Control device and control method

Abstract

The present invention improves the operability of a pedal. A control device 19 controls the operation of a vehicle 1, and includes a control unit for causing the vehicle 1 to generate a braking force corresponding to a pedal force of a brake pedal 14 of the vehicle 1. The control unit adjusts the characteristics of the braking force with respect to the pedal force on the basis of the gradient of the travel path of the vehicle 1 and the vehicle speed of the vehicle 1.

Description

[0001] [Document name] Statement

[0002] [Title of invention] Control device and control method

[0003] [Technical Field]

[0004]

[001] The present invention relates to a control device and a control method.

[0005] [Background technology]

[0006] [. 0 0 2] In a vehicle, the driver can decelerate or accelerate by pressing a pedal. Specifically, the brake pedal is used to decelerate the vehicle, and the accelerator pedal is used to accelerate the vehicle. A force corresponding to the pedal pressure acts on the vehicle, changing the vehicle's behavior. For example, Patent Document 1 discloses a mechanism for applying a braking force to the vehicle corresponding to the brake pedal pressure.

[0007] [Prior art documents]

[0008] [Patent documents]

[0009]

〇 0 0 3

[0010] [Patent Document 1] JP 2017-165181 A

[0011] Summary of the Invention

[0012] [Problem to be solved by the invention]

[0013] [0 0 4] Here, as space is saved within a vehicle, it is conceivable that the pedal stroke (i.e., maximum travel distance) may be reduced while maintaining the range of force that can be applied to the vehicle by operating the pedal. In this case, the reduced pedal stroke may make it difficult to finely control the vehicle's behavior by operating the pedal. Therefore, it is conceivable to reduce the change in force acting on the vehicle in response to a change in pedal force. However, in this case, a large pedal force is required in certain driving situations (for example, when decelerating on a steep downhill road). Therefore, it is desirable to improve pedal operability regardless of the vehicle's driving situation.

[0014]

[0005] Therefore, in view of these problems, the present invention aims to provide a control device and a control method that can improve the operability of the pedal.

[0015] [Means for solving the problem]

[0016]

[0006] In order to solve the above problem, the control device is a control device that controls the operation of the vehicle and is equipped with a control unit that generates a braking force in the vehicle corresponding to the force applied to the brake pedal of the vehicle, and the control unit adjusts the characteristics of the braking force relative to the force applied based on the gradient of the road on which the vehicle is traveling and the vehicle speed.

[0017]

[0007] In order to solve the above problem, the control device is a control device that controls the operation of the vehicle and is equipped with a control unit that generates a driving force in the vehicle corresponding to the force applied to the accelerator pedal of the vehicle, and the control unit adjusts the characteristics of the driving force relative to the force applied based on the gradient of the road on which the vehicle is traveling and the vehicle speed.

[0018] [0 0 0 8] In order to solve the above problem, the control method is a control method for controlling the operation of a vehicle, in which a control unit of a control device generates a braking force in the vehicle corresponding to the force applied to the brake pedal of the vehicle, and the control unit adjusts the characteristics of the braking force relative to the force based on the gradient of the road on which the vehicle is traveling and the vehicle speed of the vehicle.

[0019] [0 0 0 9] In order to solve the above problem, the control method is a control method for controlling the operation of a vehicle, in which a control unit of a control device generates a driving force in the vehicle corresponding to the force applied to the accelerator pedal of the vehicle, and the control unit adjusts the characteristics of the driving force relative to the force applied based on the gradient of the road on which the vehicle is traveling and the vehicle speed of the vehicle.

[0020] [Effects of the invention]

[0021]

[0010] According to the present invention, it is possible to improve the operability of the pedal.

[0022] [Brief description of the drawing]

[0023] [ 0 0 1 1 ]

[0024] FIG. 1 is a schematic diagram showing the general configuration of a vehicle according to an embodiment of the present invention.

[0025] FIG. 2 is a block diagram showing an example of the functional configuration of a control device according to an embodiment of the present invention.

[0026] FIG. 3 is a flowchart showing an example of the flow of processing performed by a control device according to an embodiment of the present invention.

[0027] FIG. 4 is a graph showing an example of braking force characteristics of a vehicle according to an embodiment of the present invention.

[0028] [Mode for Carrying Out the Invention]

[0029]

[0012] Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The dimensions, materials, and other specific values ​​shown in the embodiments are merely examples for facilitating understanding of the invention, and do not limit the present invention unless otherwise specified. In this specification and drawings, elements having substantially the same functions and configurations are designated by the same reference numerals to avoid redundant explanation, and elements not directly related to the present invention are not shown.

[0030]

[0013] <Vehicle Configuration> The configuration of a vehicle 1 according to an embodiment of the present invention will be described with reference to Figs. 1 and 2.

[0031]

[0014] Fig. 1 is a schematic diagram showing the general configuration of a vehicle 1. As shown in Fig. 1, the vehicle 1 includes a drive source 11, a braking device 12, an accelerator pedal 13, a brake pedal 14, an accelerator pedal sensor 15, a brake pedal sensor 16, an acceleration sensor 17, a wheel speed sensor 18, and a control device 19.

[0032]

[0015] The drive source 11 outputs a drive force that is transmitted to the drive wheels of the vehicle 1. Examples of the drive source 11 include an engine and an electric motor.

[0033]

[0016] The brake device 12 applies braking force to the wheels of the vehicle 1. For example, the brake device 12 includes a hydraulic control unit, which adjusts the hydraulic pressure of the brake fluid in the wheel cylinder, thereby adjusting the braking force applied to the wheel.

[0034]

[0017] The accelerator pedal 13 is used by the driver to operate the accelerator. When operating the accelerator, the driver depresses the accelerator pedal 13.

[0035]

[0018] The brake pedal 14 is used by the driver to apply the brakes. In applying the brakes, the driver depresses the brake pedal 14.

[0036]

[0019] The accelerator pedal sensor 15 detects the force applied to the accelerator pedal 13 by the driver.

[0037]

[0020] The brake pedal sensor 16 detects the force applied to the brake pedal 14 by the driver.

[0038]

[0021] The acceleration sensor 17 detects the acceleration acting on the vehicle 1.

[0039]

[0022] Wheel speed sensors 18 are provided on each wheel to detect the wheel speed of each wheel.

[0040]

[0023] The control device 19 controls the operation of the vehicle 1. The control device 19 includes a CPU (Central Processing Unit), which is an arithmetic processing device, a ROM (Read Only Memory), which is a memory element that stores programs used by the CPU, calculation parameters, etc., and a RAM (Random Access Memory), which is a memory element that temporarily stores parameters that change as the CPU executes. The control device 19 may be, for example, a single device, or may be divided into multiple devices. When the control device 19 is divided into multiple devices, the various functions described below are shared among the multiple devices. For example, some functions of the control unit 19b described below and other functions may be shared by different devices.

[0041]

[0024] Figure 2 is a block diagram showing an example of the functional configuration of the control device 19. As shown in Figure 2, the control device 19 includes, for example, an acquisition unit 19a and a control unit 19b.

[0042]

[0025] The acquisition unit 19 a acquires information from each device in the vehicle 1. For example, the acquisition unit 19 a acquires information from an accelerator pedal sensor 15, a brake pedal sensor 16, an acceleration sensor 17, and a wheel speed sensor 18. In this specification, acquisition of information may include extraction or generation of information (for example, calculation), etc.

[0043]

[0026] The control unit 19 b controls the operation of each device in the vehicle 1. The control unit 19 b controls, for example, the operation of the drive source 11 and the brake device 12. For example, the control unit 19 b controls the operation of the drive source 11 to generate a driving force in the vehicle 1 corresponding to the force applied by the driver to the accelerator pedal 13. Also, for example, the control unit 19 b controls the operation of the brake device 12 to generate a braking force in the vehicle 1 corresponding to the force applied by the driver to the brake pedal 14.

[0044]

[0027] <Operation of the control device> With reference to Figs. 3 and 4, the operation of the control device 19 according to the embodiment of the present invention will be described.

[0045]

[0028] As described above, in the vehicle 1, the driver can decelerate or accelerate by depressing a pedal (specifically, the accelerator pedal 13 or the brake pedal 14). However, due to space saving within the vehicle 1, it is conceivable that the pedal stroke (i.e., the maximum travel distance) may be reduced while maintaining the range of force that can be applied to the vehicle 1 by operating the pedal. In this case, due to the reduced pedal stroke, it may become difficult to finely control the behavior of the vehicle 1 by operating the pedal. Therefore, it is conceivable to reduce the change in force acting on the vehicle 1 in response to a change in pedal force. However, in that case, a large pedal force is required in certain driving situations (for example, when decelerating on a steep downhill road). In this embodiment, as described below, the processing performed by the control device 19 is devised so that the operability of the pedals can be improved regardless of the driving conditions of the vehicle 1.

[0046]

[0029] Hereinafter, with reference to Fig. 3 and Fig. 4, an example of processing related to adjustment of braking force characteristics to improve operability of the brake pedal 14 will be described. The braking force characteristics refer to the characteristics of the braking force generated in the vehicle 1 in response to the depression force on the brake pedal 14. However, as will be described later, the control device 19 may also perform processing related to adjustment of driving force characteristics to improve operability of the accelerator pedal 13. The driving force characteristics refer to the characteristics of the driving force generated in the vehicle 1 in response to the depression force on the accelerator pedal 13.

[0047]

[0030] Figure 3 is a flowchart showing an example of the flow of processing performed by the control device 19. Step S101 in Figure 3 corresponds to the start of the control flow shown in Figure 3. Step S105 in Figure 3 corresponds to the end of the control flow shown in Figure 3. The control flow shown in Figure 3 is started repeatedly, for example, at preset time intervals.

[0048]

[0031] When the control flow shown in Figure 3 starts, in step S102, the control unit 19b determines whether the vehicle 1 is stopped.

[0049]

[0032] In step S102, the control unit 19b determines whether the vehicle 1 is stopped, for example, based on the detection result of the wheel speed sensor 18. For example, if the wheel speed of each wheel is equal to or less than a predetermined value close to 0, the control unit 19b can determine that the vehicle 1 is stopped. In other words, if the vehicle speed of the vehicle 1 is equal to or less than a value close to 0, the control unit 19b can determine that the vehicle 1 is stopped.

[0050]

[0033] If it is determined that the vehicle 1 is not stopped (step S102 / NO), proceed to step S103. In step S103, the control unit 19b performs a first adjustment to adjust the braking force characteristics of the vehicle 1. Details of the first adjustment will be described later.

[0051]

[0034] On the other hand, if it is determined that the vehicle 1 is stopped (step S102 / YES), the process proceeds to step S104. In step S104, the control unit 19b performs a second adjustment to adjust the braking force characteristics of the vehicle 1. Details of the second adjustment will be described later.

[0052]

[0035] After step S103 or step S104, the control flow shown in FIG. 3 ends.

[0053]

[0036] As described above, the control unit 19b adjusts the braking force characteristics depending on whether the vehicle 1 is stopped or not. Fig. 4 is a graph showing an example of the braking force characteristics of the vehicle 1. In Fig. 4, the horizontal axis represents the depression force PF of the brake pedal 14, and the vertical axis represents the braking force BF generated in the vehicle 1. Each of the characteristic lines L1 and L2 in Fig. 4 is a line showing an example of a braking force characteristic that the vehicle 1 can have.

[0054] For example, the control unit 19 b can adjust the braking force characteristics of the vehicle 1 to the characteristics of the characteristic line L1. In this case, the control unit 19 b controls the operation of the brake device 12 so that the depression force PF of the brake pedal 14 and the braking force BF generated in the vehicle 1 follow the relationship shown by the characteristic line L1.

[0055]

[0038] Furthermore, for example, the control unit 19 b can adjust the braking force characteristics of the vehicle 1 from the characteristics of the characteristic line L1 to the characteristics of the characteristic line L2. In this case, the control unit 19 b controls the operation of the brake device 12 so that the depression force PF of the brake pedal 14 and the braking force BF generated in the vehicle 1 follow the relationship shown by the characteristic line L2.

[0056]

[0039] As shown by characteristic line L1 and characteristic line L2, the control unit 19b controls the operation of the braking device 12 so that the braking force BF generated in the vehicle 1 increases as the depression force PF of the brake pedal 14 increases. In the example of FIG. 4, the braking force BF generated in the vehicle 1 is proportional to the depression force PF of the brake pedal 14. However, the braking force BF generated in the vehicle 1 does not have to be proportional to the depression force PF of the brake pedal 14. For example, the braking force BF generated in the vehicle 1 may be proportional to the square of the depression force PF of the brake pedal 14.

[0057]

[0040] When the braking force characteristics are those of characteristic line L2, the braking force BF corresponding to the same pedal force PF is larger than when the braking force characteristics are those of characteristic line L1. In other words, the control unit 19 b can increase the braking force BF generated in the vehicle 1, for example, by adjusting the braking force characteristics of the vehicle 1 from those of characteristic line L1 to those of characteristic line L2. On the other hand, the control unit 19 b can decrease the braking force BF generated in the vehicle 1, for example, by adjusting the braking force characteristics of the vehicle 1 from those of characteristic line L2 to those of characteristic line L1.

[0058]

[0041] Note that the characteristics of characteristic line L1 and characteristic line L2 in Fig. 4 are merely examples of braking force characteristics that the vehicle 1 can have. In other words, the control unit 19 b can adjust the braking force characteristics of the vehicle 1 to characteristics other than the characteristics of characteristic line L1 and characteristic line L2. For example, the control unit 19 b can adjust the braking force characteristics of the vehicle 1 in more stages (i.e., three or more stages) or continuously.

[0059]

[0042] As described above, in the example of Figure 3, if it is determined in step S102 that vehicle 1 is not stopped, the first adjustment is performed in step S103.

[0060]

[0043] In the first adjustment, the control unit 19b adjusts the braking force characteristics based on the gradient of the road on which the vehicle 1 is traveling. The gradient of the road is expressed as a positive or negative value, with a negative value on a downhill road, a positive value on a flat road, and a positive value on an uphill road. For example, the acquisition unit 19a can acquire the gradient of the road based on the detection result of the acceleration sensor 17. However, from the perspective of acquiring the gradient of the road with high accuracy, it is preferable that the acquisition unit 19a acquire the gradient of the road by taking into account the speed of the vehicle 1 in addition to the detection result of the acceleration sensor 17. The acquisition unit 19a can acquire the speed of the vehicle 1 based on the detection result of the wheel speed sensor 18.

[0061] Specifically, in the first adjustment, the control unit 19 b adjusts the braking force characteristics so that the braking force BF is larger when the gradient of the road is small compared to when the gradient of the road is large. For example, in the first adjustment, the control unit 19 b adjusts the braking force characteristics in a stepwise or continuous manner so that the braking force BF gradually increases as the gradient of the road decreases.

[0062]

[0045] When the vehicle 1 is not stopped and traveling, and the gradient of the road is small (for example, when the vehicle 1 is traveling on a downhill road), it is highly necessary to increase the change in braking force BF relative to a change in depression force PF on the brake pedal 14, so that sudden deceleration can be easily performed. On the other hand, when the vehicle 1 is not stopped and traveling, and the gradient of the road is large (for example, when the vehicle 1 is traveling on an uphill road), it is preferable to decrease the change in braking force BF relative to a change in depression force PF on the brake pedal 14, so that the behavior of the vehicle 1 can be easily controlled finely. Therefore, in the first adjustment performed when the vehicle 1 is not stopped, when the gradient of the road is small, the braking force characteristics are adjusted so that the braking force BF is larger than when the gradient of the road is large, thereby improving the operability of the brake pedal 14.

[0063]

[0046] In the first adjustment, the control unit 19 b adjusts the braking force characteristics based on the vehicle speed of the vehicle 1. Specifically, in the first adjustment, the control unit 19 b adjusts the braking force characteristics so that the braking force BF is larger when the vehicle speed is high compared to when the vehicle speed is low. For example, in the first adjustment, the control unit 19 b adjusts the braking force characteristics in a stepwise or continuous manner so that the braking force BF gradually increases as the vehicle speed increases.

[0064]

[0047] When the vehicle 1 is not stopped and traveling, and the vehicle speed is high, it is highly necessary to increase the change in braking force BF relative to the change in depression force PF of the brake pedal 14, making it easy to perform sudden deceleration. On the other hand, when the vehicle 1 is not stopped and traveling, and the vehicle speed is low, it is preferable to decrease the change in braking force BF relative to the change in depression force PF of the brake pedal 14, making it easy to finely control the behavior of the vehicle 1. Therefore, in the first adjustment performed when the vehicle 1 is not stopped, the braking force characteristics are adjusted so that the braking force BF is larger when the vehicle speed is high compared to when the vehicle speed is low, thereby improving the operability of the brake pedal 14.

[0048] Also, as described above, in the example of Figure 3, if it is determined in step S102 that vehicle 1 is stopped, the second adjustment is performed in step S104.

[0065]

[0049] In the second adjustment, the control unit 19 b adjusts the braking force characteristics based on the gradient of the road on which the vehicle 1 is traveling. Specifically, in the second adjustment, the control unit 19 b adjusts the braking force characteristics so that when the absolute value of the road gradient is large, the braking force BF is larger than when the absolute value of the road gradient is small. For example, in the second adjustment, the control unit 19 b adjusts the braking force characteristics in stages or continuously so that the braking force BF gradually increases as the absolute value of the road gradient increases.

[0066]

[0050] When vehicle 1 is stopped, a large braking force BF is required to maintain the stopped state if the absolute value of the gradient of the road is large. On the other hand, when vehicle 1 is stopped, a small braking force BF is required to maintain the stopped state if the absolute value of the gradient of the road is small. Therefore, in the second adjustment performed when vehicle 1 is stopped, by adjusting the braking force characteristics so that braking force BF is larger when the absolute value of the gradient of the road is large compared to when the absolute value of the gradient of the road is small, it is possible to reduce the pedal force PF required to maintain the stopped state and reduce driver fatigue.

[0067] As described above, the control unit 19 b adjusts the characteristic of the braking force BF relative to the depression force PF of the brake pedal 14 (i.e., the braking force characteristic) based on the gradient of the road on which the vehicle 1 is traveling and the vehicle speed of the vehicle 1. In the above example, the control unit 19 b specifically determines whether the vehicle 1 is stopped based on the vehicle speed of the vehicle 1, and adjusts the braking force characteristic based on the gradient of the road in each of the first adjustment performed when the vehicle 1 is not stopped and the second adjustment performed when the vehicle 1 is stopped. In this way, by taking into account the gradient of the road and the vehicle speed of the vehicle 1, the operability of the brake pedal 14 can be improved regardless of the traveling conditions of the vehicle 1.

[0068]

[0052] The above describes an example of the processing performed by the control device 19 with reference to Fig. 3 and Fig. 4. However, the processing performed by the control device 19 may be a processing in which the processing example described above is modified.

[0069]

[0053] For example, in the example above, the control unit 19 b determines whether the vehicle 1 is stopped based on the vehicle speed of the vehicle 1, and adjusts the braking force characteristics depending on whether the vehicle 1 is stopped. However, the control unit 19 b only needs to adjust the braking force characteristics based on at least the gradient of the road on which the vehicle 1 is traveling and the vehicle speed of the vehicle 1, and does not have to adjust the braking force characteristics depending on whether the vehicle 1 is stopped. For example, the control unit 19 b may perform the first adjustment when the vehicle speed of the vehicle 1 is higher than a minimum value, and may perform the second adjustment when the vehicle speed of the vehicle 1 is lower than the minimum value.

[0070]

[0054] In the above example, for example, in the first adjustment performed when the vehicle 1 is not stopped, the control unit 19 b adjusts the braking force characteristics based on both the gradient of the road on which the vehicle 1 is traveling and the vehicle speed of the vehicle 1. However, in the first adjustment, the control unit 19 b may adjust the braking force characteristics based only on the gradient of the road on which the vehicle 1 is traveling and the vehicle speed of the vehicle 1.

[0071] Furthermore, for example, the control unit 19 b may adjust the braking force characteristics by prioritizing the gradient of the road on which the vehicle 1 is traveling over the vehicle speed of the vehicle 1. For example, in the first adjustment performed when the vehicle 1 is not stopped, the control unit 19 b may adjust the braking force characteristics without taking into account the vehicle speed of the vehicle 1 if the gradient of the road is excessively small. This prevents the braking force characteristics from being adjusted so that the braking force BF is small due to the low vehicle speed of the vehicle 1, even if the gradient of the road is excessively small, making it difficult to perform sudden deceleration.

[0072]

[0056] In the above example, the control device 19 performs a process for adjusting the braking force characteristics to improve the operability of the brake pedal 14. However, the control device 19 may also perform a process for adjusting the driving force characteristics to improve the operability of the accelerator pedal 13. The control device 19 may perform at least one of the process for adjusting the braking force characteristics to improve the operability of the brake pedal 14 and the process for adjusting the driving force characteristics to improve the operability of the accelerator pedal 13.

[0073]

[0057] Specifically, in the vehicle 1, driving force characteristics are set similarly to the above-described braking force characteristics. Then, the control unit 19 b controls the operation of the driving source 11 so that the depression force on the accelerator pedal 13 and the driving force generated in the vehicle 1 conform to the set driving force characteristics. Here, in order to improve the operability of the accelerator pedal 13, the control unit 19 b adjusts the characteristics of the driving force generated in the vehicle 1 relative to the depression force on the accelerator pedal 13 (i.e., the driving force characteristics) based on the gradient of the road on which the vehicle 1 is traveling and the vehicle speed of the vehicle 1.

[0074] For example, the control unit 19 b adjusts the driving force characteristics so that the driving force is larger when the gradient of the road is steep compared to when the gradient of the road is shallow. When the gradient of the road is steep (for example, when the vehicle 1 is traveling on an uphill road), it is highly necessary to increase the change in driving force in response to a change in the force applied to the accelerator pedal 13, making it easy to accelerate despite the gradient. On the other hand, when the gradient of the road is shallow (for example, when the vehicle 1 is traveling on a downhill road), it is preferable to reduce the change in driving force in response to a change in the force applied to the accelerator pedal 13, making it easier to finely control the behavior of the vehicle 1. Therefore, by adjusting the driving force characteristics so that the driving force is larger when the gradient of the road is steep compared to when the gradient of the road is shallow, the operability of the accelerator pedal 13 can be improved.

[0075]

[0059] Furthermore, for example, the control unit 19b adjusts the driving force characteristics so that the driving force is larger when the vehicle speed is low compared to when the vehicle speed is high. When the vehicle speed is low, it is highly necessary to increase the change in driving force in response to a change in the force applied to the accelerator pedal 13, making it easy to perform sudden acceleration. On the other hand, when the vehicle speed is high, it is preferable to reduce the change in driving force in response to a change in the force applied to the accelerator pedal 13, making it easy to finely control the behavior of the vehicle 1. Therefore, by adjusting the driving force characteristics so that the driving force is larger when the vehicle speed is low compared to when the vehicle speed is high, it is possible to improve the operability of the accelerator pedal 13.

[0076]

[0060] The control unit 19 b may adjust the driving force characteristics by prioritizing the speed of the vehicle 1 over the gradient of the road on which the vehicle 1 is traveling. For example, if the speed of the vehicle 1 is excessively low, the control unit 19 b may adjust the driving force characteristics without taking into account the gradient of the road. This makes it possible to prevent the driving force characteristics from being adjusted so that the driving force is small due to the small gradient of the road even if the vehicle speed is excessively low, making it difficult to perform sudden acceleration.

[0077]

[0061] <Effects of the control device> The effects of the control device 19 according to the embodiment of the present invention will be described.

[0078]

[0062] The control device 19 includes a control unit 19b that generates a braking force BF corresponding to the depression force PF of the brake pedal 14 of the vehicle 1 in the vehicle 1. The control unit 19b adjusts the characteristics of the braking force BF relative to the depression force PF of the brake pedal 14 (i.e., the braking force characteristics) based on the gradient of the road on which the vehicle 1 is traveling and the vehicle speed of the vehicle 1. By taking into account the gradient of the road and the vehicle speed of the vehicle 1, the operability of the brake pedal 14 can be improved regardless of the traveling conditions of the vehicle 1.

[0079] Preferably, in the control device 19, the control unit 19 b adjusts the above characteristics (i.e., braking force characteristics) depending on whether the vehicle 1 is stopped or not. This appropriately improves the operability of the brake pedal 14 by taking into account the gradient of the road and the vehicle speed of the vehicle 1.

[0080]

[0064] Preferably, in the control device 19, the control unit 19b adjusts the above characteristics (i.e., braking force characteristics) so that the braking force BF is larger when the gradient of the road is small and the vehicle 1 is not stopped compared to when the gradient of the road is large. This makes it possible to appropriately adjust whether the operation of the brake pedal 14 while the vehicle 1 is traveling makes it easy to suddenly decelerate or to finely control the behavior of the vehicle 1, depending on the gradient of the road. Therefore, the operability of the brake pedal 14 can be more appropriately improved.

[0081] Preferably, in the control device 19, the control unit 19 b adjusts the above-mentioned characteristic (i.e., braking force characteristic) so that the braking force BF is larger when the vehicle speed is high compared to when the vehicle speed is low when the vehicle 1 is not stopped. This makes it possible to appropriately adjust whether the operation of the brake pedal 14 while the vehicle 1 is traveling makes it easy to suddenly decelerate the vehicle 1 or makes it easy to finely control the behavior of the vehicle 1, depending on the vehicle speed. Therefore, the operability of the brake pedal 14 can be more appropriately improved.

[0082] Preferably, in the control device 19, the control unit 19 b adjusts the above characteristics (i.e., braking force characteristics) so that when the vehicle 1 is stopped, the braking force BF is larger when the absolute value of the gradient of the road is large compared to when the absolute value of the gradient of the road is small. This reduces the pedal force PF required to maintain the stopped state when the vehicle 1 is stopped, thereby reducing driver fatigue.

[0083] Preferably, in the control device 19, the control unit 19 b adjusts the above-mentioned characteristics (i.e., braking force characteristics) by prioritizing the gradient of the road over the vehicle speed. This makes it possible to more appropriately adjust whether to make sudden deceleration easy or to make it easier to finely control the behavior of the vehicle 1 when operating the brake pedal 14. For example, even if the gradient of the road is excessively small, the braking force characteristics are adjusted so that the braking force BF is small due to the low vehicle speed of the vehicle 1, making it difficult to perform sudden deceleration.

[0084]

[0068] The control device 19 also includes a control unit 19b that generates a driving force in the vehicle 1 corresponding to the depression force on the accelerator pedal 13 of the vehicle 1. The control unit 19b adjusts the characteristics of the driving force relative to the depression force on the accelerator pedal 13 (i.e., the driving force characteristics) based on the gradient of the road on which the vehicle 1 is traveling and the vehicle speed of the vehicle 1. By taking into account the gradient of the road and the vehicle speed of the vehicle 1, the operability of the accelerator pedal 13 can be improved regardless of the traveling conditions of the vehicle 1.

[0085]

[0069] Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, it goes without saying that the present invention is not limited to the above-described embodiments, and that various modifications and alterations within the scope of the claims also fall within the technical scope of the present invention.

[0086] For example, the processes described herein using flowcharts do not necessarily have to be performed in the order shown in the flowcharts. Some process steps may be performed in parallel. Additional process steps may also be employed, and some process steps may be omitted.

[0087]

[0071] For example, the series of processes performed by the control device 19 described above may be realized by software, hardware, or a combination of software and hardware. The programs constituting the software are stored in advance in a storage medium provided inside or outside the information processing device.

[0088] [Explanation of symbols]

[0089] [ 0 0 7 2 ]

[0090] 1 vehicle

[0091] 1 1 Drive source

[0092] 1 2 Brake device

[0093] 1 3 Accelerator pedal

[0094] 1 4 Brake pedal

[0095] 1 5 Accelerator pedal sensor

[0096] 1 6 Brake pedal sensor

[0097] 1 7 Acceleration sensor

[0098] 1 8 Wheel speed sensor

[0099] 1 9 Control device

[0100] 1 9 a Acquisition part

[0101] 1 9 b Control section

[0102] BF braking force

[0103] L 1 characteristic line

[0104] L 2 characteristic line

[0105] PF Fuka

Claims

[Document name] Scope of claims

1. A control device (19) for controlling an operation of a vehicle (1), comprising a control unit (19b) for generating in the vehicle (1) a braking force (BF) corresponding to a depression force (PF) of a brake pedal (14) of the vehicle (1), the control unit (19b) adjusting a characteristic of the braking force (BF) relative to the depression force (PF) based on a gradient of a road on which the vehicle (1) is traveling and on the vehicle speed of the vehicle (1).

2. The control device according to claim 1, wherein the control unit (19b) adjusts the characteristic depending on whether the vehicle (1) is stopped or not.

3. The control device according to claim 2, wherein the control unit (19b) adjusts the characteristic so that the braking force (BF) is larger when the gradient is small compared to when the gradient is large when the vehicle (1) is not stopped.

4. The control device according to claim 2, wherein the control unit (19b) adjusts the characteristic so that the braking force (BF) is larger when the vehicle speed is high compared to when the vehicle speed is low when the vehicle (1) is not stopped.

5. The control device according to claim 2, wherein the control unit (19b) adjusts the characteristic so that the braking force (BF) is larger when the absolute value of the gradient is large compared to when the absolute value of the gradient is small, when the vehicle (1) is stopped.

6. The control device according to any one of claims 1 to 5, wherein the control unit (19b) adjusts the characteristics by giving priority to the gradient compared to the vehicle speed.

7. A control device (19) for controlling an operation of a vehicle (1), comprising a control unit (19b) for generating in the vehicle (1) a driving force corresponding to a depression force on an accelerator pedal (13) of the vehicle (1), the control unit (19b) adjusting a characteristic of the driving force relative to the depression force based on a gradient of a road on which the vehicle (1) is traveling and on the vehicle speed of the vehicle (1).

8. A control method for controlling an operation of a vehicle (1), comprising: a control unit (19b) of a control device (19) causing a braking force (BF) corresponding to a depression force (PF) of a brake pedal (14) of the vehicle (1), to be generated in the vehicle (1), and the control unit (19b) adjusts a characteristic of the braking force (BF) relative to the depression force (PF) based on a gradient of a road on which the vehicle (1) is traveling and on a vehicle speed of the vehicle (1).

9. A control method for controlling an operation of a vehicle (1), comprising: a control unit (19b) of a control device (19) causes a driving force corresponding to a depression force on an accelerator pedal (13) of the vehicle (1) to be generated in the vehicle (1); and the control unit (19b) controls a characteristic of the driving force relative to the depression force to control a running speed of the vehicle (1). The control method includes adjusting the vehicle speed based on the gradient of the route and the vehicle speed of the vehicle (1).

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