target running resistance corresponding to the vehicle speed of the test specimen V may be determined based on the actual speed of the test specimen V, or may be determined based on a target vehicle speed for the test specimen V. The dynamo control device 5 is, for example, a computer having a CPU, memory, input / output interface, AD converter, etc., and is configured to perform its functions by the CPU and peripheral devices working together in accordance with a program stored in the memory.

[0025] <3. Regarding the driving robot 2 and the robot control device 3> The driving robot 2 is a driving device that drives the test specimen V, and is placed, for example, on the driver's seat of the test specimen V, and is equipped with actuators 21 that respectively operate the accelerator pedal V3, brake pedal V4, shift lever (not shown), ignition switch (not shown), etc. of the test specimen V.

[0026] Specifically, the driving robot 2 has, as the actuators 21, an accelerator actuator for depressing the accelerator pedal V3, a brake actuator for depressing the brake pedal V4, a shift lever actuator for operating the shift lever, or a switch actuator for operating the ignition switch. In addition, the driving robot 2 may have, as necessary, a clutch actuator for depressing the clutch pedal. For convenience, FIG. 1 shows only one actuator without distinguishing between the above actuators.

[0027] The robot control device 3 controls the driving robot 2, which is a driving device, and controls each actuator 21 of the driving robot 2 to drive the test specimen V, to which running resistance is applied by the dynamometer 4. The robot control device 3 is a computer having a CPU, memory, input / output interface, AD converter, etc., and is configured to perform its functions by the CPU and peripheral devices working together in accordance with a driving control program stored in the memory.

[0028] The robot control device 3 of this embodiment controls each actuator 21 of the driving robot 2 based on target operation amount data, which is time series data of the target operation amount of the vehicle pedal (accelerator pedal V3 or brake pedal V4), and target vehicle speed data, which is time series data of the target vehicle speed of the test specimen V.

[0029] Specifically, the robot control device 3 controls the accelerator actuator 21 based on target operation amount data, which is time series data of the target operation amount of the accelerator pedal V3, and target vehicle speed data, which is time series data of the target vehicle speed of the test specimen V.

[0030] Here, the target operation amount data of the accelerator pedal V3 is, for example, time-series data of pedal operation amount such as accelerator opening, accelerator depression amount, and / or accelerator pedal position of the accelerator pedal V3 obtained in a past driving test, or may be processed time-series data of the pedal operation amount. Note that the pedal operation amount of the accelerator pedal V3 may be a digital value from a computer on the vehicle side, a pedal position measured by a distance meter, or a pedal angle measured by an angle sensor, etc.

[0031] In addition, the robot control device 3 controls the brake actuator 21 based on target operation amount data, which is time series data of the target operation amount of the brake pedal V4, and target vehicle speed data, which is time series data of the target vehicle speed of the test piece V.

[0032] Here, the target operation amount data of the brake pedal V4 is, for example, time-series data of pedal operation amount such as the brake opening, target brake depression amount, and / or brake pedal position of the brake pedal V4 obtained in a past running test, or may be processed time-series data of the pedal operation amount. Note that the pedal operation amount of the brake pedal V4 may be a digital value from a computer on the vehicle side, a pedal position measured by a distance meter, or a pedal angle measured by an angle sensor, etc.

[0033] The past running tests for the target operation amount data of the accelerator pedal V3 and the target operation amount data of the brake pedal V4 may be road running tests, bench running tests, or simulation running tests. Furthermore, the target operation amount data of the accelerator pedal V3 and the target operation amount data of the brake pedal V4 may be from the same running test or from different running tests.

[0034] Furthermore, the target vehicle speed data may be, for example, time-series data of vehicle speed obtained in a past driving test in which the target operation amount data was obtained, or may be processed time-series data of vehicle speed. Note that if the target operation amount data of the accelerator pedal V3 and the target operation amount data of the brake pedal V4 are obtained in separate driving tests, the target vehicle speed data may be the time-series data of vehicle speed obtained in the past driving test in which the target operation amount data of the accelerator pedal V3 was obtained, or the time-series data of vehicle speed obtained in the past driving test in which the target operation amount data of the brake pedal V4 was obtained. Alternatively, the time-series data of vehicle speed obtained in these separate past driving tests may be combined.

[0035] Then, the robot control device 3 uses a control algorithm of a two-degree-of-freedom control system to feedforward control each actuator 21 of the driving robot 2 based on the target operation amount data, and feedback control each actuator 21 of the driving robot 2 based on the target vehicle speed data.

[0036] Specifically, the robot control device 3 includes a first data acquisition unit 31 that acquires target operation amount data, a second data acquisition unit 32 that acquires target vehicle speed data, and a robot control unit (driving device control unit) 33 that controls the actuators 21 of the driving robot 2, such as an accelerator actuator or a brake actuator.

[0037] The first data acquisition unit 31 may acquire target operation amount data from a data storage unit (not shown) provided inside or outside the robot control device 3 via a wired or wireless communication line, or may acquire target operation amount data input by a user to the robot control device 3 via an input means (not shown).

[0038] The second data acquisition unit 32 may acquire target vehicle speed data from a data storage unit (not shown) located inside or outside the robot control unit 3 via a wired or wireless communication line, or may acquire target vehicle speed data input by the user to the robot control unit 3 via an input means (not shown).

[0039] The robot control unit 33 has a feedforward control unit 33a that feedforward controls the driving robot 2 based on the target operation amount data acquired by the first data acquisition unit 31, and a feedback control unit 33b that feedback controls the driving robot 2 based on the target vehicle speed data acquired by the second data acquisition unit 32.

[0040] The feedforward control unit 33a calculates the accelerator depression amount Acc of the feedforward control system from the target operation amount p(t) at the current time. ＦＦ (t) or brake depression amount Brk ＦＦ (t) is found.

[0041] The feedback control unit 33b inputs the deviation between the target vehicle speed r(t) and the actual vehicle speed v(t) at the current time to a controller (for example, PID control) and calculates the accelerator depression amount Acc of the feedback control system. ＦＢ (t) or brake depression amount Brk ＦＢ (t) is found.

[0042] Furthermore, the robot control unit 33 calculates the accelerator depression amount Acc of the feedforward control unit 33a. ＦＦ (t) and the accelerator depression amount Acc of the feedback control unit 33b ＦＢ (t) is added by the adder 33c. As a result, the accelerator depression amount Acc of the feedforward control unit 33a is calculated. ＦＦ (t) is the accelerator depression amount Acc of the feedback control unit 33b. ＦＢ Then, the robot control unit 33 corrects (complements) the accelerator depression amount using the corrected accelerator depression amount (Acc(t)=Acc ＦＢ (t) + Acc ＦＢ The accelerator actuator 21 is controlled based on the accelerator depression amount command value indicating the acceleration / deceleration (t).

[0043] Here, the accelerator depression amount Acc is calculated by the adder 33c. ＦＦ (t) and accelerator depression amount Acc ＦＢ(t) are added together, and by multiplying each of them by a coefficient, the accelerator actuator 21 can be controlled in accordance with a preset control ratio between feedforward control and feedback control.

[0044] In addition, the robot control unit 33 calculates the brake depression amount Brk of the feedforward control unit 33a. ＦＦ (t) and the brake depression amount Brk of the feedback control unit 33b ＦＢ (t) is added by the adder 33c. As a result, the brake depression amount Brk of the feedforward control unit 33a is calculated. ＦＦ (t) is the brake depression amount Brk of the feedback control unit 33b ＦＢ Then, the robot control unit 33 corrects (complements) the corrected brake depression amount (Brk(t)=Brk ＦＢ (t) + Brk ＦＢ The brake actuator 21 is controlled based on the brake depression amount command value indicating the brake depression amount (t).

[0045] Here, the brake depression amount Brk is calculated by the adder 33c. ＦＦ (t) and brake depression amount Brk ＦＢ (t) are added together, and by multiplying each of them by a coefficient, the brake actuator 21 can be controlled in accordance with a preset control ratio between feedforward control and feedback control.

[0046] 4. Effects of this Embodiment According to the vehicle testing system 100 of this embodiment configured as described above, the dynamometer 4 applies a running resistance to the test specimen V according to the vehicle speed of the test specimen V, while feedforward control is performed on the driving robot (driving device) 2 based on target operation amount data for the vehicle pedals (accelerator pedal V3 or brake pedal V4). Therefore, the test specimen V can be tested by applying a running resistance to the test specimen V and controlling the vehicle pedals (accelerator pedal V3 or brake pedal V4) of the test specimen V to the target operation amount.

[0047] Furthermore, the robot control unit 33 performs feedback control of the driving robot 2 based on the deviation between the target vehicle speed and the actual vehicle speed of the test specimen V, so that the test specimen V can be tested while controlling the vehicle pedal (accelerator pedal V3 or brake pedal V4) of the test specimen V to the target operation amount and controlling the test specimen V to the target vehicle speed. This makes it possible to test the test specimen V that meets a predetermined standard for vehicle speed while matching the accelerator operation amount or brake operation amount to previously acquired time-series data. Note that the predetermined standard is, for example, falling within a tolerance (allowable range) between upper and lower limit speed data set for the time-series data of the target speed.

[0048] 5. Other Embodiments For example, in the above-described embodiment, the positions of both the accelerator pedal V3 and the brake pedal V4 are controlled using the respective target operation amount data, but the position of either the accelerator pedal V3 or the brake pedal V4 may be controlled using the target operation amount data.

[0049] In this case, for the pedal that is not controlled using the target operation amount data, the feedforward control unit differentiates the target vehicle speed r(t), inputs the differential value (acceleration) obtained by the differentiation into the driving performance map, and calculates the accelerator depression amount Acc of the feedforward control system, as in the conventional case. ＦＦ (t) or brake depression amount Brk ＦＦ (t) is calculated (hereinafter referred to as the conventional method). The driving performance map indicates the relationship between vehicle speed, acceleration, and throttle opening calculated for each test specimen (test vehicle), and is data from which the accelerator pedal depression amount (brake pedal depression amount) can be obtained from the speed and acceleration (deceleration).

[0050] Here, the system may be configured so that it is possible to set whether to use a method of controlling the positions of the accelerator pedal V3 and the brake pedal V4 using target operation amount data (the method of the present invention) or the conventional method, depending on the vehicle type of the test specimen V. For example, in a vehicle (e.g., an engine vehicle) in which the position of the accelerator pedal V3 is an important test item, it is possible to apply the method of the present invention to control the accelerator pedal V3 and the conventional method to control the brake pedal V4. Furthermore, in a vehicle (e.g., an electric vehicle) in which the position of the brake pedal V4 is an important test item, it is possible to apply the conventional method to control the accelerator pedal V3 and the method of the present invention to control the brake pedal V4.

[0051] Furthermore, as shown in FIG. 3 , the robot control device 3 may further include a setting change unit 34 that can change the control ratio between feedforward control and feedback control. This setting change unit 34 can change, for example, a coefficient by which the pedal depression amount obtained by the feedforward control unit 33 a is multiplied and a coefficient by which the pedal depression amount obtained by the feedback control unit 33 b is multiplied. This makes it possible to change the control ratio. With this configuration, the test specimen V can be tested with various control ratios, such as when giving priority to controlling the pedal operation amount over the vehicle speed, or when giving priority to controlling the vehicle speed over the pedal operation amount.

[0052] Here, input of changes to the design modification unit 34 can be performed using, for example, a setting screen W1 shown in FIG. 4 . The setting screen W1 is displayed on the display by a function (screen display unit) of the robot control device 3. On this setting screen W1, the user can change and input the priority of the pedal operation amount by sliding a slider S1 left and right using an input device such as a mouse. If the priority of the pedal operation amount is set to 0%, the setting is made to control the vehicle speed while ignoring the pedal operation amount. On the other hand, if the priority of the pedal operation amount is set to 100%, the setting is made to control the pedal operation amount while ignoring the vehicle speed. This change input can be performed by the user inputting a numerical value into a text box or the like using an input device such as a keyboard, or a combination of sliding the slider S1 and inputting a numerical value into a text box or the like.

[0053] Furthermore, when the target operation amount data is processed time-series data of the pedal operation amount obtained in a past driving test, the processing may be performed over the entire period or over a partial period. For example, the processing of a partial period may be performed over only an acceleration period, or only a deceleration period, or only a period during which the vehicle speed falls within a predetermined range.

[0054] In the above embodiment, a completed vehicle is tested, but for example, an engine may be tested using an engine dynamometer, or a powertrain may be tested using a dynamometer.

[0055] The driving device of the above embodiment is configured using a driving robot that actually operates the vehicle pedals to drive the test specimen, but it may also be configured to drive the test specimen by inputting an operation signal corresponding to the operation of the vehicle pedals into the test specimen.

[0056] In addition, in the above embodiment, an example was shown in which the robot control device and the dynamo control device were each configured as separate computers, but the robot control device may be configured as one or more computers, the dynamo control device may be configured as one or more computers, or the robot control device and dynamo control device may be configured as a single computer.

[0057] The specimen testing system may further include an exhaust gas analyzer for analyzing exhaust gas from the specimen, or a fuel consumption measurement device for measuring fuel consumption (fuel efficiency) of the specimen, or an electric power consumption measurement device for measuring electric power consumption (electricity efficiency).

[0058] In addition, various modifications and combinations of the embodiments may be made as long as they do not go against the spirit of the present invention.

[0059] According to the present invention, the test specimen can be tested by controlling the vehicle pedal of the test specimen to a target operation amount while applying running resistance to the test specimen.

[0060] REFERENCE SIGNS LIST 100... Specimen testing system V... Specimen V1... Vehicle pedal 2... Driving robot (driving device) 3... Robot control device (driving device control device) 31... Data acquisition unit 32... Data acquisition unit 33... Robot control unit (driving device control device) 34... Setting change unit 4... Dynamometer 5... Dynamo control device

Claims

1. A test specimen testing system for testing test specimens that are vehicles or parts thereof, A driving device that drives the test specimen by operating the vehicle pedal of the test specimen or by inputting an operation signal corresponding to the operation of the vehicle pedal, A dynamometer that provides a driving resistance corresponding to the vehicle speed of the test specimen driven by the aforementioned driving device, A data acquisition unit that acquires target operation amount data, which is time-series data of the target operation amount of the vehicle pedal, A test specimen testing system comprising: an operating device control unit that feedforward controls the operating device based on the target operation amount data acquired by the data acquisition unit.

2. The data acquisition unit acquires target vehicle speed data, which is time-series data of the target vehicle speed of the test specimen. The test specimen testing system according to claim 1, wherein the driving device control unit provides feedback control of the driving device based on the deviation between the target vehicle speed and the actual vehicle speed of the test specimen.

3. The specimen testing system according to claim 2, wherein the operating device control unit controls the operating device according to a preset control ratio of the feedforward control and the feedback control.

4. The specimen testing system according to claim 3, further comprising a setting change unit that can change the control ratio.

5. The aforementioned driving device operates the accelerator pedal as the vehicle pedal, The specimen testing system according to any one of claims 1 to 4, wherein the data acquisition unit acquires time-series data of accelerator opening, accelerator depression amount, and / or accelerator pedal position as the target operation amount data.

6. The aforementioned driving device operates the brake pedal as the vehicle pedal, The specimen testing system according to any one of claims 1 to 4, wherein the data acquisition unit acquires time-series data of brake opening, brake depression amount, and / or brake pedal position as target operating amounts of the brake pedal.

7. A driving device that drives the test specimen by operating the vehicle pedal of the test specimen or by inputting an operation signal corresponding to the operation of the vehicle pedal, A data acquisition unit that acquires target operation amount data, which is time-series data of the target operation amount of the vehicle pedal, A test specimen operation system comprising: an operation device control unit that feedforward controls the operation device based on the target operation amount data acquired by the data acquisition unit; and an operation device control unit.

8. A test specimen method for testing a test specimen that is a vehicle or a part thereof, A driving device that drives the test specimen by operating the vehicle pedal of the test specimen or by inputting an operation signal corresponding to the operation of the vehicle pedal, and a dynamometer that provides a driving resistance corresponding to the vehicle speed of the test specimen driven by the driving device, A method for testing a test specimen, comprising testing the test specimen by feedforward control of the driving device based on time-series data of the target operation amount of the vehicle pedal.

9. A program used in a test specimen testing system comprising: a driving device that drives the test specimen by operating the vehicle pedals of the vehicle or a part thereof of the test specimen, or by inputting an operation signal corresponding to the operation of the vehicle pedals; and a dynamometer that provides a driving resistance corresponding to the vehicle speed of the test specimen driven by the driving device, The unit functions as a data acquisition unit that acquires target operation amount data, which is time-series data of the target operation amount of the vehicle pedal, A test specimen test program that provides a computer with the function of an operating device control unit that feedforward controls the operating device based on the target operation amount data acquired by the data acquisition unit.