Automatic driving device, automatic driving method, stepping force conversion mechanism, test object testing system, and test object testing method

Abstract

The present invention automatically drives a test object having a stepping force detection-type pedal. The present invention is an automatic driving device 100 for automatically driving a test object W that is a vehicle or a part thereof, wherein the automatic driving device 100 includes a pedal operation unit 2 for operating a stepping force detection-type pedal P of the test object W.

Description

Automatic driving device, automatic driving method, pedal force conversion mechanism, specimen test system, and specimen test method

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[0001] The present invention relates to an automatic driving device, an automatic driving method, a pedal force conversion mechanism, a specimen test system, and a specimen test method.

[0002] Conventional vehicles are provided with vehicle pedals such as a clutch pedal, an accelerator pedal, or a brake pedal of a stepping type, and the vehicle is operated based on the amount of depression of the vehicle pedal. Therefore, as shown in Patent Document 1, an automatic driving device for automatically driving a vehicle is configured to control the amount of depression of vehicle pedals such as a clutch pedal, an accelerator pedal, or a brake pedal.

[0003] Specifically, the automatic driving device includes a clutch control mechanism that controls the amount of depression of the clutch pedal, an accelerator opening control mechanism that controls the amount of depression of the accelerator pedal and controls the accelerator opening to a desired value, and a brake control mechanism that controls the amount of depression of the brake pedal. Here, each control mechanism is composed of a telescopic rod extending toward the clutch pedal, the accelerator pedal, or the brake pedal, and a control mechanism that operates by adjusting the amount of expansion and contraction of each telescopic rod by an electric motor or the like to control the amount of depression of the clutch pedal, the accelerator pedal, or the brake pedal.

[0004] Japanese Patent No. 5823853

[0005] By the way, in recent years, development of a pedal force detection type pedal for detecting the depression force (pedal force) applied to a vehicle pedal instead of the amount of depression of the vehicle pedal and operating the vehicle based on the pedal force has been promoted.

[0006] However, the conventional automatic driving device has a configuration corresponding to a vehicle pedal operated by the amount of depression, and cannot be directly applied to a pedal force detection type pedal, and cannot automatically drive a specimen having a pedal force detection type pedal.

[0007] Therefore, the present invention has been made in view of the above problems, and the main problem is to automatically drive a specimen having a pedal force detection type pedal.

[0008] In other words, the automatic driving device according to the present invention is an automatic driving device that automatically drives a vehicle or a test specimen which is a part thereof, and is characterized by having a pedal operation unit that operates a pedal force detection type pedal of the test specimen.

[0009] Such an automated driving system has a pedal operating unit that operates a force-sensing pedal, and therefore can automatically drive a test specimen that has a force-sensing pedal.

[0010] One possible specific implementation of the pedal operation unit is that it applies a pedaling force to the accelerator pedal, brake pedal, or clutch pedal, which are force-sensing pedals, in accordance with the operation of the test specimen.

[0011] In a specific embodiment of the automatic driving device of the present invention, the automatic driving device further comprises a control unit for controlling the pedal operation unit, and the control unit controls the force applied by the pedal operation unit based on the vehicle speed of the test specimen or a vehicle speed-related value and a target vehicle speed. Examples of vehicle speed-related values ​​include acceleration, a value obtained by multiplying the vehicle speed by a coefficient, or the rotational speed of a chassis dynamometer.

[0012] In order to enable the operation of a force-sensing pedal without making any design changes to the actuator or other mechanisms that operate conventional foot-operated vehicle pedals, it is desirable that the automatic driving device further includes a force conversion mechanism interposed between the pedal operation unit and the force-sensing pedal, which applies force to the force-sensing pedal according to the stroke amount of the pedal operation unit.

[0013] In a configuration having a pedal force conversion mechanism, a specific control method for the pedal operating section is to control the pedal force applied by the pedal operating section based on a vehicle speed-stroke map that shows the relationship between the vehicle speed or a vehicle speed-related value associated with the vehicle speed of the test specimen and the stroke amount of the pedal operating section or a stroke amount-related value associated with the stroke amount. Examples of stroke amount-related values ​​include the stroke amount multiplied by a coefficient.

[0014] One specific embodiment of the pedal force conversion mechanism is that the pedal force conversion mechanism has an elastic member that expands and contracts according to the stroke amount of the pedal operating part, and a pedal force is applied to the pedal force sensing type pedal according to the amount of expansion and contraction of the elastic member.

[0015] One possible specific implementation of the pedal operation unit is to operate the pedal force sensing type pedal using a motor. In this configuration, the control unit can control the pedal force applied by the pedal operation unit based on a vehicle speed-torque map that shows the relationship between the vehicle speed or a vehicle speed-related value associated with the vehicle speed of the test specimen and the torque or a torque-related value associated with the torque of the motor. Examples of torque-related values ​​include the current, voltage, or power supplied to the motor, or a value obtained by multiplying the torque by a coefficient.

[0016] Another specific control method for the pedal operation unit is to control the pedal force applied by the pedal operation unit based on a speed-force map that shows the relationship between the vehicle speed or a speed-related value associated with the vehicle speed of the test specimen and the pedal force applied to the pedal force-sensing pedal or a pedal force-related value associated with the pedal force. Examples of the pedal force-related value include the pedal force multiplied by a coefficient, the output signal of the pedal force sensor, or the output signal multiplied by a coefficient.

[0017] In order to detect the actual force applied to a force-sensing pedal and control the force applied to the force-sensing pedal, it is desirable that the automatic driving system further includes a force sensor that detects the force applied to the force-sensing pedal, and that the control unit controls the force applied by the pedal operation unit based on the target force obtained from the vehicle speed-force map and the force detected by the force sensor.

[0018] Another specific control method for the pedal operation section is to control the pedaling force applied by the pedal operation section based on a vehicle speed-target stroke map that shows the relationship between the vehicle speed or a vehicle speed-related value associated with the vehicle speed of the test specimen and the target stroke amount or a target stroke amount-related value associated with the target stroke amount of the pedal operation section. Examples of target stroke amount-related values ​​include the target stroke amount multiplied by a coefficient.

[0019] Furthermore, the autonomous driving method according to the present invention is an autonomous driving method for autonomously driving a vehicle or a test specimen which is a part thereof, characterized in that the pedal force detection type pedal of the test specimen is operated by a pedal operation unit.

[0020] Furthermore, the pedal force conversion mechanism according to the present invention is interposed between a pedal force sensing pedal of a vehicle or a test specimen which is a part thereof and a pedal operating unit which operates the pedal force sensing pedal, and is characterized in that it applies pedal force to the pedal force sensing pedal in accordance with the stroke amount of the pedal operating unit.

[0021] Furthermore, the specimen testing system according to the present invention is characterized by comprising the above-mentioned automatic operation device and a dynamometer that applies a load to the specimen being automatically operated by the automatic operation device.

[0022] According to the present invention configured in this way, a test specimen having a pedal with pedal force detection can be driven automatically.

[0023] This is a schematic diagram showing the configuration of an automatic driving device according to one embodiment of the present invention. This is a schematic diagram showing the pedal operation unit and pedal force conversion mechanism of the same embodiment. This is a control block diagram of the pedal operation unit of the same embodiment. This is a control block diagram of the pedal operation unit of a modified embodiment. This is a control block diagram of the pedal operation unit of a modified embodiment. This is a control block diagram of the pedal operation unit of a modified embodiment.

[0024] The following description of an automated driving system according to one embodiment of the present invention will be made with reference to the drawings. Note that all the following drawings are schematic representations, with some parts omitted or exaggerated for clarity. The same components are denoted by the same reference numerals, and their descriptions are omitted as appropriate.

[0025] <Configuration of the Automatic Driving System 100> The automatic driving system 100 of this embodiment automatically drives the vehicle or a test specimen W which is a part thereof.

[0026] Here, the test specimen W can be a complete vehicle equipped with a force-sensing pedal P, or a part of a vehicle equipped with a force-sensing pedal P. The following explanation will focus on the case where the test specimen W is a complete vehicle equipped with a force-sensing pedal P.

[0027] Furthermore, the force-sensing pedal P is a fixed pedal that does not move or moves very little when pressed, and is used to detect the pressing force (pedaling force) applied to the force-sensing pedal P and to operate the vehicle based on that force. This force-sensing pedal P has a built-in sensor, such as a strain gauge sensor or a piezoelectric (piezo) sensor, to detect the pedaling force.

[0028] Specifically, as shown in Figure 1, the automatic driving device 100 is installed in the driver's seat W1 of the test specimen W and automatically drives the test specimen W. It comprises a pedal operation unit 2 that operates the force-sensing pedal P of the test specimen W, and a control unit 3 that controls the pedal operation unit 2. The control unit 3 may be provided in the main unit 10 of the device installed in the driver's seat W1, or it may be provided outside the test specimen W separately from the main unit 10 of the device.

[0029] This automatic driving device 100, together with a dynamometer 20 such as a chassis dynamometer that applies a load to the test specimen W, constitutes a test specimen test system. Various performance tests of the test specimen W can be performed using this test specimen test system. Examples of various performance tests of the test specimen W include, if the test specimen W is an internal combustion engine vehicle, exhaust gas tests, fuel efficiency tests, durability tests, engine tests, powertrain tests, or (pedal) load tests. If the test specimen W is an electric vehicle or a hydrogen fuel vehicle, examples of tests include electric energy efficiency tests, hydrogen consumption tests, automatic driving tests, driving range tests, (vehicle or battery) durability tests, or (pedal) load tests.

[0030] The pedal operation unit 2 applies a pedaling force to the force-sensing pedal P in accordance with the operation of the test specimen. This pedal operation unit 2 is provided in accordance with one or more force-sensing pedals P provided on the test specimen W. Although two force-sensing pedals P are shown in Figure 1, there may be one force-sensing pedal P or three or more.

[0031] If the force-sensing pedal P is an accelerator pedal, the pedal operation unit 2 applies a pedal force to the accelerator pedal for control purposes, such as accelerating the vehicle speed of the test specimen W. If the force-sensing pedal P is a brake pedal, the pedal operation unit 2 applies a pedal force to the brake pedal for control purposes, such as decelerating the vehicle speed of the test specimen W. If the force-sensing pedal P is a clutch pedal, the pedal operation unit 2 applies a pedal force to the clutch pedal for control purposes, such as operating the clutch of the test specimen W.

[0032] As shown in Figure 2, the pedal operation unit 2 of this embodiment is similar to the mechanism for operating a conventional foot-operated vehicle pedal, and includes an operating member 21 that moves forward and backward relative to the force-sensing pedal P, and an actuator 22 such as an electric motor that adjusts the amount of movement (stroke) of the operating member 21. The actuator 22 adjusts the amount of movement (stroke) of the operating member 21 by controlling the drive voltage or drive current of the control unit 3.

[0033] In this embodiment, as shown in Figures 1 and 2, a pedal force conversion mechanism 4 is interposed between the pedal operation unit 2 and the pedal force detection pedal P in order to operate the pedal force detection pedal P using the pedal operation unit 2. This pedal force conversion mechanism 4 converts the stroke amount of the operating member 21 in the pedal operation unit 2 into a pedal force to be applied to the pedal force detection pedal P, thereby enabling the application of a pedal force to the pedal force detection pedal P that corresponds to the stroke amount of the pedal operation unit 2.

[0034] Specifically, as shown in Figure 2, the pedal force conversion mechanism 4 has an elastic member 41 that expands and contracts according to the stroke amount of the pedal operating section 2, and applies pedal force to the pedal force sensing type pedal P according to the amount of expansion and contraction of the elastic member 41. One end of this elastic member 41 moves together with the movement (stroke) of the operating member 21, and the other end of the elastic member 41 applies elastic force to the pedal force sensing type pedal P.

[0035] The pedal force conversion mechanism 4 shown in Figure 2(a) is attached to the pedal operating unit 2, and the other end of the elastic member 41 is provided with a pedal-side contact portion 42 that contacts the pedal force sensing pedal P and applies elastic force. This pedal-side contact portion 42 sandwiches the elastic member 41 between itself and the operating member 21 of the pedal operating unit 2.

[0036] As shown in Figure 2(b), the pedal force conversion mechanism 4 is provided separately from the pedal operating unit 2 and may be provided on the side of the pedal force sensing pedal P, for example, by being attached to the pedal force sensing pedal P. In this case as well, the pedal force conversion mechanism 4 will be interposed between the pedal operating unit 2 and the pedal force sensing pedal P. In this pedal force conversion mechanism 4, one end of the elastic member 41 is provided with an operating-side contact portion 43 that contacts the operating member 21 of the pedal operating unit 2.

[0037] The control unit 3 controls the pedal force applied by the pedal operation unit 2 based on the vehicle speed of the test specimen W and the target vehicle speed. This control unit 3 is a so-called computer that has an analog electrical circuit with a buffer and amplifier, a digital electrical circuit with a CPU, memory and DSP, and an A / D converter interposed between them. The CPU and its peripheral devices work together according to a predetermined program stored in memory to perform the function of controlling the actuator 22 of the pedal operation unit 2.

[0038] The target vehicle speed is determined based on a predetermined driving pattern, and time-series data of the target vehicle speed is input to the control unit 3. The control unit 3 then controls the pedal force applied by the pedal operation unit 2 so that the vehicle speed of the test specimen W follows the time-series data of the target vehicle speed.

[0039] Specifically, as shown in Figure 3, the control unit 3 controls the pedaling force applied by the pedal operating unit 2 based on a vehicle speed-stroke map that shows the relationship between the vehicle speed and acceleration of the test specimen W and the actual stroke amount of the pedal operating unit 2. Here, the vehicle speed-stroke map is correlation data between the vehicle speed and acceleration and the actual stroke amount, which has been acquired in advance when the pedal force conversion mechanism 4 is interposed between the pedal force sensing pedal P and the pedal operating unit 2. The actual stroke amount is the stroke amount from the state where the pedal is not being operated (the state where the stroke amount is zero). The vehicle speed-stroke map may also show the relationship between vehicle speed-related values ​​and acceleration related to vehicle speed and stroke amount-related values ​​related to stroke amount. In this case, examples of vehicle speed-related values ​​related to vehicle speed include the value obtained by multiplying the vehicle speed by a coefficient, or the rotational speed of a chassis dynamometer. Examples of stroke amount-related values ​​include the value obtained by multiplying the stroke amount by a coefficient.

[0040] The control unit 3 then calculates the speed deviation between the target vehicle speed and the vehicle speed of the test specimen (determined in this case from a chassis dynamometer), differentiates the target vehicle speed to determine the target acceleration, inputs the speed deviation and target acceleration into the vehicle speed-stroke amount map to determine the target value of the actual stroke amount of the pedal operation unit 2, and controls the drive voltage or drive current so that the actual stroke amount of the pedal operation unit 2 becomes the target value. If the pedal operation unit 2 is provided for the accelerator pedal, brake pedal, and clutch pedal, the control unit 3 controls the drive voltage or drive current supplied to each pedal operation unit 2. In this way, the control unit 3 can control the force applied by the pedal operation unit 2 so that the vehicle speed of the test specimen W follows the time-series data of its target vehicle speed. In addition to determining the vehicle speed of the test specimen from a chassis dynamometer, it is conceivable to determine it by image recognition of the vehicle speed display unit of the test specimen or by reading a signal from the OBD of the test specimen.

[0041] <Effects of this embodiment> With the automatic driving device 100 of this embodiment configured as described above, since it has a pedal operation unit 2 that operates a force-sensing pedal P, it is possible to automatically drive a test specimen W that has a force-sensing pedal P. In particular, in this embodiment, since it has a force conversion mechanism 4 that applies force to the force-sensing pedal P according to the stroke amount of the pedal operation unit 2, it is possible to operate the force-sensing pedal without making any design changes to the actuator or other mechanism that operates the conventional foot-operated vehicle pedal.

[0042] <Other Embodiments> The present invention is not limited to the embodiments described above.

[0043] For example, in a configuration having a pedal force conversion mechanism 4, a map used when operating a conventional foot pedal of a vehicle whose depression amount is controlled (e.g., an accelerator opening map) may be used after being corrected by the actual stroke amount of the pedal operating unit 2.

[0044] Furthermore, in a configuration having a pedal force conversion mechanism 4, the elastic force of the elastic member 41 of the pedal force conversion mechanism 4 may be adjusted so that a map (for example, an accelerator opening map) used when operating a conventional foot pedal of a vehicle whose amount of depression is controlled can be used as is.

[0045] Also, in the above embodiment, the configuration has the pedaling force conversion mechanism 4, but a configuration without the pedaling force conversion mechanism 4 may be used. In this case, as shown in FIG. 4, the control unit 3 may control the pedaling force by the pedal operation unit 2 based on a vehicle speed-torque map showing the relationship between the vehicle speed and acceleration of the test specimen W and the torque of the motor as the actuator 22 or a torque-related value related to the torque. Here, the vehicle speed-torque map is correlation data between the vehicle speed and acceleration obtained in advance and the torque of the motor or a torque-related value related to the torque.

[0046] Then, the control unit 3 obtains the vehicle speed deviation between the target vehicle speed and the vehicle speed of the test specimen W, differentiates the target vehicle speed to obtain the target acceleration, inputs the vehicle speed deviation and the target acceleration into the vehicle speed-torque map to obtain the target value of the torque-related value of the pedal operation unit 2, and controls the drive voltage or drive current so that the torque-related value of the pedal operation unit 2 becomes the target value. When the pedal operation unit 2 is provided for each of the accelerator pedal, brake pedal, and clutch pedal, the control unit 3 controls the drive voltage or drive current supplied to each pedal operation unit 2. Thereby, the control unit 3 can control the pedaling force by the pedal operation unit 2 so that the vehicle speed of the test specimen W follows the time series data of the target vehicle speed. Note that the control unit 3 may input the vehicle speed of the test specimen W into the vehicle speed-torque map to obtain the target value of the torque-related value of the pedal operation unit 2, and control the drive voltage or drive current so that the torque-related value of the pedal operation unit 2 becomes the target value.

[0047] Further, as shown in FIG. 5, the control unit 3 can control the pedaling force by the pedal operation unit 2 based on a vehicle speed-pedaling force map showing the relationship between the vehicle speed and acceleration of the test specimen W and the pedaling force applied to the pedal force detection type pedal P. In this case, the automatic driving device 100 includes a pedal force sensor (not shown) that detects the pedaling force applied to the pedal force detection type pedal P. Here, the vehicle speed-pedaling force map is correlation data of the vehicle speed and acceleration acquired in advance and the pedaling force detected by the pedal force sensor. Further, the pedal force sensor may be provided in the pedal operation unit 2 or may be provided in the pedal force detection type pedal P. Note that the vehicle speed-pedaling force map may show the relationship between a vehicle speed-related value related to the vehicle speed and the acceleration and a pedaling force-related value related to the pedaling force. In this case, examples of the vehicle speed-related value related to the vehicle speed include a value obtained by multiplying the vehicle speed by a coefficient, or the rotational speed of a chassis dynamometer. Further, examples of the pedaling force-related value include a value obtained by multiplying the pedaling force by a coefficient, an output signal of the pedal force sensor, or a signal obtained by multiplying the output signal by a coefficient. <<

[0048] Then, the control unit 3 obtains a vehicle speed deviation between the target vehicle speed and the vehicle speed of the test specimen W, differentiates the target vehicle speed to obtain a target acceleration, inputs the vehicle speed deviation and the target acceleration into the vehicle speed-pedaling force map to obtain a target value (target pedaling force) of the pedaling force of the pedal operation unit 2, and controls the drive voltage or drive current so that the pedaling force (detected pedaling force) of the pedal operation unit 2 becomes the target value. When the pedal operation unit 2 is provided in each of the accelerator pedal, the brake pedal, and the clutch pedal, the control unit 3 controls the drive voltage or drive current supplied to each pedal operation unit 2. Thereby, the control unit 3 can control the pedaling force by the pedal operation unit 2 so that the vehicle speed of the test specimen W follows the time series data of the target vehicle speed.

[0049] Furthermore, as shown in Figure 6, the control unit 3 can control the pedaling force applied by the pedal operating unit 2 based on a vehicle speed-target stroke amount map that shows the relationship between the vehicle speed and acceleration of the test specimen W and the target stroke amount of the pedal operating unit 2. Here, the vehicle speed-target stroke amount map is correlation data between the vehicle speed and acceleration and the target stroke amount of the pedal operating unit 2 that has been acquired in advance. The vehicle speed-target stroke amount map may also show the relationship between vehicle speed-related values ​​and acceleration related to vehicle speed and target stroke amount-related values ​​related to the target stroke amount. In this case, examples of vehicle speed-related values ​​related to vehicle speed include the value obtained by multiplying the vehicle speed by a coefficient, or the rotational speed of the chassis dynamometer. Examples of target stroke amount-related values ​​include the value obtained by multiplying the target stroke amount by a coefficient.

[0050] The control unit 3 then calculates the speed difference between the target vehicle speed and the vehicle speed of the test specimen W, differentiates the target vehicle speed to obtain the target acceleration, inputs the speed difference and target acceleration into the vehicle speed-target stroke amount map to determine the target stroke amount of the pedal operation unit 2, and controls the drive voltage or drive current supplied to the pedal operation unit 2 so that the pedal operation unit 2 achieves the target stroke amount. If the pedal operation unit 2 is provided for the accelerator pedal, brake pedal, and clutch pedal, the control unit 3 controls the drive voltage or drive current supplied to each pedal operation unit 2. In this way, the control unit 3 can control the force applied by the pedal operation unit 2 so that the vehicle speed of the test specimen W follows the time-series data of its target vehicle speed.

[0051] In addition to the above embodiment, the automatic driving device 100 may also be configured to switch the state of the test specimen W by operating a pedal force sensing type pedal P, in order to apply pedal force in response to the operation of the test specimen W. Specific examples of configurations for switching the state of the test specimen W include, for example, switching to an idling state, switching to a stopped state, shifting gears (including pressing the brake for shifting gears), or switching to a test mode such as a bench test mode.

[0052] In the above embodiment, the vehicle speed-stroke amount map showed the relationship between the vehicle speed and acceleration of the test specimen W and the actual stroke amount of the pedal operating section 2, but it may also show the relationship between the vehicle speed or acceleration of the test specimen W and the actual stroke amount of the pedal operating section 2. In addition, the vehicle speed-torque map may show the relationship between the vehicle speed or acceleration of the test specimen W and the torque of the motor or a torque-related value which is a value related to torque, the vehicle speed-pedal force map may show the relationship between the vehicle speed or acceleration of the test specimen W and the pedal force detected by the pedal force sensor, and the vehicle speed-target stroke amount map may show the relationship between the vehicle speed or acceleration of the test specimen W and the target stroke amount of the pedal operating section 2.

[0053] In the above embodiment, the vehicle speed deviation and target acceleration were input to the vehicle speed-stroke amount map, vehicle speed-torque map, vehicle speed-pedal force map, or vehicle speed-target stroke amount map. However, as shown in Figure 7, the actual vehicle speed and target vehicle speed may also be input. Figure 7 shows a representative configuration in which the actual vehicle speed and target acceleration are input to the vehicle speed-stroke amount map. In this case, the control unit 3 calculates the target acceleration using the target vehicle speed and the actual vehicle speed, and inputs this calculated target acceleration and the actual vehicle speed of the test specimen W to the vehicle speed-stroke amount map. The control unit 3 then determines the target value of the actual stroke amount of the pedal operation unit 2 and controls the drive voltage or drive current so that the actual stroke amount of the pedal operation unit 2 becomes the target value. The same can be done for the vehicle speed-torque map, vehicle speed-pedal force map, or vehicle speed-target stroke amount map.

[0054] The automatic driving device of the above embodiment may have a pedal operation unit for operating a conventional foot-operated vehicle pedal, a shift lever operation unit for operating a shift lever, or a switch operation unit for operating various switches installed in the vehicle.

[0055] In the above embodiment, the automatic driving device 100 was subjected to vehicle testing using a chassis dynamometer, but is not limited to this. For example, it may be subjected to vehicle testing using various drive system dynamometers that apply load to a complete vehicle or a test specimen that is a part thereof, such as an engine dynamometer or a brake dynamometer, or it may be subjected to durability testing that involves repeated pedal operation.

[0056] Furthermore, it goes without saying that the present invention is not limited to the embodiments described above, and various modifications are possible without departing from its spirit.

[0057] According to the present invention, a test specimen having a pedal with pedal force detection can be automatically driven.

[0058] 100...Test specimen testing system 10...Automatic driving device 20...Dynamometer W...Test specimen P...Pedal force sensing type pedal 2...Pedal operating unit 21...Operating member 22...Motor 3...Control unit 4...Pedal force conversion mechanism 41...Elastic member

Claims

1. An automatic driving device for automatically driving a vehicle or a test specimen which is a part thereof, comprising: a pedal operation unit for operating a force-sensing pedal of the test specimen; and a control unit for controlling the pedal operation unit.

2. The automatic driving device according to claim 1, wherein the pedal operating unit applies a pedaling force to the accelerator pedal, brake pedal, or clutch pedal, which are pedals that detect pedaling force, in accordance with the operation of the test specimen.

3. The automatic driving device according to claim 1 or 2, wherein the control unit controls the pedal force applied by the pedal operating unit based on a vehicle speed-related value related to the vehicle speed of the test specimen and a target vehicle speed.

4. The automatic driving device according to any one of claims 1 to 3, further comprising a pedal force conversion mechanism interposed between the pedal operating unit and the pedal force sensing pedal, which applies pedal force to the pedal force sensing pedal in accordance with the stroke amount of the pedal operating unit.

5. The automatic driving device according to claim 4, wherein the pedal force conversion mechanism has an elastic member that expands and contracts according to the stroke amount of the pedal operating section, and pedal force is applied to the pedal force sensing pedal according to the amount of expansion and contraction of the elastic member.

6. The automatic driving device according to claim 4 or 5, wherein the control unit controls the force applied by the pedal operating unit based on a vehicle speed-stroke map showing the relationship between the vehicle speed or a vehicle speed-related value associated with the vehicle speed of the test specimen and the stroke amount of the pedal operating unit or a stroke amount-related value associated with the stroke amount.

7. The automatic driving device according to any one of claims 1 to 3, wherein the pedal operating unit operates the pedal force sensing type pedal using a motor, and the control unit controls the pedal force applied by the pedal operating unit based on a vehicle speed-torque map showing the relationship between the vehicle speed or a vehicle speed-related value associated with the vehicle speed of the test specimen and the torque of the motor or a torque-related value associated with the torque.

8. The automatic driving device according to any one of claims 1 to 3, wherein the control unit controls the pedal force applied by the pedal operating unit based on a vehicle speed-pedal force map showing the relationship between the vehicle speed or a vehicle speed-related value associated with the vehicle speed of the test specimen and the pedal force applied to the pedal force-sensing pedal or a pedal force-related value associated with the pedal force.

9. The automatic driving device according to claim 8, further comprising a pedal force sensor for detecting the pedal force applied to the pedal force sensing type pedal, wherein the control unit controls the pedal force applied by the pedal operation unit based on a target pedal force obtained from the vehicle speed-pedal force map and the pedal force detected by the pedal force sensor.

10. The automatic driving device according to any one of claims 1 to 3, wherein the control unit controls the force applied by the pedal operating unit based on a vehicle speed-target stroke amount map showing the relationship between the vehicle speed or a vehicle speed-related value associated with the vehicle speed of the test specimen and the target stroke amount or a target stroke amount-related value associated with the target stroke amount of the pedal operating unit.

11. An automated driving method for automatically driving a vehicle or a test specimen which is a part thereof, wherein the pedal force-sensing type pedal of the test specimen is operated by a pedal operating unit.

12. A force-sensing pedal of a test specimen, which is a vehicle or a part thereof, and a pedal operating unit that operates the force-sensing pedal, wherein a force conversion mechanism is provided interposed between the pedal operating unit and the force-sensing pedal, and the force applied to the force-sensing pedal is applied according to the stroke amount of the pedal operating unit.

13. A test specimen testing system comprising an automatic driving device according to any one of claims 1 to 10, and a dynamometer that applies a load to the test specimen that the automatic driving device operates automatically.

14. A method for testing a test specimen, comprising applying a load to the test specimen, which is automatically operated using an automatic operation device according to any one of claims 1 to 10, using a dynamometer.

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