Pedal device

Abstract

A pedal device (10) includes: a pedal (15); a reaction force generating unit (20); a support member (25) having a support part (250) that extends in the movement direction (Da) of the pedal (15) and that supports the pedal so that the pedal (15) can move, and a flange part (252) that is connected to the support part (250) and that extends in a direction intersecting the movement direction (Da); and load sensors (31, 32) detecting a load related to pedaling force. The load sensors (31, 32) have: force receiving parts (310, 320) that receive force from the pedal (15) together with the reaction force generating unit (20); deformable parts (312, 322) that are attached to the flange part (252) and that are deformed by the force from the force receiving parts; and load elements (314, 324) that are arranged in the deformable parts and that output a signal responding to the strain of the deformable parts corresponding to the load. The support part (250) and the flange part (252) are integrally formed.

Description

Pedal device Cross-reference to related applications

[0001] This application is based on Japanese Patent Application No. 2024-225381 filed on December 20, 2024, the content of which is incorporated herein by reference.

[0002] This disclosure relates to a pedal device.

[0003] Conventionally, as described in Patent Document 1, an operating device for an automobile including a protrusion, a cover, a sliding bearing, a guide portion, a partition wall, a load sensor, a printed circuit board, and a load sensor is known. This operating device is used, for example, for pedals of automobiles. Further, the protrusion protrudes in one direction. The cover covers the protrusion. The sliding bearing is inserted into a hole formed in the protrusion and slides with the protrusion. The guide portion extends in one direction and is inserted into the sliding bearing. The partition wall is connected to the guide portion and extends in a direction orthogonal to the one direction. The load sensor includes a measurement head, a flange portion, a force transmission element, a measurement film, and a strain gauge. The measurement head is attached to the printed circuit board. The flange portion is attached to the partition wall and is formed in an annular shape. The force transmission element is inserted into a hole of the flange portion and slides with the flange portion. Further, the force transmission element is in contact with the measurement head and transmits the force from the protrusion to the measurement head. The measurement film is attached to the measurement head and is deformed by the force from the force transmission element. The strain gauge is attached to the measurement film and outputs a signal corresponding to the deformation of the measurement film.

[0004] Specification of US Patent Application Publication No. 2024 / 0166174

[0005] In the actuator described in Patent Document 1, a partition wall to which a flange and force transmission element are attached is assembled with a printed circuit board to which a measuring head is attached. Therefore, the position of the load sensor varies not only due to variations in the position of the partition wall but also due to variations in the position of the printed circuit board. As a result, the variation in the position of the load sensor between actuators is relatively large. When the variation in the position of the load sensor is large, the variation in the contact state between the force transmission element and the measuring head becomes large, and therefore the variation in the strain of the measuring film becomes large. Consequently, in the actuator described in Patent Document 1, the variation in the detected value by the load sensor between actuators is relatively large.

[0006] This disclosure aims to provide a pedal device that suppresses positional variations of load sensors.

[0007] According to one aspect of this disclosure, the pedal device comprises a pedal that moves when pressed by an operator, a reaction force generating unit that deforms due to the force from the pedal when the pedal is pressed, thereby generating a reaction force to the operator's pressing force, a support member having a support portion that extends in the direction of movement of the pedal and supports the pedal so that the pedal can move, a flange portion that is connected to the support portion and extends in a direction intersecting the direction of movement, and a load sensor that detects a load related to the pressing force, wherein the load sensor has a force receiving portion that receives the force from the pedal together with the reaction force generating unit, a deformable portion that is attached to the flange portion and deforms due to the force from the force receiving portion, and a load element that is arranged in the deformable portion and outputs a signal corresponding to the strain of the deformable portion corresponding to the load, and the support portion and the flange portion are integrally formed.

[0008] As a result, since the deformable part is not attached to the printed circuit board, the positional variation of the load sensor is not affected by the positional variation of the printed circuit board. Therefore, the positional variation of the load sensor is smaller compared to when the deformable part is attached to the printed circuit board. Consequently, the positional variation of the load sensor is suppressed.

[0009] A diagram illustrating the configuration of a brake-by-wire system using the pedal device of the first embodiment. A top view of the pedal device. A diagram showing the arrangement of sensors in the pedal device. An enlarged cross-sectional view along line IV-IV in Figures 2 and 3. An enlarged cross-sectional view along line V-V in Figures 2 and 3. A cross-sectional view of the pedal device when the pedal is pressed. A cross-sectional view of the pedal device when the pedal is pressed. A cross-sectional view of the pedal device of the second embodiment. A cross-sectional view of the pedal device when the pedal is pressed. A cross-sectional view of the pedal device of the third embodiment. A cross-sectional view of the pedal device of the fourth embodiment. A cross-sectional view of the pedal device when the pedal is pressed. A cross-sectional view of the pedal device of the fifth embodiment. A cross-sectional view of the pedal device when the pedal is pressed. A cross-sectional view of the pedal device when the pedal is pressed. A cross-sectional view of the pedal device of the sixth embodiment. A cross-sectional view of the pedal device when the pedal is pressed. A cross-sectional view of the pedal device of the seventh embodiment. A cross-sectional view of the pedal device of the eighth embodiment. A cross-sectional view of the pedal device of the ninth embodiment. A cross-sectional view of the pedal device of the tenth embodiment. A diagram showing the arrangement of sensors in the pedal device. A diagram showing the wiring of the pedal device. A diagram showing the wiring of the pedal device of the 11th embodiment. A diagram showing the arrangement of sensors in the pedal device of the 12th embodiment. A diagram showing the wiring of the pedal device. A diagram showing the wiring of the pedal device of the 13th embodiment. A diagram showing the arrangement of sensors in the pedal device of the 14th embodiment. An enlarged cross-sectional view of line XXIX-XXIX in Figure 28. A diagram showing the wiring of the pedal device. A diagram showing the wiring of the pedal device of the 15th embodiment. A diagram showing the wiring of the pedal device. A diagram showing the arrangement of sensors in the pedal device of the 16th embodiment. An enlarged cross-sectional view of line XXXIV-XXXIV in Figure 33. A diagram showing the wiring of the pedal device. A diagram showing the wiring of the pedal device of the 17th embodiment. A diagram showing the arrangement of sensors in the pedal device of the 18th embodiment. A diagram showing the wiring of the pedal device. A diagram showing the wiring of the pedal device of the 19th embodiment. A diagram showing the wiring of the pedal device of the 20th embodiment.

[0010] The embodiments will be described below with reference to the drawings. In the following embodiments, parts that are the same or equivalent to each other will be denoted by the same reference numeral, and their descriptions will be omitted.

[0011] (First Embodiment) The pedal device of this embodiment suppresses positional variations of the load sensor. This pedal device is used, for example, as a brake pedal in a brake-by-wire system that controls the brakes of a vehicle. First, this brake-by-wire system will be described.

[0012] As shown in Figure 1, the brake-by-wire system 100 includes wheel cylinders 131-134, a brake ECU 110, a brake circuit 120, a pedal device 10, a first ECU 91, and a second ECU 92.

[0013] Wheel cylinders 131 to 134 are positioned on each wheel of the vehicle. Brake pads (not shown) are attached to each wheel cylinder 131 to 134.

[0014] The brake ECU 110 includes a microcontroller and drive circuit (not shown). Furthermore, the brake ECU 110 controls the brake circuit 120 (described later) based on signals from the first ECU 91 and second ECU 92 (described later).

[0015] The brake circuit 120 includes a first brake circuit 121 and a second brake circuit 122. The first brake circuit 121 includes a reservoir 124, a motor 123, a gear mechanism 125, and a master cylinder 126. The reservoir 124 stores brake fluid. The motor 123 drives the gear mechanism 125. The gear mechanism 125 reciprocates the master piston 127 of the master cylinder 126 in the axial direction of the master cylinder 126. The second brake circuit 122 includes a solenoid valve (not shown). The second brake circuit 122 controls the hydraulic pressure of each wheel cylinder 131 to 134 by opening and closing the solenoid valve in response to a control signal from the brake ECU 110.

[0016] As shown in Figures 2 to 5, the pedal device 10 includes a pedal 15, a reaction force generating unit 20, a support member 25, a rotation stopper pin 27, a first load sensor 31, a second load sensor 32, and a stroke sensor 40. Furthermore, the pedal device 10 includes wiring 51 for the first load sensor, wiring 52 for the second load sensor, wiring 60 for the stroke sensor, a circuit board 70, first wiring 71, second wiring 72, third wiring 73, fourth wiring 74, fifth wiring 75, and sixth wiring 76. The pedal device 10 also includes a circuit board cover 80, a housing 82, a covering member 84, and a full stroke stopper 86.

[0017] Pedal 15 is operated by being pressed by the vehicle driver. The vehicle driver is equivalent to the operator.

[0018] Specifically, as shown in Figures 2, 4, and 5, the pedal 15 has a pedal portion 150 and a pedal projection 152. The pedal portion 150 moves when pressed by the driver. The pedal projection 152 is connected to the pedal portion 150. Furthermore, the pedal projection 152 protrudes from the side of the pedal portion 150 opposite to the side that is pressed, in the direction of movement Da of the pedal 15. The pedal projection 152 also includes a pedal hole 154. The pedal hole 154 extends in the direction of movement Da.

[0019] As shown in Figures 4 and 5, the reaction force generating section 20 includes a first elastic member 201, a holder 210, a second elastic member 202, a third elastic member 203, and a fourth elastic member 204.

[0020] The first elastic member 201 is, for example, a coil spring. Furthermore, one end of the first elastic member 201 is in contact with the pedal projection 152 when the pedal portion 150 is not pressed by the driver, and is therefore supported by the pedal projection 152. Also, when the pedal portion 150 is not pressed by the driver, the first elastic member 201 is elastically deformed, and in this case, compressed. Furthermore, when the pedal portion 150 is pressed by the driver and moves, the first elastic member 201 elastically deforms due to the force from the pedal 15, thereby generating a reaction force to the driver's pressing force. Note that, here, the first elastic member 201 is in contact with the pedal projection 152 when the pedal portion 150 is not pressed by the driver, but is not limited to this. When the pedal portion 150 is not pressed by the driver, the first elastic member 201 and the pedal projection 152 may be separated, and thus the first elastic member 201 and the pedal projection 152 may not be in contact. Furthermore, in this case, the first elastic member 201 is elastically deformed when the pedal portion 150 is not pressed by the driver, but it does not have to be elastically deformed. In this case, the length of the first elastic member 201 when the pedal portion 150 is not pressed by the driver is set to its free length.

[0021] The holder 210 is formed of, for example, resin. Furthermore, the holder 210 includes a holder cylindrical portion 215, a first holder support portion 221, a holder extension portion 225, and a second holder support portion 222. Although the holder 210 is formed of resin, it is not limited to this and may be formed of, for example, metal.

[0022] The holder cylinder portion 215 is formed in a cylindrical shape extending in the direction of movement Da. The first holder support portion 221 is connected to the holder cylinder portion 215. Furthermore, the first holder support portion 221 extends from the boundary with the holder cylinder portion 215 in a direction perpendicular to the direction of movement Da. In addition, the first holder support portion 221 is formed in an annular shape centered on an axis extending in the direction of movement Da. Furthermore, the first holder support portion 221 supports the first elastic member 201 by contacting the other end of the first elastic member 201.

[0023] The holder extension 225 is connected to the first holder support portion 221 on the side opposite to the holder cylindrical portion 215. Furthermore, the holder extension 225 extends in the direction of movement Da from the boundary with the first holder support portion 221. The holder extension 225 is also formed in a cylindrical shape that extends in the direction of movement Da. Moreover, the holder extension 225 is located outward from the holder cylindrical portion 215 in a direction perpendicular to the direction of movement Da.

[0024] The second holder support portion 222 is connected to the holder extension portion 225 on the side opposite to the first holder support portion 221. Furthermore, the second holder support portion 222 extends from the boundary with the holder extension portion 225 in a direction perpendicular to the direction of movement Da. In addition, the second holder support portion 222 is formed in an annular shape with an axis extending in the direction of movement Da as its center.

[0025] The second elastic member 202 is, for example, a coil spring. Furthermore, one end of the second elastic member 202 is in contact with the second holder support 222 when the pedal portion 150 is not pressed by the driver, thereby supporting the second holder support 222. Also, when the pedal portion 150 is not pressed by the driver, the second elastic member 202 is elastically deformed, and in this case, compressed. Furthermore, when the pedal portion 150 is pressed and moved by the driver, the second elastic member 202 elastically deforms due to the force from the pedal 15, thereby generating a reaction force to the driver's pedaling force. Note that, in this case, the second elastic member 202 is in contact with the second holder support 222 when the pedal portion 150 is not pressed by the driver, but is not limited to this. When the pedal portion 150 is not pressed by the driver, the second elastic member 202 and the second holder support portion 222 are separated, and therefore the second elastic member 202 and the second holder support portion 222 may not be in contact. Also, in this case, the second elastic member 202 is elastically deformed when the pedal portion 150 is not pressed by the driver, but it may not be elastically deformed. In this case, the length of the second elastic member 202 when the pedal portion 150 is not pressed by the driver is set to its free length.

[0026] The third elastic member 203 is, for example, a coil spring. Furthermore, one end of the third elastic member 203 is in contact with the second holder support 222 when the pedal portion 150 is not pressed by the driver, thereby supporting the second holder support 222. Also, when the pedal portion 150 is not pressed by the driver, the third elastic member 203 is elastically deformed, and in this case, compressed. Furthermore, when the pedal portion 150 is pressed and moved by the driver, the third elastic member 203 elastically deforms due to the force from the pedal 15, thereby generating a reaction force to the driver's pedaling force. Note that, in this case, the third elastic member 203 is in contact with the second holder support 222 when the pedal portion 150 is not pressed by the driver, but is not limited to this. When the pedal portion 150 is not pressed by the driver, the third elastic member 203 and the second holder support portion 222 are separated, and therefore the third elastic member 203 and the second holder support portion 222 may not be in contact. Also, in this case, the third elastic member 203 is elastically deformed when the pedal portion 150 is not pressed by the driver, but it may not be elastically deformed. In this case, the length of the third elastic member 203 when the pedal portion 150 is not pressed by the driver is set to its free length.

[0027] The fourth elastic member 204 is, for example, a coil spring. Furthermore, one end of the fourth elastic member 204 is in contact with the second holder support 222 when the pedal portion 150 is not pressed by the driver, thereby supporting the second holder support 222. Also, when the pedal portion 150 is not pressed by the driver, the fourth elastic member 204 is elastically deformed, and in this case, compressed. Furthermore, when the pedal portion 150 is pressed and moved by the driver, the fourth elastic member 204 elastically deforms due to the force from the pedal 15, thereby generating a reaction force to the driver's pedaling force. Note that, in this case, the fourth elastic member 204 is in contact with the second holder support 222 when the pedal portion 150 is not pressed by the driver, but is not limited to this. When the pedal portion 150 is not pressed by the driver, the fourth elastic member 204 and the second holder support portion 222 are separated, and therefore the fourth elastic member 204 and the second holder support portion 222 may not be in contact. Also, in this case, the fourth elastic member 204 is elastically deformed when the pedal portion 150 is not pressed by the driver, but it may not be elastically deformed. In this case, the length of the fourth elastic member 204 when the pedal portion 150 is not pressed by the driver is set to its free length.

[0028] The support member 25 is formed of, for example, resin or metal. Furthermore, the support member 25 has a support portion 250, a flange portion 252, and a flange projection portion 254.

[0029] The support portion 250 extends in the direction of movement Da. A portion of the support portion 250 is inserted into the pedal hole 154 and the hole in the holder cylinder portion 215. Thus, the support portion 250 supports the pedal 15 and holder 210 so that they can move. Here, the support portion 250 supports the pedal 15 and holder 210 so that the pedal projection 152 and the holder cylinder portion 215 can slide relative to the support portion 250. Furthermore, as shown in Figure 5, the support portion 250 includes a recess 256. The recess 256 is recessed from the side surface of the support portion 250 in a direction perpendicular to the direction of movement Da.

[0030] As shown in Figures 4 and 5, the flange portion 252 is connected to the support portion 250. The flange portion 252 also extends from the boundary with the support portion 250 in a direction intersecting the direction of movement Da, in this case in a direction perpendicular to the direction of movement Da. Furthermore, the flange portion 252 supports the second elastic member 202 by contacting the other end of the second elastic member 202. The flange portion 252 is also integral with the support portion 250. Therefore, the support portion 250 and the flange portion 252 are integrally formed from the same part. Although the support portion 250 and the flange portion 252 are separate parts, parts made of materials with similar coefficients of thermal expansion may be assembled to form a single part. This reduces the influence of dimensional changes due to temperature changes other than positional variations.

[0031] As shown in Figure 5, the flange projection 254 is connected to the outer portion of the flange portion 252 in a direction perpendicular to the direction of movement Da, relative to the second holder support portion 222. Furthermore, the flange projection 254 protrudes in the direction of movement Da from the boundary with the flange portion 252. In addition, the flange projection 254 is integral with the support portion 250 and the flange portion 252.

[0032] The rotation-retaining pin 27 is attached to the pedal projection 152. Furthermore, the rotation-retaining pin 27 extends from the pedal projection 152 toward the recess 256. In addition, a part of the rotation-retaining pin 27 is inserted into the recess 256. This restricts the rotation of the pedal 15 about an axis extending in the direction of movement Da. Note that the recess 256 extends in the direction of movement Da so that the movement of the pedal 15 in the direction of movement Da is not restricted by the recess 256 and the rotation-retaining pin 27.

[0033] The first load sensor 31 detects a load Wc related to the driver's pedal force. Specifically, as shown in Figures 3 and 5, the first load sensor 31 has a first force receiving section 310, a first deformation section 312, and a first load element 314.

[0034] The first force-receiving portion 310 is made of, for example, metal. Furthermore, the first force-receiving portion 310 is formed in the shape of a rod extending in the direction of movement Da. In addition, the first force-receiving portion 310 supports the third elastic member 203 by contacting the other end of the third elastic member 203. Therefore, the first force-receiving portion 310 receives force from the pedal 15 together with the reaction force generating portion 20.

[0035] The first deformable portion 312 is formed of, for example, metal. Furthermore, the first deformable portion 312 is attached to the flange portion 252. Also, the first deformable portion 312 is formed in a U-shape, for example. Furthermore, a part of the first force receiving portion 310 is inserted into the hole in the first deformable portion 312. The first deformable portion 312 receives a force in the direction of movement Da from the first force receiving portion 310. As a result, the first deformable portion 312 is strained in the direction of movement Da.

[0036] The first load element 314 is, for example, a strain gauge. Furthermore, the first load element 314 is positioned in the first deformation section 312. The first load element 314 also outputs a signal corresponding to the strain of the first deformation section 312 that corresponds to the load Wc.

[0037] The second load sensor 32 detects the load Wc related to the driver's pedal force. Specifically, the second load sensor 32 has a second force receiving section 320, a second deformation section 322, and a second load element 324.

[0038] The second force-receiving portion 320 is formed of, for example, metal. Furthermore, the second force-receiving portion 320 is formed in the shape of a rod extending in the direction of movement Da. In addition, the second force-receiving portion 320 supports the fourth elastic member 204 by contacting the other end of the fourth elastic member 204. Therefore, the second force-receiving portion 320 receives force from the pedal 15 together with the reaction force generating portion 20.

[0039] The second deformable portion 322 is formed of, for example, metal. Furthermore, the second deformable portion 322 is attached to the flange portion 252. Also, the second deformable portion 322 is formed in a U-shape, for example. Furthermore, a part of the second force-receiving portion 320 is inserted into the hole in the second deformable portion 322. The second deformable portion 322 receives a force in the direction of movement Da from the second force-receiving portion 320. As a result, the second deformable portion 322 is strained in the direction of movement Da.

[0040] The second load element 324 is, for example, a strain gauge. Furthermore, the second load element 324 is positioned in the second deformation section 322. The second load element 324 also outputs a signal corresponding to the strain of the second deformation section 322 that corresponds to the load Wc.

[0041] Furthermore, the second load sensor 32 is positioned symmetrically with respect to the first load sensor 31 with respect to the center line Os, which passes through the center of the support portion 250 and extends in the direction of movement Da. Therefore, the second force receiving portion 320 is positioned symmetrically with respect to the first force receiving portion 310 with respect to the center line Os. The second deformation portion 322 is positioned symmetrically with respect to the first deformation portion 312 with respect to the center line Os. The second load element 324 is positioned symmetrically with respect to the first load element 314 with respect to the center line Os. Note that the symmetry includes the manufacturing tolerance range.

[0042] The stroke sensor 40 detects the stroke amount X of the pedal 15 in relation to the driver's pedaling force. The stroke amount X is the amount of movement of the pedal 15 in the direction of movement Da.

[0043] Specifically, as shown in Figures 3 and 5, the stroke sensor 40 includes a reinforcing member 400, a magnet 402, a stroke sensor housing 404, and a stroke element 406.

[0044] As shown in FIG. 5, the reinforcing member 400 is made of a non-magnetic material such as stainless steel or aluminum. Further, the reinforcing member 400 is attached to the pedal convex portion 152. Furthermore, the reinforcing member 400 extends in the moving direction Da from the pedal convex portion 152. Also, the portion of the reinforcing member 400 on the side opposite to the pedal convex portion 152 is located between the second holder support portion 222 and the flange convex portion 254 in the direction orthogonal to the moving direction Da.

[0045] The magnet 402 is connected to the portion of the reinforcing member 400 on the side opposite to the pedal convex portion 152. Since the reinforcing member 400 is attached to the pedal convex portion 152, the magnet 402 moves in the moving direction Da together with the pedal 15.

[0046] The housing 404 for the stroke sensor is attached to the flange convex portion 254 and faces the magnet 402 in the direction orthogonal to the moving direction Da.

[0047] The stroke element 406 includes either a Hall element or a MR element. Further, the stroke element 406 is housed in the housing 404 for the stroke sensor. Since the housing 404 for the stroke sensor faces the magnet 402, the stroke element 406 outputs a signal corresponding to the stroke amount X and in response to the change in the magnetic field that changes due to the movement of the magnet 402 in the moving direction Da. Note that MR is the abbreviation of Magneto Resistive.

[0048] As shown in FIG. 4, one end of the wiring 51 for the first load sensor is connected to the first load element 314. One end of the wiring 52 for the second load sensor is connected to the second load element 324. As shown in FIG. 5, one end of the wiring 60 for the stroke sensor is connected to the stroke element 406. Also, the wiring 60 for the stroke sensor is housed in the flange portion 252 and the flange convex portion 254.

[0049] The substrate 70 is a printed circuit board. Furthermore, as shown in Figures 4 and 5, the substrate 70 is attached to the flange portion 252 on the side opposite to the support portion 250. Also, as shown in Figure 4, the substrate 70 is connected to the other end of the wiring 51 for the first load sensor. Therefore, the substrate 70 acquires a signal from the first load element 314 via the wiring 51 for the first load sensor. Furthermore, the substrate 70 is connected to the other end of the wiring 52 for the second load sensor. Therefore, the substrate 70 acquires a signal from the second load element 324 via the wiring 52 for the second load sensor. Also, as shown in Figure 5, the substrate 70 is connected to the other end of the wiring 60 for the stroke sensor. Therefore, the substrate 70 acquires a signal from the stroke element 406 via the wiring 60 for the stroke sensor.

[0050] One end of the first wiring 71, one end of the second wiring 72, one end of the third wiring 73, one end of the fourth wiring 74, one end of the fifth wiring 75, and one end of the sixth wiring 76 are connected to the substrate 70, as shown in Figures 1 and 5.

[0051] As shown in Figures 4 and 5, the substrate cover 80 is made of, for example, resin. Furthermore, the substrate cover 80 is formed in a plate shape that extends in a direction perpendicular to the direction of movement Da. The substrate cover 80, along with the flange portion 252, covers the substrate 70. This protects the substrate 70.

[0052] The housing 82 is made of, for example, resin. Furthermore, the housing 82 is formed in a cylindrical shape that extends in the direction of movement Da. A part of the pedal projection 152 is inserted into the opening space on the pedal 15 side of the housing 82. Furthermore, the opening space on the opposite side of the pedal 15 in the housing 82 is closed by the flange portion 252. The housing 82 also houses a part of the pedal projection 152, the reaction force generating portion 20, the first load sensor 31, the second load sensor 32, and the stroke sensor 40.

[0053] The covering member 84 is made of an elastic material such as rubber. Furthermore, the covering member 84 is connected to the surface of the pedal portion 150 on the pedal projection 152 side, and also to the portion of the housing 82 on the pedal 15 side. As a result, the covering member 84 covers the space formed between the pedal projection 152 and the housing 82. Therefore, foreign matter such as dust, moisture, and wear particles from the covering member 84 are prevented from entering the inside of the housing 82.

[0054] The full-stroke stopper 86 is made of an elastic material such as rubber. Furthermore, the full-stroke stopper 86 is positioned, for example, on the flange portion 252 facing the holder cylinder portion 215. Additionally, the full-stroke stopper 86 contacts the holder cylinder portion 215 when the pedal 15 is pressed and moved by the driver. At this time, the pedal 15 is in the full-stroke position. Therefore, the full-stroke stopper 86 defines the full-stroke position of the pedal 15. Note that the full-stroke stopper 86 is not limited to being made of an elastic material such as rubber; it may be made of, for example, resin or metal.

[0055] Returning to Figure 1, the first ECU 91 corresponds to the first calculation device and is mainly composed of a microcontroller, and includes a CPU, ROM, flash memory, RAM, I / O, drive circuit and bus lines connecting these components. The first ECU 91 is also connected to the other end of the first wiring 71, the other end of the second wiring 72 and the other end of the third wiring 73. Furthermore, the first ECU 91 acquires signals from the first load element 314 via the circuit board 70 and the first wiring 71. The first ECU 91 also acquires signals from the second load element 324 via the circuit board 70 and the second wiring 72. Furthermore, the first ECU 91 acquires signals from the stroke element 406 via the circuit board 70 and the third wiring 73. The first ECU 91 also calculates the driver's pedal force based on each of these acquired signals. Furthermore, the first ECU 91 determines whether the first load sensor 31, the second load sensor 32, and the stroke sensor 40 are functioning correctly based on the calculated pedal force. The first ECU 91 also outputs the pedal force based on the signals of the sensors that it determines to be functioning correctly to the brake ECU 110.

[0056] The second ECU 92 corresponds to the second calculation device and is mainly composed of a microcontroller, and includes a CPU, ROM, flash memory, RAM, I / O, drive circuit, and bus lines connecting these components. Furthermore, the second ECU 92 can communicate with the first ECU 91. The second ECU 92 is also connected to the other end of the fourth wiring 74, the other end of the fifth wiring 75, and the other end of the sixth wiring 76. Furthermore, the second ECU 92 acquires signals from the first load element 314 via the circuit board 70 and the fourth wiring 74. Furthermore, the second ECU 92 acquires signals from the second load element 324 via the circuit board 70 and the fifth wiring 75. Furthermore, the second ECU 92 acquires signals from the stroke element 406 via the circuit board 70 and the sixth wiring 76. Furthermore, the second ECU 92 calculates the driver's pedal force based on each of these acquired signals. Furthermore, the second ECU 92 determines whether the first load sensor 31, the second load sensor 32, and the stroke sensor 40 are functioning correctly based on the calculated pedal force. The second ECU 92 also outputs the pedal force based on the signals of the sensors that it determines to be functioning correctly to the brake ECU 110.

[0057] As described above, the brake-by-wire system 100 is configured as described. Next, the operation of the pedal device 10 will be explained.

[0058] As shown in Figures 6 and 7, when the pedal portion 150 is pressed by the vehicle driver, the pedal projection 152 moves in the direction of movement Da along with the pedal portion 150. As a result, the force from the pedal portion 150 is transmitted to the first elastic member 201 via the pedal projection 152. Therefore, the first elastic member 201 is compressed. Furthermore, the force from the pedal portion 150 is transmitted to the holder 210. As a result, the holder 210 moves in the direction of movement Da, and the second elastic member 202, the third elastic member 203, and the fourth elastic member 204 are compressed by being pressed against the second holder support portion 222.

[0059] At this time, the force from the pedal section 150 is transmitted to the first force receiving section 310 via the third elastic member 203. The force from the first force receiving section 310 is transmitted to the first deformation section 312. The first deformation section 312 is strained in the direction of movement Da by the force from the first force receiving section 310 in the direction of movement Da. The first load element 314 outputs a signal corresponding to the strain of the first deformation section 312 that corresponds to the load Wc.

[0060] At this time, the force from the pedal section 150 is transmitted to the second force receiving section 320 via the fourth elastic member 204. The force from the second force receiving section 320 is transmitted to the second deformation section 322. The second deformation section 322 is strained in the direction of movement Da by the force from the second force receiving section 320 in the direction of movement Da. The second load element 324 outputs a signal corresponding to the strain of the second deformation section 322 that corresponds to the load Wc.

[0061] Furthermore, as the pedal projection 152 moves in the direction of movement Da, the reinforcing member 400 attached to the pedal projection 152 also moves in the direction of movement Da. Consequently, the magnet 402 connected to the reinforcing member 400 also moves in the direction of movement Da. This changes the magnetic field passing through the stroke element 406. Therefore, the stroke element 406 outputs a signal corresponding to the stroke amount X and the change in the magnetic field caused by the movement of the magnet 402 in the direction of movement Da.

[0062] Furthermore, the circuit board 70 acquires a signal from the first load element 314 via the wiring 51 for the first load sensor. In addition, the circuit board 70 acquires a signal from the second load element 324 via the wiring 52 for the second load sensor. Furthermore, the circuit board 70 acquires a signal from the stroke element 406 via the wiring 60 for the stroke sensor.

[0063] Furthermore, as shown in Figure 1, the first ECU 91 acquires a signal from the first load element 314 via the circuit board 70 and the first wiring 71. The first ECU 91 also calculates the driver's pedal force based on the acquired signal from the first load element 314. Furthermore, the first ECU 91 acquires a signal from the second load element 324 via the circuit board 70 and the second wiring 72. The first ECU 91 also calculates the driver's pedal force based on the acquired signal from the second load element 324. Furthermore, the first ECU 91 acquires a signal from the stroke element 406 via the circuit board 70 and the third wiring 73. The first ECU 91 also calculates the driver's pedal force based on the acquired signal from the stroke element 406.

[0064] The first ECU 91 then determines whether there is an abnormality in the first load sensor 31, the second load sensor 32, and the stroke sensor 40 based on the calculated pedal forces. For example, the first ECU 91 compares these calculated pedal forces. As a result, the first ECU 91 determines that there is an abnormality in the sensor if there is a value that deviates significantly from the calculated pedal forces. Furthermore, the first ECU 91 determines that the sensors whose calculated pedal forces do not deviate significantly are normal. The first ECU 91 also outputs the pedal force based on the signals of the sensors that it has determined to be normal to the brake ECU 110. Furthermore, the second ECU 92 performs the same processing as the first ECU 91. The second ECU 92 may also perform processing if the first ECU 91 is abnormal or malfunctioning.

[0065] The brake ECU 110 rotates the motor 123 by supplying power to it, for example, in response to the pedal force from the first ECU 91 or the second ECU 92. This drives the gear mechanism 125, causing the master piston 127 to move. As a result, the hydraulic pressure of the brake fluid supplied from the reservoir 124 to the master cylinder 126 increases. This increased hydraulic pressure is supplied to the second brake circuit 122.

[0066] Furthermore, the brake ECU 110 supplies power to, for example, a solenoid valve (not shown) in the second brake circuit 122 in response to the pedal force from the first ECU 91 or the second ECU 92. This opens the solenoid valve in the second brake circuit 122. As a result, the brake fluid supplied to the second brake circuit 122 is supplied to each wheel cylinder 131-134. Consequently, the brake pads attached to the wheel cylinders 131-134 rub against the corresponding brake discs. Thus, each wheel is braked, and the vehicle decelerates. At this time, the brake ECU 110 may perform ABS control, VSC control, collision avoidance control, and regenerative braking coordinated control, etc., based on the pedal force from the first ECU 91 or the second ECU 92 and signals from other electronic control devices (not shown). ABS stands for Anti-lock Braking System. VSC stands for Vehicle Stability Control.

[0067] Then, when the driver stops pressing the pedal portion 150, the holder 210 is pushed back by the restoring force of the second elastic member 202, the third elastic member 203, and the fourth elastic member 204. Furthermore, the pedal protrusion 152 is pushed back by the restoring force of the first elastic member 201. As a result, the position of the pedal 15 returns to the initial position when the pedal portion 150 is not being pressed by the driver.

[0068] As described above, the pedal device 10 operates. Next, we will explain how the pedal device 10 suppresses positional variations of the load sensor.

[0069] Here, as described in Patent Document 1, an automobile actuator is known that comprises a projection, a cover, a sliding bearing, a guide, a partition wall, a load sensor, a printed circuit board, and a load sensor. In the actuator described in Patent Document 1, a partition wall to which a flange and a force transmission element are attached is assembled with a printed circuit board to which a measuring head is attached. Therefore, the position of the load sensor varies not only due to the position variation of the partition wall but also due to the position variation of the printed circuit board. As a result, the position variation of the load sensor between actuators is relatively large.

[0070] In contrast, the pedal device 10 of this embodiment comprises a pedal 15, a reaction force generating unit 20, a support member 25, a first load sensor 31, and a second load sensor 32. The support member 25 has a support portion 250 and a flange portion 252. Furthermore, the first load sensor 31 has a first force receiving portion 310, a first deformation portion 312, and a first load element 314. Furthermore, the second load sensor 32 has a second force receiving portion 320, a second deformation portion 322, and a second load element 324. Furthermore, the first deformation portion 312 and the second deformation portion 322 are attached to the flange portion 252. The support portion 250 and the flange portion 252 are integrally formed.

[0071] As a result, since the first deformation portion 312 is not attached to the printed circuit board, the positional variation of the first load sensor 31 is not affected by the positional variation of the printed circuit board. Therefore, the positional variation of the first load sensor 31 is smaller compared to the case where the first deformation portion 312 is attached to the printed circuit board. Consequently, the positional variation of the first load sensor 31 is suppressed. Furthermore, since the second deformation portion 322 is attached to the flange portion 252, the positional variation of the second load sensor 32 is also suppressed in the same way as the positional variation of the first load sensor 31.

[0072] Furthermore, the pedal device 10 of the first embodiment also provides the following effects.

[0073] [1-1] The pedal device 10 is equipped with a first load sensor 31 and a second load sensor 32.

[0074] This allows the system to detect the load Wc related to the driver's pedaling force even if either the first load sensor 31 or the second load sensor 32 fails. This improves the redundancy of the pedal device 10.

[0075] [1-2] The second load sensor 32 is positioned symmetrically to the first load sensor 31 with respect to the center line Os. As described above, the center line Os passes through the center of the support portion 250 and extends in the direction of movement Da.

[0076] As a result, the moment due to the load Wc applied to the first load sensor 31 and the moment due to the load Wc applied to the second load sensor 32 tend to cancel each other out. Therefore, the bias in the load Wc applied to the first load sensor 31 and the second load sensor 32 is suppressed. Consequently, the load Wc applied to the first load sensor 31 and the load Wc applied to the second load sensor 32 tend to be the same. Consequently, the detected value from the first load sensor 31 and the detected value from the second load sensor 32 tend to be the same. As a result, the detection variation between the first load sensor 31 and the second load sensor 32 is suppressed.

[0077] [1-3] The pedal device 10 further includes a stroke sensor 40. The stroke sensor 40 detects the stroke amount X related to the driver's pedaling force. Here, the stroke element 406 of the stroke sensor 40 is positioned on the flange protrusion 254 of the support member 25.

[0078] As a result, even if the first load sensor 31 and the second load sensor 32 fail, the pedaling force can be calculated using the signal from the stroke sensor 40. This improves the redundancy of the pedal device 10. Furthermore, the pedaling forces calculated by the first load sensor 31, the second load sensor 32, and the stroke sensor 40 are compared. This allows for the detection of abnormalities in the first load sensor 31, the second load sensor 32, and the stroke sensor 40. For example, if there is a value that deviates significantly from the calculated pedaling force, it is determined that there is an abnormality in that sensor. Sensors whose calculated pedaling force values ​​do not deviate significantly from the calculated value are determined to be normal.

[0079] [1-4] The reaction force generating section 20 of the pedal device 10 has a third elastic member 203 and a fourth elastic member 204. The third elastic member 203 transmits the force from the pedal 15 to the first force receiving section 310. The fourth elastic member 204 transmits the force from the pedal 15 to the second force receiving section 320.

[0080] As a result, even if either the third elastic member 203 or the fourth elastic member 204 is damaged, the load Wc will still be applied to either the first load sensor 31 or the second load sensor 32. Therefore, even if either the third elastic member 203 or the fourth elastic member 204 is damaged, the load Wc can still be detected. Consequently, the redundancy of the pedal device 10 is improved.

[0081] (Second Embodiment) In the second embodiment, as shown in Figures 8 and 9, the shape of the reaction force generating unit 20 differs from that of the first embodiment. Also, the pedal device 10 does not have a full stroke stopper 86. Other than these, it is the same as the first embodiment.

[0082] In the first embodiment, the reaction force generating unit 20 includes a first elastic member 201, a holder 210, a second elastic member 202, a third elastic member 203, and a fourth elastic member 204. In contrast, in the second embodiment, the reaction force generating unit 20 includes a first elastic member 201, a second elastic member 202, and a third elastic member 203.

[0083] The first elastic member 201 is a leaf spring instead of a coil spring. Furthermore, one end of the first elastic member 201 is in contact with the pedal projection 152 when the pedal portion 150 is not pressed by the driver, and is therefore supported by the pedal projection 152. The other end of the first elastic member 201 is in contact with the first force receiving portion 310 when the pedal portion 150 is not pressed by the driver, and is therefore supported by the first force receiving portion 310. Furthermore, when the pedal portion 150 is pressed by the driver and moves, the first elastic member 201 elastically deforms in response to the force from the pedal 15, thereby generating a reaction force to the driver's pressing force. In addition, when the pedal portion 150 is pressed by the driver and moves, the first elastic member 201 transmits the force from the pedal 15 to the first force receiving portion 310.

[0084] The second elastic member 202 is a leaf spring instead of a coil spring. Furthermore, one end of the second elastic member 202 is supported by the pedal projection 152 by contacting it when the pedal portion 150 is not pressed by the driver. The other end of the second elastic member 202 is supported by the second force receiving portion 320 by contacting it when the pedal portion 150 is not pressed by the driver. Furthermore, when the pedal portion 150 is pressed and moved by the driver, the second elastic member 202 elastically deforms in response to the force from the pedal 15, thereby generating a reaction force to the driver's pressing force. In addition, when the pedal portion 150 is pressed and moved by the driver, the second elastic member 202 transmits the force from the pedal 15 to the second force receiving portion 320.

[0085] The third elastic member 203 is made of an elastic material such as rubber instead of a coil spring. Furthermore, one end of the third elastic member 203 is supported by the pedal projection 152 by contacting it when the pedal portion 150 is not pressed by the driver. The other end of the third elastic member 203 is supported by the flange portion 252 by contacting it when the pedal portion 150 is not pressed by the driver. Furthermore, when the pedal portion 150 is pressed and moved by the driver, the third elastic member 203 elastically deforms in response to the force from the pedal 15, thereby generating a reaction force to the driver's pressing force. In addition, the third elastic member 203 stops deforming when its restoring force exceeds the driver's pressing force. The position of the pedal 15 when the third elastic member 203 stops deforming is the full stroke position. Therefore, the third elastic member 203 acts as a full-stroke stopper 86 that defines the full stroke position of the pedal 15.

[0086] As described above, the pedal device 10 of the second embodiment is configured as described. This second embodiment also provides the same effects as the first embodiment. Furthermore, the second embodiment also provides the effects described below.

[0087] [2-1] The reaction force generating section 20 of the pedal device 10 has a first elastic member 201 and a second elastic member 202. The first elastic member 201 transmits the force from the pedal 15 to the first force receiving section 310. The second elastic member 202 transmits the force from the pedal 15 to the second force receiving section 320.

[0088] As a result, even if either the first elastic member 201 or the second elastic member 202 is damaged, the load Wc will be applied to either the first load sensor 31 or the second load sensor 32. Therefore, even if either the first elastic member 201 or the second elastic member 202 is damaged, the load Wc can still be detected. Consequently, the redundancy of the pedal device 10 is improved.

[0089] [2-2] The reaction force generating unit 20 does not have a holder 210 or the like. As a result, the pedal device 10 has a simpler configuration compared to the case where the reaction force generating unit 20 has a holder 210.

[0090] (Third Embodiment) In the third embodiment, as shown in Figure 10, the shapes of the first elastic member 201, the second elastic member 202, and the third elastic member 203 differ from those of the second embodiment. Otherwise, it is the same as the second embodiment.

[0091] Specifically, the first elastic member 201 is a coil spring instead of a leaf spring. Furthermore, one end of the first elastic member 201 is supported by the pedal portion 150 by contacting the surface of the pedal portion 150 on the pedal projection 152 side when the pedal portion 150 is not being pressed by the driver. In addition, the other end of the first elastic member 201 is supported by the first force receiving portion 310 by contacting the first force receiving portion 310 when the pedal portion 150 is not being pressed by the driver.

[0092] The second elastic member 202 is a coil spring instead of a leaf spring. Furthermore, one end of the second elastic member 202 is supported by the pedal portion 150 by contacting the surface of the pedal portion 150 on the pedal projection 152 side when the pedal portion 150 is not pressed by the driver. In addition, the other end of the second elastic member 202 is supported by the second force receiving portion 320 by contacting the second force receiving portion 320 when the pedal portion 150 is not pressed by the driver.

[0093] In the third elastic member 203, when the pedal portion 150 is not pressed by the driver, instead of one end of the third elastic member 203 being in contact with the pedal protrusion 152, one end of the third elastic member 203 is not in contact with the pedal protrusion 152.

[0094] As described above, the pedal device 10 of the third embodiment is configured as described. This third embodiment also provides the same effects as the second embodiment.

[0095] (Fourth Embodiment) In the fourth embodiment, as shown in Figures 11 and 12, the shape of the third elastic member 203 differs from that of the second embodiment. In addition, the reaction force generating unit 20 has a fourth elastic member 204 in addition to the first elastic member 201, the second elastic member 202, and the third elastic member 203. Other than these, it is the same as the second embodiment.

[0096] Specifically, in the third elastic member 203, when the pedal portion 150 is not pressed by the driver, instead of one end of the third elastic member 203 being in contact with the pedal projection 152, one end of the third elastic member 203 is not in contact with the pedal projection 152.

[0097] The fourth elastic member 204 is, for example, a coil spring. Furthermore, one end of the fourth elastic member 204 is in contact with the first elastic member 201 and the second elastic member 202 when the pedal portion 150 is not pressed by the driver, and is therefore supported by the first elastic member 201 and the second elastic member 202. The other end of the fourth elastic member 204 is in contact with the flange portion 252 when the pedal portion 150 is not pressed by the driver, and is therefore supported by the flange portion 252.

[0098] As described above, the pedal device 10 of the fourth embodiment is configured as described above. This fourth embodiment also provides the same effects as the second embodiment.

[0099] (Fifth Embodiment) In the fifth embodiment, as shown in Figures 13, 14, and 15, the shape of the reaction force generating unit 20 differs from that of the first embodiment. Otherwise, it is the same as the first embodiment.

[0100] In the first embodiment, the reaction force generating unit 20 includes a first elastic member 201, a holder 210, a second elastic member 202, a third elastic member 203, and a fourth elastic member 204. In contrast, in the fifth embodiment, the reaction force generating unit 20 includes a first elastic member 201, a holder 210, a third elastic member 203, and a fourth elastic member 204, but does not include a second elastic member 202.

[0101] As described above, the pedal device 10 of the fifth embodiment is configured as described above. This fifth embodiment also provides the same effects as the first embodiment.

[0102] (Sixth Embodiment) In the sixth embodiment, as shown in Figures 16 and 17, the shape of the pedal 15 differs from that of the third embodiment. Furthermore, the reaction force generating section 20 has a fourth elastic member 204 in addition to the first elastic member 201, the second elastic member 202, and the third elastic member 203. Other than these, it is the same as the third embodiment.

[0103] Specifically, the pedal 15 has a pedal flange 156 in addition to the pedal portion 150 and the pedal projection 152. The pedal flange 156 is connected to the pedal projection 152. Furthermore, the pedal flange 156 protrudes from the boundary with the pedal projection 152 in a direction perpendicular to the direction of movement Da.

[0104] The fourth elastic member 204 is, for example, a coil spring. Furthermore, one end of the fourth elastic member 204 is supported by the pedal flange 156 by contacting it when the pedal portion 150 is not pressed by the driver. The other end of the fourth elastic member 204 is supported by the flange 252 by contacting it when the pedal portion 150 is not pressed by the driver.

[0105] As described above, the pedal device 10 of the sixth embodiment is configured as described. This sixth embodiment also provides the same effects as the third embodiment.

[0106] (Seventh Embodiment) In the seventh embodiment, as shown in Figure 18, the shape of the support portion 250 differs from that of the first embodiment. Otherwise, it is the same as the first embodiment.

[0107] Specifically, a portion of the surface of the support portion 250 that slides with the pedal projection 152 and the holder cylinder portion 215 is an inclined surface 258. The inclined surface 258 is inclined with respect to the direction of movement Da. For example, due to the inclined surface 258, the length of the support portion 250 on the flange portion 252 side in the direction perpendicular to the direction of movement Da is smaller than the length of the support portion 250 on the pedal portion 150 side in the direction perpendicular to the direction of movement Da. This makes it easier for the support portion 250 to guide the pedal projection 152 and the holder cylinder portion 215 to slide. However, due to the inclined surface 258, the length of the support portion 250 on the flange portion 252 side in the direction perpendicular to the direction of movement Da may be larger than the length of the support portion 250 on the pedal portion 150 side in the direction perpendicular to the direction of movement Da.

[0108] As described above, the pedal device 10 of the seventh embodiment is configured as described above. This seventh embodiment also provides the same effects as the first embodiment.

[0109] (Eighth Embodiment) In the eighth embodiment, as shown in Figure 19, the shapes of the pedal 15, the third elastic member 203, the support portion 250, and the covering member 84 differ from those of the third embodiment. Otherwise, it is the same as the third embodiment.

[0110] Specifically, the pedal 15 has a pedal recess 158 instead of a pedal protrusion 152. The pedal recess 158 is recessed from the pedal portion 150.

[0111] The third elastic member 203 is a coil spring instead of an elastic material such as rubber. One end of the third elastic member 203 is in contact with the pedal portion 150 when the pedal portion 150 is not pressed down by the driver, and is therefore supported by the pedal portion 150. Furthermore, the other end of the third elastic member 203 is in contact with the flange portion 252 when the pedal portion 150 is not pressed down by the driver, and is therefore supported by the flange portion 252.

[0112] The support portion 250 extends from the flange portion 252 toward the pedal recess 158. Furthermore, the shape of the end of the support portion 250 on the pedal recess 158 side corresponds to the shape of the pedal recess 158. Therefore, the end of the support portion 250 on the pedal recess 158 side is inserted into the pedal recess 158. In this way, the support portion 250 supports the pedal 15 so that it can move. Here, the support portion 250 supports the pedal 15 so that it can rotate around the axis of rotation Or. The axis of rotation Or passes through the pedal recess 158 and the end of the support portion 250 on the pedal recess 158 side, and is perpendicular to the direction of movement Da.

[0113] The covering member 84 is connected to the part of the pedal portion 150 opposite to the pedal recess 158, and also to the flange projection 254. As a result, the covering member 84 covers the space formed between the pedal portion 150 and the flange projection 254. Therefore, foreign matter such as dust, moisture, and wear particles from the covering member 84 are prevented from entering the space formed between the support portion 250 and the flange projection 254 via the space between the pedal portion 150 and the flange projection 254.

[0114] As described above, the pedal device 10 of the eighth embodiment is configured as described above. This eighth embodiment also provides the same effects as the third embodiment.

[0115] (Ninth Embodiment) In the ninth embodiment, as shown in Figure 20, the shape of the stroke sensor 40 differs from that of the first embodiment. Otherwise, it is the same as the first embodiment.

[0116] Specifically, the stroke sensor 40 has a target 408 instead of a magnet 402. The target 408 corresponds to a conductor and is made of metal or the like, and is therefore conductive. Furthermore, the target 408 is connected to the part of the reinforcing member 400 that is opposite to the pedal protrusion 152. Since the reinforcing member 400 is attached to the pedal protrusion 152, the target 408 moves in the direction of movement Da together with the pedal 15.

[0117] Furthermore, the stroke sensor housing 404 is attached to the flange projection 254 and faces the target 408 in a direction perpendicular to the movement direction Da.

[0118] Furthermore, the stroke element 406 includes a coil. A magnetic field is generated passing through the stroke element 406 by an AC voltage generation circuit (not shown). The stroke element 406 is also located in the stroke sensor housing 404. Since the stroke sensor housing 404 faces the target 408, the stroke element 406 faces the target 408. Because the target 408 is conductive, eddy currents are generated in the target 408. These eddy currents generate a magnetic field passing through the stroke element 406. As a result, the stroke element 406 generates a voltage that cancels out the magnetic field caused by the eddy currents and the magnetic field from the AC voltage generation circuit. Furthermore, as the target 408 moves in the direction Da together with the pedal 15, the area of ​​the stroke element 406 facing the target 408 changes, which in turn changes the eddy currents generated in the target 408. Therefore, the voltage generated in the stroke element 406 that cancels out the magnetic field caused by the eddy currents and the magnetic field from the AC voltage generation circuit changes. Therefore, the stroke element 406 outputs a signal corresponding to the stroke amount X and the change in the magnetic field that changes due to the movement of the target 408 to the substrate 70 via the stroke sensor wiring 60.

[0119] As described above, the pedal device 10 of the ninth embodiment is configured as described above. This ninth embodiment also provides the same effects as the first embodiment.

[0120] (Tenth Embodiment) In the tenth embodiment, as shown in Figure 21, the reaction force generating unit 20 has a fifth elastic member 205 and a sixth elastic member 206 in addition to the first elastic member 201, holder 210, second elastic member 202, third elastic member 203 and fourth elastic member 204. Also, as shown in Figures 21, 22 and 23, the pedal device 10 does not have a stroke sensor 40, but has a third load sensor 33, a fourth load sensor 34, wiring for the third load sensor 53 and wiring for the fourth load sensor 54. Furthermore, the pedal device 10 has a seventh wiring 77 and an eighth wiring 78. Also, the connection state between the pedal device 10 and the first ECU 91 and second ECU 92 is different from that of the first embodiment. Other than these, it is the same as the first embodiment.

[0121] The fifth elastic member 205 is, for example, a coil spring, as shown in Figure 21. Furthermore, one end of the fifth elastic member 205 is in contact with the second holder support 222 when the pedal portion 150 is not pressed by the driver, and is therefore supported by the second holder support 222. Also, when the pedal portion 150 is not pressed by the driver, the fifth elastic member 205 is elastically deformed, and in this case, compressed. Furthermore, when the pedal portion 150 is pressed by the driver and moves, the fifth elastic member 205 elastically deforms due to the force from the pedal 15, thereby generating a reaction force to the driver's pedaling force. Note that, in this case, the fifth elastic member 205 is in contact with the second holder support 222 when the pedal portion 150 is not pressed by the driver, but is not limited to this. When the pedal portion 150 is not pressed by the driver, the fifth elastic member 205 and the second holder support portion 222 are separated, and therefore the fifth elastic member 205 and the second holder support portion 222 may not be in contact. Also, in this case, the fifth elastic member 205 is elastically deformed when the pedal portion 150 is not pressed by the driver, but it may not be elastically deformed. In this case, the length of the fifth elastic member 205 when the pedal portion 150 is not pressed by the driver is set to its free length.

[0122] The sixth elastic member 206 is, for example, a coil spring. Furthermore, one end of the sixth elastic member 206 is in contact with the second holder support 222 when the pedal portion 150 is not pressed by the driver, thereby supporting the second holder support 222. Also, when the pedal portion 150 is not pressed by the driver, the sixth elastic member 206 is elastically deformed, and in this case, compressed. Furthermore, when the pedal portion 150 is pressed and moved by the driver, the sixth elastic member 206 elastically deforms due to the force from the pedal 15, thereby generating a reaction force to the driver's pedaling force. Note that, in this case, the sixth elastic member 206 is in contact with the second holder support 222 when the pedal portion 150 is not pressed by the driver, but is not limited to this. When the pedal portion 150 is not pressed by the driver, the sixth elastic member 206 and the second holder support portion 222 are separated, and therefore the sixth elastic member 206 and the second holder support portion 222 may not be in contact. Also, in this case, the sixth elastic member 206 is elastically deformed when the pedal portion 150 is not pressed by the driver, but it may not be elastically deformed. In this case, the length of the sixth elastic member 206 when the pedal portion 150 is not pressed by the driver is set to its free length.

[0123] The third load sensor 33 detects the load Wc related to the driver's pedal force. Specifically, the third load sensor 33 has a third force receiving section 330, a third deformation section 332, and a third load element 334.

[0124] The third force-receiving portion 330 is formed of, for example, metal. Furthermore, the third force-receiving portion 330 is formed in the shape of a rod extending in the direction of movement Da. In addition, the third force-receiving portion 330 supports the fifth elastic member 205 by contacting the other end of the fifth elastic member 205. Therefore, the third force-receiving portion 330 receives force from the pedal 15 together with the reaction force generating portion 20.

[0125] The third deformable portion 332 is formed of, for example, metal. Furthermore, the third deformable portion 332 is attached to the flange portion 252. Also, the third deformable portion 332 is formed in a U-shape, for example. Furthermore, a part of the third force-receiving portion 330 is inserted into the hole in the third deformable portion 332. The third deformable portion 332 receives a force in the direction of movement Da from the third force-receiving portion 330. As a result, the third deformable portion 332 is strained in the direction of movement Da.

[0126] The third load element 334 is, for example, a strain gauge. Furthermore, the third load element 334 is located in the third deformation section 332. The third load element 334 also outputs a signal corresponding to the strain of the third deformation section 332 that corresponds to the load Wc to the substrate 70 via the wiring 53 for the third load sensor.

[0127] The fourth load sensor 34 detects the load Wc related to the driver's pedal force. Specifically, the fourth load sensor 34 has a fourth force receiving section 340, a fourth deformation section 342, and a fourth load element 344.

[0128] The fourth force-receiving portion 340 is formed of, for example, metal. Furthermore, the fourth force-receiving portion 340 is formed in the shape of a rod extending in the direction of movement Da. In addition, the fourth force-receiving portion 340 supports the sixth elastic member 206 by contacting the other end of the sixth elastic member 206. Therefore, the fourth force-receiving portion 340 receives force from the pedal 15 together with the reaction force generating portion 20.

[0129] The fourth deformable portion 342 is formed of, for example, metal. Furthermore, the fourth deformable portion 342 is attached to the flange portion 252. Also, the fourth deformable portion 342 is formed in a U-shape, for example. Furthermore, a part of the fourth force-receiving portion 340 is inserted into the hole in the fourth deformable portion 342. The fourth deformable portion 342 receives a force in the direction of movement Da from the fourth force-receiving portion 340. As a result, the fourth deformable portion 342 is strained in the direction of movement Da.

[0130] The fourth load element 344 is, for example, a strain gauge. Furthermore, the fourth load element 344 is located in the fourth deformation section 342. The fourth load element 344 also outputs a signal corresponding to the strain of the fourth deformation section 342 that corresponds to the load Wc to the substrate 70 via the wiring 54 for the fourth load sensor.

[0131] Furthermore, the fourth load sensor 34 is positioned symmetrically with respect to the center line Os with respect to the third load sensor 33. Therefore, the fourth force receiving section 340 is positioned symmetrically with respect to the center line Os with respect to the third force receiving section 330. The fourth deformation section 342 is positioned symmetrically with respect to the center line Os with respect to the third deformation section 332. The fourth load element 344 is positioned symmetrically with respect to the center line Os with respect to the third load element 334.

[0132] As shown in Figure 23, the first load element 314 is connected to the first ECU 91 via the first load sensor wiring 51, the substrate 70, and the first wiring 71. The second load element 324 is connected to the first ECU 91 via the second load sensor wiring 52, the substrate 70, and the second wiring 72. The third load element 334 is connected to the first ECU 91 via the third load sensor wiring 53, the substrate 70, and the third wiring 73. The fourth load element 344 is connected to the first ECU 91 via the fourth load sensor wiring 54, the substrate 70, and the fourth wiring 74.

[0133] Furthermore, the first load element 314 is connected to the second ECU 92 via the first load sensor wiring 51, the circuit board 70, and the fifth wiring 75. The second load element 324 is connected to the second ECU 92 via the second load sensor wiring 52, the circuit board 70, and the sixth wiring 76. The third load element 334 is connected to the second ECU 92 via the third load sensor wiring 53, the circuit board 70, and the seventh wiring 77. The fourth load element 344 is connected to the second ECU 92 via the fourth load sensor wiring 54, the circuit board 70, and the eighth wiring 78.

[0134] As described above, the pedal device 10 of the tenth embodiment is configured as described above. This tenth embodiment also provides the same effects as the first embodiment. Furthermore, the tenth embodiment also provides the effects described below.

[0135] [3-1] The pedal device 10 is equipped with a first load sensor 31, a second load sensor 32, a third load sensor 33, and a fourth load sensor 34.

[0136] As a result, even if at least three of the first load sensor 31, second load sensor 32, third load sensor 33, and fourth load sensor 34 fail, the load Wc related to the driver's pedaling force can still be detected. This improves the redundancy of the pedal device 10. Furthermore, the loads Wc detected by the first load sensor 31, second load sensor 32, third load sensor 33, and fourth load sensor 34 are compared. This allows for the determination of which of the first load sensor 31, second load sensor 32, third load sensor 33, and fourth load sensor 34 is malfunctioning. For example, if there is a value that is significantly different from the detected load Wc, that sensor is determined to be malfunctioning. Conversely, sensors whose detected load Wc values ​​are not significantly different are determined to be normal.

[0137] [3-2] The fourth load sensor 34 is positioned symmetrically with respect to the center line Os, with respect to the third load sensor 33.

[0138] As a result, similar to the content of [1-2] above, detection variations between the third load sensor 33 and the fourth load sensor 34 are suppressed.

[0139] (Eleventh Embodiment) In the eleventh embodiment, as shown in Figure 24, the pedal device 10 does not have the fifth wiring 75, sixth wiring 76, seventh wiring 77, and eighth wiring 78. Furthermore, the connection state between the pedal device 10 and the first ECU 91 and second ECU 92 is different from that of the tenth embodiment. Other than these, it is the same as the tenth embodiment.

[0140] Specifically, the first load element 314 is connected to the first ECU 91 via the first load sensor wiring 51, the circuit board 70, and the first wiring 71. The second load element 324 is connected to the first ECU 91 via the second load sensor wiring 52, the circuit board 70, and the second wiring 72. The third load element 334 is connected to the second ECU 92 via the third load sensor wiring 53, the circuit board 70, and the third wiring 73. The fourth load element 344 is connected to the second ECU 92 via the fourth load sensor wiring 54, the circuit board 70, and the fourth wiring 74.

[0141] As described above, the pedal device 10 of the 11th embodiment is configured as described above. This 11th embodiment also provides the same effects as the 10th embodiment.

[0142] (Twelfth Embodiment) In the twelfth embodiment, as shown in Figure 25, the reaction force generating unit 20 does not have a fifth elastic member 205 and a sixth elastic member 206. The pedal device 10 does not have a third load sensor 33, a fourth load sensor 34, wiring for the third load sensor 53 and wiring for the fourth load sensor 54. Also, the configuration of the first load sensor 31 and the second load sensor 32 is different from that of the tenth embodiment. Furthermore, as shown in Figure 26, the pedal device 10 does not have wiring for the first load sensor 51 and wiring for the second load sensor 52. Instead, the pedal device 10 has a first wiring for the first load sensor 511, a second wiring for the first load sensor 512, a first wiring for the second load sensor 521 and a second wiring for the second load sensor 522. Other than these, it is the same as the tenth embodiment.

[0143] The first load sensor 31 has a first force receiving portion 310, a first deformation portion 312, and a first load element 314, in addition to a second load element 324.

[0144] The second load element 324 is, for example, a strain gauge. The second load element 324 is also positioned on the first deformation section 312. Furthermore, the second load element 324 outputs a signal corresponding to the strain of the first deformation section 312 that corresponds to the load Wc.

[0145] The second load sensor 32 has a second force receiving portion 320 and a second deformation portion 322. In addition, the second load sensor 32 has a third load element 334 and a fourth load element 344 instead of the second load element 324.

[0146] The third load element 334 is, for example, a strain gauge. Furthermore, the third load element 334 is positioned in the second deformation section 322. The third load element 334 also outputs a signal corresponding to the strain of the second deformation section 322 that corresponds to the load Wc.

[0147] The fourth load element 344 is, for example, a strain gauge. Furthermore, the fourth load element 344 is positioned in the second deformation section 322. The fourth load element 344 also outputs a signal corresponding to the strain of the second deformation section 322 that corresponds to the load Wc.

[0148] Furthermore, as shown in Figure 26, the first load element 314 is connected to the first ECU 91 via the first wiring 511 for the first load sensor, the substrate 70, and the first wiring 71. The second load element 324 is connected to the first ECU 91 via the second wiring 512 for the first load sensor, the substrate 70, and the second wiring 72. The third load element 334 is connected to the first ECU 91 via the first wiring 521 for the second load sensor, the substrate 70, and the third wiring 73. The fourth load element 344 is connected to the first ECU 91 via the second wiring 522 for the second load sensor, the substrate 70, and the fourth wiring 74.

[0149] Furthermore, the first load element 314 is connected to the second ECU 92 via the first wiring 511 for the first load sensor, the substrate 70, and the fifth wiring 75. The second load element 324 is connected to the second ECU 92 via the second wiring 512 for the first load sensor, the substrate 70, and the sixth wiring 76. The third load element 334 is connected to the second ECU 92 via the first wiring 521 for the second load sensor, the substrate 70, and the seventh wiring 77. The fourth load element 344 is connected to the second ECU 92 via the second wiring 522 for the second load sensor, the substrate 70, and the eighth wiring 78.

[0150] As described above, the pedal device 10 of the twelfth embodiment is configured as described above. This twelfth embodiment also provides the same effects as the tenth embodiment. Furthermore, the twelfth embodiment also provides the effects described below.

[0151] [4] The first load sensor 31 has a first force receiving portion 310, a first deformation portion 312, a first load element 314, and a second load element 324.

[0152] This makes it possible to determine whether or not there is a malfunction in the first load sensor 31. For example, if the values ​​of both the signals from the first load element 314 and the second load element 324 are abnormal, it is determined that at least a part of the first force receiving section 310 and the first deformation section 312 is damaged. Also, if the value of either the signal from the first load element 314 or the second load element 324 is abnormal, it is determined that either the signal from the first load element 314 or the second load element 324 is faulty.

[0153] Furthermore, the second load sensor 32 includes a second force receiving portion 320, a second deformation portion 322, a third load element 334, and a fourth load element 344.

[0154] This allows for the detection of whether or not there is an abnormality in the second load sensor 32, similar to the method described above.

[0155] (Third Embodiment) In the thirteenth embodiment, as shown in Figure 27, the pedal device 10 does not have the fifth wiring 75, sixth wiring 76, seventh wiring 77, and eighth wiring 78. Also, the connection state between the pedal device 10 and the first ECU 91 and second ECU 92 is different from that of the twelfth embodiment. Other than these, it is the same as the twelfth embodiment.

[0156] Specifically, the first load element 314 is connected to the first ECU 91 via the first wiring 511 for the first load sensor, the circuit board 70, and the first wiring 71. The second load element 324 is connected to the first ECU 91 via the second wiring 512 for the first load sensor, the circuit board 70, and the second wiring 72. The third load element 334 is connected to the second ECU 92 via the first wiring 521 for the second load sensor, the circuit board 70, and the third wiring 73. The fourth load element 344 is connected to the second ECU 92 via the second wiring 522 for the second load sensor, the circuit board 70, and the fourth wiring 74. Note that the second load element 324 may be connected to the second ECU 92 instead of the first ECU 91 via the second wiring 512 for the first load sensor, the circuit board 70, and the second wiring 72. The third load element 334 may be connected to the first ECU 91 instead of the second ECU 92 via the first wiring 521 for the second load sensor, the substrate 70, and the third wiring 73.

[0157] As described above, the pedal device 10 of the 13th embodiment is configured as described above. This 13th embodiment also provides the same effects as the 12th embodiment.

[0158] (14th Embodiment) In the 14th embodiment, as shown in Figures 28, 29, and 30, the pedal device 10 does not have a stroke sensor 40 and stroke sensor wiring 60. Instead, the pedal device 10 is equipped with a first stroke sensor 41, a second stroke sensor 42, first stroke sensor wiring 61, and second stroke sensor wiring 62. Furthermore, the pedal device 10 is equipped with a seventh wiring 77 and an eighth wiring 78. Also, the connection state between the pedal device 10 and the first ECU 91 and the second ECU 92 is different from that of the first embodiment. Other than these, it is the same as the first embodiment.

[0159] The first stroke sensor 41 detects the stroke amount X of the pedal 15 in relation to the driver's pedaling force. Specifically, the first stroke sensor 41 includes a first reinforcing member 410, a first magnet 412, a first housing 414 for the stroke sensor, and a first stroke element 416.

[0160] The first reinforcing member 410 corresponds to the reinforcing member 400. The first magnet 412 corresponds to the magnet 402. The first housing 414 for the stroke sensor corresponds to the housing 404 for the stroke sensor. The first stroke element 416 corresponds to the stroke element 406.

[0161] The second stroke sensor 42 detects the stroke amount X of the pedal 15 in relation to the driver's pedaling force. Specifically, the second stroke sensor 42 includes a second reinforcing member 420, a second magnet 422, a second housing 424 for the stroke sensor, and a second stroke element 426.

[0162] The second reinforcing member 420 is made of a non-magnetic material such as stainless steel or aluminum. The second reinforcing member 420 is attached to the pedal projection 152. Furthermore, the second reinforcing member 420 extends from the pedal projection 152 in the direction of movement Da. The portion of the second reinforcing member 420 opposite to the pedal projection 152 is located between the second holder support portion 222 and the flange projection 254 in a direction perpendicular to the direction of movement Da.

[0163] The second magnet 422 is connected to the portion of the second reinforcing member 420 opposite to the pedal projection 152. Since the second reinforcing member 420 is attached to the pedal projection 152, the second magnet 422 moves in the direction of movement Da together with the pedal 15.

[0164] The second housing 424 for the stroke sensor is attached to the flange projection 254 and faces the second magnet 422 in a direction perpendicular to the direction of movement Da.

[0165] The second stroke element 426 includes either a Hall element or an MR element. Furthermore, the second stroke element 426 is housed in the second housing 424 for the stroke sensor. Since the second housing 424 for the stroke sensor faces the second magnet 422, the second stroke element 426 outputs a signal corresponding to the stroke amount X and the change in the magnetic field that changes with the movement of the second magnet 422 in the direction Da.

[0166] Furthermore, the second stroke sensor 42 is positioned symmetrically with respect to the center line Os with respect to the first stroke sensor 41. For this reason, the second reinforcing member 420 is positioned symmetrically with respect to the center line Os with respect to the first reinforcing member 410. The second magnet 422 is positioned symmetrically with respect to the center line Os with respect to the first magnet 412. The second housing 424 for the stroke sensor is positioned symmetrically with respect to the center line Os with respect to the first housing 414 for the stroke sensor. The second stroke element 426 is positioned symmetrically with respect to the center line Os with respect to the first stroke element 416.

[0167] Furthermore, as shown in Figure 30, the first load element 314 is connected to the first ECU 91 via the first load sensor wiring 51, the substrate 70, and the first wiring 71. The second load element 324 is connected to the first ECU 91 via the second load sensor wiring 52, the substrate 70, and the second wiring 72. The first stroke element 416 is connected to the first ECU 91 via the first stroke sensor wiring 61, the substrate 70, and the third wiring 73. The second stroke element 426 is connected to the first ECU 91 via the second stroke sensor wiring 62, the substrate 70, and the fourth wiring 74.

[0168] Furthermore, the first load element 314 is connected to the second ECU 92 via the first load sensor wiring 51, the circuit board 70, and the fifth wiring 75. The second load element 324 is connected to the second ECU 92 via the second load sensor wiring 52, the circuit board 70, and the sixth wiring 76. The first stroke element 416 is connected to the second ECU 92 via the first stroke sensor wiring 61, the circuit board 70, and the seventh wiring 77. The second stroke element 426 is connected to the second ECU 92 via the second stroke sensor wiring 62, the circuit board 70, and the eighth wiring 78.

[0169] As described above, the pedal device 10 of the 14th embodiment is configured as described above. This 14th embodiment also provides the same effects as the first embodiment. Furthermore, the 14th embodiment also provides the effects described below.

[0170] [5-1] The pedal device 10 is equipped with a first stroke sensor 41 and a second stroke sensor 42.

[0171] This allows the pedal device 10 to detect the stroke amount X related to the driver's pedaling force even if either the first stroke sensor 41 or the second stroke sensor 42 fails. Therefore, the redundancy of the pedal device 10 is improved.

[0172] [5-2] The second stroke sensor 42 is positioned symmetrically with respect to the center line Os with respect to the first stroke sensor 41.

[0173] This makes it easier for the positional relationship between the first magnet 412 and the first stroke element 416 to be the same as the positional relationship between the second magnet 422 and the second stroke element 426. Therefore, when the pedal section 150 is not tilted in a direction perpendicular to the direction of movement Da, the detected value by the first stroke sensor 41 and the detected value by the second stroke sensor 42 tend to be the same. Consequently, when the pedal section 150 is tilted in a direction perpendicular to the direction of movement Da, the detected value by the first stroke sensor 41 and the detected value by the second stroke sensor 42 will be different. This makes it possible to detect the tilt of the pedal section 150 in a direction perpendicular to the direction of movement Da.

[0174] (Fifteenth Embodiment) In the fifteenth embodiment, as shown in Figure 31, the pedal device 10 does not have the fifth wiring 75, sixth wiring 76, seventh wiring 77, and eighth wiring 78. Also, the connection state between the pedal device 10 and the first ECU 91 and second ECU 92 is different from that of the fourteenth embodiment. Other than these, it is the same as the fourteenth embodiment.

[0175] Specifically, the first load element 314 is connected to the first ECU 91 via the first load sensor wiring 51, the substrate 70, and the first wiring 71. The second load element 324 is connected to the first ECU 91 via the second load sensor wiring 52, the substrate 70, and the second wiring 72. The first stroke element 416 is connected to the second ECU 92 via the first stroke sensor wiring 61, the substrate 70, and the third wiring 73. The second stroke element 426 is connected to the second ECU 92 via the second stroke sensor wiring 62, the substrate 70, and the fourth wiring 74. As shown in Figure 32, the second load element 324 may be connected to the second ECU 92 instead of the first ECU 91 via the second load sensor wiring 52, the substrate 70, and the second wiring 72. The first stroke element 416 may be connected to the first ECU 91 instead of the second ECU 92 via the first stroke sensor wiring 61, the circuit board 70, and the third wiring 73.

[0176] As described above, the pedal device 10 of the 15th embodiment is configured as described above. This 15th embodiment also provides the same effects as the 14th embodiment.

[0177] (16th Embodiment) In the 16th embodiment, as shown in Figures 33, 34, and 35, the pedal device 10 does not have a fourth elastic member 204. Furthermore, the pedal device 10 is equipped with a load sensor 30, a first load sensor wiring 501, and a second load sensor wiring 502 instead of the first load sensor 31, the second load sensor 32, the wiring for the first load sensor 51, and the wiring for the second load sensor 52. Also, the form of the stroke sensor 40 is different from that of the first embodiment. Furthermore, the pedal device 10 does not have a wiring 60 for the stroke sensor, but is equipped with a first stroke sensor wiring 601, a second stroke sensor wiring 602, a seventh wiring 77, and an eighth wiring 78. Also, the connection state between the pedal device 10 and the first ECU 91 and the second ECU 92 is different from that of the first embodiment. Other than these, it is the same as the first embodiment.

[0178] The load sensor 30 detects the load Wc related to the driver's pedal force. Specifically, the load sensor 30 has a force receiving section 300, a deformation section 302, a first load element 314, and a second load element 324.

[0179] The force-receiving portion 300 is formed of, for example, metal. Furthermore, the force-receiving portion 300 is formed in the shape of a rod extending in the direction of movement Da. In addition, the force-receiving portion 300 supports the third elastic member 203 by contacting the other end of the third elastic member 203. Therefore, the force-receiving portion 300 receives force from the pedal 15 together with the reaction force generating portion 20.

[0180] The deformable portion 302 is formed of, for example, metal. Furthermore, the deformable portion 302 is attached to the flange portion 252. Also, the deformable portion 302 is formed in a U-shape, for example. Furthermore, a part of the force receiving portion 300 is inserted into the hole in the deformable portion 302. The deformable portion 302 receives a force in the direction of movement Da from the force receiving portion 300. As a result, the deformable portion 302 is strained in the direction of movement Da.

[0181] The first load element 314 and the second load element 324 are, for example, strain gauges. The first load element 314 and the second load element 324 are also positioned in the deformation section 302. Furthermore, the first load element 314 and the second load element 324 output signals corresponding to the strain of the deformation section 302 that corresponds to the load Wc.

[0182] The stroke sensor 40 has a first stroke element 416 and a second stroke element 426 instead of the stroke element 406, as shown in Figures 33 and 35.

[0183] The first stroke element 416 and the second stroke element 426 include either a Hall element or an MR element. The first stroke element 416 and the second stroke element 426 are housed in a stroke sensor housing 404. Since the stroke sensor housing 404 faces the magnet 402, the first stroke element 416 and the second stroke element 426 output signals corresponding to the stroke amount X and the change in the magnetic field that changes with the movement of the magnet 402 in the direction Da.

[0184] Furthermore, as shown in Figure 35, the first load element 314 is connected to the first ECU 91 via the first load sensor wiring 501, the substrate 70, and the first wiring 71. The second load element 324 is connected to the first ECU 91 via the second load sensor wiring 502, the substrate 70, and the second wiring 72. The first stroke element 416 is connected to the first ECU 91 via the first stroke sensor wiring 601, the substrate 70, and the third wiring 73. The second stroke element 426 is connected to the first ECU 91 via the second stroke sensor wiring 602, the substrate 70, and the fourth wiring 74.

[0185] Furthermore, the first load element 314 is connected to the second ECU 92 via the first load sensor wiring 501, the circuit board 70, and the fifth wiring 75. The second load element 324 is connected to the second ECU 92 via the second load sensor wiring 502, the circuit board 70, and the sixth wiring 76. The first stroke element 416 is connected to the second ECU 92 via the first stroke sensor wiring 601, the circuit board 70, and the seventh wiring 77. The second stroke element 426 is connected to the second ECU 92 via the second stroke sensor wiring 602, the circuit board 70, and the eighth wiring 78.

[0186] As described above, the pedal device 10 of the 16th embodiment is configured as described above. This 16th embodiment also provides the same effects as the first embodiment.

[0187] (17th Embodiment) In the 17th embodiment, as shown in Figure 36, the pedal device 10 does not have the 5th wiring 75, 6th wiring 76, 7th wiring 77, and 8th wiring 78. Furthermore, the connection state between the pedal device 10 and the 1st ECU 91 and 2nd ECU 92 is different from that of the 16th embodiment. Other than these, it is the same as the 16th embodiment.

[0188] Specifically, the first load element 314 is connected to the first ECU 91 via the first load sensor wiring 501, the circuit board 70, and the first wiring 71. The second load element 324 is connected to the second ECU 92 via the second load sensor wiring 502, the circuit board 70, and the second wiring 72. The first stroke element 416 is connected to the first ECU 91 via the first stroke sensor wiring 601, the circuit board 70, and the third wiring 73. The second stroke element 426 is connected to the second ECU 92 via the second stroke sensor wiring 602, the circuit board 70, and the fourth wiring 74. The second load element 324 may be connected to the first ECU 91 instead of the second ECU 92 via the second load sensor wiring 502, the circuit board 70, and the second wiring 72. The first stroke element 416 may be connected to the second ECU 92 instead of the first ECU 91 via the first stroke sensor wiring 601, the circuit board 70, and the third wiring 73.

[0189] As described above, the pedal device 10 of the 17th embodiment is configured as described above. This 17th embodiment also provides the same effects as the 16th embodiment.

[0190] (Eighteenth Embodiment) In the eighteenth embodiment, as shown in Figures 37 and 38, the pedal device 10 includes a third stroke sensor 43, a fourth stroke sensor 44, wiring for the third stroke sensor 63, and wiring for the fourth stroke sensor 64. The connection state between the pedal device 10 and the first ECU 91 and the second ECU 92 is different from that of the fourteenth embodiment. Other than these, it is the same as the fourteenth embodiment. Note that in Figures 37 and 38, the first load sensor 31 and the second load sensor 32 are omitted to avoid complexity.

[0191] The third stroke sensor 43 includes a third reinforcing member 430, a first target 418, a third housing 434 for the stroke sensor, and a third stroke element 436.

[0192] The third reinforcing member 430 is made of a non-magnetic material such as stainless steel or aluminum. The third reinforcing member 430 is attached to the pedal projection 152. Furthermore, the third reinforcing member 430 extends from the pedal projection 152 in the direction of movement Da. The portion of the third reinforcing member 430 opposite to the pedal projection 152 is located between the second holder support portion 222 and the flange projection 254 in a direction perpendicular to the direction of movement Da.

[0193] The first target 418 corresponds to the first conductor and is made of metal or the like, and is therefore electrically conductive. Furthermore, the first target 418 is connected to the portion of the third reinforcing member 430 that is opposite to the pedal projection 152. Since the third reinforcing member 430 is attached to the pedal projection 152, the first target 418 moves in the direction of movement Da together with the pedal 15.

[0194] The third housing 434 for the stroke sensor is attached to the flange projection 254 and faces the first target 418 in a direction perpendicular to the direction of movement Da.

[0195] The third stroke element 436 includes a coil. Furthermore, an AC voltage generation circuit (not shown) generates a magnetic field passing through the third stroke element 436. The third stroke element 436 is also positioned within the third housing 434 for the stroke sensor. Since the third housing 434 faces the first target 418, the third stroke element 436 faces the first target 418. Because the first target 418 is conductive, eddy currents are generated in the first target 418. These eddy currents generate a magnetic field passing through the third stroke element 436. As a result, the third stroke element 436 generates a voltage that cancels out the magnetic field caused by these eddy currents and the magnetic field from the AC voltage generation circuit. Furthermore, as the first target 418 moves in the direction Da together with the pedal 15, the area of ​​the third stroke element 436 facing the first target 418 changes, thereby changing the eddy currents generated in the first target 418. Therefore, the voltage generated by the third stroke element 436 changes in a direction that cancels out the magnetic field caused by eddy currents and the magnetic field caused by the AC voltage generation circuit. Consequently, the third stroke element 436 outputs a signal corresponding to the stroke amount X and the change in the magnetic field that changes due to the movement of the first target 418.

[0196] The fourth stroke sensor 44 includes a fourth reinforcing member 440, a second target 428, a fourth housing 444 for the stroke sensor, and a fourth stroke element 446.

[0197] The fourth reinforcing member 440 is made of a non-magnetic material such as stainless steel or aluminum. The fourth reinforcing member 440 is attached to the pedal projection 152. Furthermore, the fourth reinforcing member 440 extends from the pedal projection 152 in the direction of movement Da. The portion of the fourth reinforcing member 440 opposite to the pedal projection 152 is located between the second holder support portion 222 and the flange projection 254 in a direction perpendicular to the direction of movement Da.

[0198] The second target 428 corresponds to the second conductor and is made of metal or the like, and is therefore conductive. Furthermore, the second target 428 is connected to the portion of the fourth reinforcing member 440 that is opposite to the pedal projection 152. Since the fourth reinforcing member 440 is attached to the pedal projection 152, the second target 428 moves in the direction of movement Da together with the pedal 15.

[0199] The fourth housing 444 for the stroke sensor is attached to the flange projection 254 and faces the second target 428 in a direction perpendicular to the direction of movement Da.

[0200] The fourth stroke element 446 includes a coil. A magnetic field is generated passing through the fourth stroke element 446 by an AC voltage generation circuit (not shown). Furthermore, the stroke element 406 is located in the fourth housing 444 for the stroke sensor. Since the fourth housing 444 for the stroke sensor faces the second target 428, the fourth stroke element 446 faces the second target 428. Also, since the second target 428 is conductive, eddy currents are generated in the second target 428. These eddy currents generate a magnetic field passing through the fourth stroke element 446. As a result, the fourth stroke element 446 generates a voltage that cancels out the magnetic field caused by these eddy currents and the magnetic field from the AC voltage generation circuit. Furthermore, when the second target 428 moves in the direction Da together with the pedal 15, the area of ​​the fourth stroke element 446 facing the second target 428 changes, which in turn changes the eddy currents generated in the second target 428. Therefore, the voltage generated by the fourth stroke element 446 changes in a direction that cancels out the magnetic field caused by eddy currents and the magnetic field caused by the AC voltage generation circuit. Consequently, the fourth stroke element 446 outputs a signal corresponding to the stroke amount X and the change in the magnetic field that changes due to the movement of the second target 428.

[0201] Furthermore, the fourth stroke sensor 44 is positioned symmetrically with respect to the center line Os with respect to the third stroke sensor 43. For this reason, the fourth reinforcing member 440 is positioned symmetrically with respect to the center line Os with respect to the third reinforcing member 430. The second target 428 is positioned symmetrically with respect to the center line Os with respect to the first target 418. The fourth housing 444 for the stroke sensor is positioned symmetrically with respect to the center line Os with respect to the third housing 434 for the stroke sensor. The fourth stroke element 446 is positioned symmetrically with respect to the center line Os with respect to the third stroke element 436.

[0202] Furthermore, as shown in Figure 38, the first stroke element 416 is connected to the first ECU 91 via the first stroke sensor wiring 61, the substrate 70, and the first wiring 71. The second stroke element 426 is connected to the first ECU 91 via the second stroke sensor wiring 62, the substrate 70, and the second wiring 72. The third stroke element 436 is connected to the first ECU 91 via the third stroke sensor wiring 63, the substrate 70, and the third wiring 73. The fourth stroke element 446 is connected to the first ECU 91 via the fourth stroke sensor wiring 64, the substrate 70, and the fourth wiring 74.

[0203] Furthermore, the first stroke element 416 is connected to the second ECU 92 via the first stroke sensor wiring 61, the circuit board 70, and the fifth wiring 75. The second stroke element 426 is connected to the second ECU 92 via the second stroke sensor wiring 62, the circuit board 70, and the sixth wiring 76. The third stroke element 436 is connected to the second ECU 92 via the third stroke sensor wiring 63, the circuit board 70, and the seventh wiring 77. The fourth stroke element 446 is connected to the second ECU 92 via the fourth stroke sensor wiring 64, the circuit board 70, and the eighth wiring 78. The first load sensor 31 is connected to the first ECU 91 and the second ECU 92 via the first load sensor wiring 51, the circuit board 70, and other wiring (not shown). The second load sensor 32 is connected to the first ECU 91 and the second ECU 92 via the second load sensor wiring 52, the circuit board 70, and other wiring.

[0204] As described above, the pedal device 10 of the 18th embodiment is configured as described above. This 18th embodiment also provides the same effects as the 14th embodiment. Furthermore, the 18th embodiment also provides the effects described below.

[0205] [6-1] The pedal device 10 is equipped with a first stroke sensor 41, a second stroke sensor 42, a third stroke sensor 43, and a fourth stroke sensor 44.

[0206] As a result, even if at least three of the first stroke sensor 41, second stroke sensor 42, third stroke sensor 43, and fourth stroke sensor 44 fail, the stroke amount X related to the driver's pedal force can still be detected. This improves the redundancy of the pedal device 10. In addition, the stroke amounts X detected by the first stroke sensor 41, second stroke sensor 42, third stroke sensor 43, and fourth stroke sensor 44 are compared. This allows for the determination of which of the first stroke sensor 41, second stroke sensor 42, third stroke sensor 43, and fourth stroke sensor 44 is malfunctioning. For example, if there is a value that is significantly different from the detected stroke amount X, that sensor is determined to be malfunctioning. Furthermore, sensors whose detected stroke amount X is not significantly different are determined to be normal.

[0207] [6-2] The fourth stroke sensor 44 is positioned symmetrically with respect to the center line Os with respect to the third stroke sensor 43.

[0208] This makes it possible to detect the inclination of the pedal unit 150 in a direction perpendicular to the direction of movement Da, similar to the content of [5-2] above.

[0209] [6-3] The first stroke sensor 41 has a first magnet 412 and a first stroke element 416. The second stroke sensor 42 has a second magnet 422 and a second stroke element 426. The first stroke element 416 and the second stroke element 426 include either a Hall element or an MR element. The third stroke sensor 43 has a first target 418 and a third stroke element 436. The fourth stroke sensor 44 has a second target 428 and a fourth stroke element 446. The third stroke element 436 and the fourth stroke element 446 include a coil.

[0210] As a result, the stroke amount X is detected using different principles. Each principle is affected by different disturbances during detection; in other words, a certain disturbance has a greater impact on one sensor and a smaller impact on the other. Therefore, the overall reduction in the detection accuracy of the stroke amount X due to disturbances is suppressed for the pedal device 10.

[0211] (19th Embodiment) In the 19th embodiment, as shown in Figure 39, the pedal device 10 does not have the fifth wiring 75, sixth wiring 76, seventh wiring 77, and eighth wiring 78. Also, the connection state between the pedal device 10 and the first ECU 91 and second ECU 92 is different from that of the 18th embodiment. Other than these, it is the same as the 18th embodiment.

[0212] Specifically, the first stroke element 416 is connected to the first ECU 91 via the first stroke sensor wiring 61, the circuit board 70, and the first wiring 71. The second stroke element 426 is connected to the first ECU 91 via the second stroke sensor wiring 62, the circuit board 70, and the second wiring 72. The third stroke element 436 is connected to the second ECU 92 via the third stroke sensor wiring 63, the circuit board 70, and the third wiring 73. The fourth stroke element 446 is connected to the second ECU 92 via the fourth stroke sensor wiring 64, the circuit board 70, and the fourth wiring 74. The second stroke element 426 may be connected to the second ECU 92 instead of the first ECU 91 via the second stroke sensor wiring 62, the circuit board 70, and the second wiring 72. The third stroke element 436 may be connected to the first ECU 91 instead of the second ECU 92 via the wiring 63 for the third stroke sensor, the circuit board 70, and the third wiring 73.

[0213] As described above, the pedal device 10 of the 19th embodiment is configured as described above. This 19th embodiment also provides the same effects as the 18th embodiment.

[0214] (20th Embodiment) In the 20th embodiment, as shown in Figure 40, the pedal device 10 does not include a third stroke sensor 43, a fourth stroke sensor 44, wiring for the third stroke sensor 63, and wiring for the fourth stroke sensor 64. The configuration of the first stroke sensor 41 and the second stroke sensor 42 differs from that of the 18th embodiment. Furthermore, the pedal device 10 does not include wiring for the first stroke sensor 61, wiring for the second stroke sensor 62, wiring for the third stroke sensor 63, and wiring for the fourth stroke sensor 64. Instead, the pedal device 10 includes a first wiring for the first stroke sensor 611, a second wiring for the first stroke sensor 612, a first wiring for the second stroke sensor 621, and a second wiring for the second stroke sensor 622. Other than these, it is the same as the 18th embodiment.

[0215] The first stroke sensor 41 includes a first reinforcing member 410, a magnet 402, a first housing 414 for the stroke sensor, a first stroke element 416, and a second stroke element 426.

[0216] The first reinforcing member 410 is the same as described above. The magnet 402 is connected to the part of the first reinforcing member 410 opposite to the pedal projection 152. Since the first reinforcing member 410 is attached to the pedal projection 152, the magnet 402 moves together with the pedal 15 in the direction of movement Da.

[0217] The first housing 414 for the stroke sensor is attached to the flange projection 254 and faces the magnet 402 in a direction perpendicular to the direction of movement Da.

[0218] The first stroke element 416 and the second stroke element 426 include either a Hall element or an MR element. The first stroke element 416 and the second stroke element 426 are housed in the first stroke sensor housing 414. Since the first stroke sensor housing 414 faces the magnet 402, the first stroke element 416 and the second stroke element 426 output a signal corresponding to the stroke amount X and the change in the magnetic field that changes with the movement of the magnet 402 in the direction Da.

[0219] The second stroke sensor 42 includes a second reinforcing member 420, a target 408, a second housing 424 for the stroke sensor, a third stroke element 436, and a fourth stroke element 446.

[0220] The second reinforcing member 420 is the same as described above. The target 408 is made of metal or the like and is therefore conductive. Furthermore, the target 408 is connected to the portion of the second reinforcing member 420 opposite to the pedal projection 152. Since the second reinforcing member 420 is attached to the pedal projection 152, the target 408 moves in the direction of movement Da together with the pedal 15.

[0221] The second housing 424 for the stroke sensor is attached to the flange projection 254 and faces the target 408 in a direction perpendicular to the direction of movement Da.

[0222] The third stroke element 436 and the fourth stroke element 446 include coils. A magnetic field is generated passing through the third stroke element 436 and the fourth stroke element 446 by an AC voltage generation circuit (not shown). Furthermore, the third stroke element 436 and the fourth stroke element 446 are arranged in the second housing 424 for the stroke sensor. Since the second housing 424 for the stroke sensor faces the target 408, the third stroke element 436 and the fourth stroke element 446 face the target 408. Also, since the target 408 is conductive, eddy currents are generated in the target 408. These eddy currents generate a magnetic field passing through the third stroke element 436 and the fourth stroke element 446. As a result, the third stroke element 436 and the fourth stroke element 446 generate a voltage that cancels out the magnetic field caused by the eddy currents and the magnetic field from the AC voltage generation circuit. Furthermore, as the target 408 moves in the direction Da along with the pedal 15, the area of ​​the third stroke element 436 and the fourth stroke element 446 facing the target 408 changes, which in turn changes the eddy currents generated in the target 408. As a result, the voltage generated in the third stroke element 436 and the fourth stroke element 446 changes in a direction that cancels out the magnetic field caused by the eddy currents and the magnetic field caused by the AC voltage generation circuit. Therefore, the third stroke element 436 and the fourth stroke element 446 output a signal corresponding to the stroke amount X and the change in the magnetic field that changes with the movement of the target 408.

[0223] Furthermore, the first stroke element 416 is connected to the first ECU 91 via the first wiring 611 for the first stroke sensor, the circuit board 70, and the first wiring 71. The second stroke element 426 is connected to the first ECU 91 via the second wiring 612 for the first stroke sensor, the circuit board 70, and the second wiring 72. The third stroke element 436 is connected to the second ECU 92 via the first wiring 621 for the second stroke sensor, the circuit board 70, and the third wiring 73. The fourth stroke element 446 is connected to the second ECU 92 via the second wiring 622 for the second stroke sensor, the circuit board 70, and the fourth wiring 74. Note that the second stroke element 426 may be connected to the second ECU 92 instead of the first ECU 91 via the second wiring 612 for the first stroke sensor, the circuit board 70, and the second wiring 72. The third stroke element 436 may be connected to the first ECU 91 instead of the second ECU 92 via the first wiring 621 for the second stroke sensor, the circuit board 70, and the third wiring 73.

[0224] As described above, the pedal device 10 of the 20th embodiment is configured as described above. This 20th embodiment also provides the same effects as the 18th embodiment.

[0225] (Other Embodiments) This disclosure is not limited to the embodiments described above, and modifications can be made to these embodiments as appropriate. Furthermore, it goes without saying that, in each of the embodiments described above, the elements constituting the embodiment are not necessarily essential, except in cases where they are explicitly stated to be particularly essential or where they are clearly essential in principle.

[0226] In each of the above embodiments, the pedal device 10 is used as a brake pedal in a brake-by-wire system 100 that controls the brakes of the vehicle. However, the pedal device 10 is not limited to being used as a brake pedal. For example, the pedal device 10 may be used as an accelerator pedal to accelerate the vehicle.

[0227] In each of the above embodiments, the pedal device 10 includes a printed circuit board 70. However, the pedal device 10 is not limited to having a circuit board 70; it may not have a circuit board 70. In this case as well, it will have the same effects as in each embodiment.

[0228] In the embodiments described above, such as the first embodiment, the stroke element 406 is arranged on the flange projection 254 together with the stroke sensor housing 404. In contrast, the stroke element 406 is not limited to being arranged on the flange projection 254, but may be arranged on the flange portion 252.

[0229] In the embodiments described above, such as the 14th embodiment, the first stroke element 416 is arranged on the flange projection 254 together with the first housing 414 for the stroke sensor. However, the first stroke element 416 is not limited to being arranged on the flange projection 254, and may be arranged on the flange portion 252. Similarly, the second stroke element 426 is arranged on the flange projection 254 together with the second housing 424 for the stroke sensor. However, the second stroke element 426 is not limited to being arranged on the flange projection 254, and may be arranged on the flange portion 252.

[0230] In the embodiments described above, such as the first and tenth embodiments, the first elastic member 201, second elastic member 202, third elastic member 203, fourth elastic member 204, fifth elastic member 205, and sixth elastic member 206 are coil springs. In contrast, the first elastic member 201, second elastic member 202, third elastic member 203, fourth elastic member 204, fifth elastic member 205, and sixth elastic member 206 are not limited to coil springs, and may be made of rubber or the like, for example.

[0231] The above embodiments may be combined as appropriate.

[0232] (Perspective of this Disclosure) [Perspective 1] A pedal device comprising: a pedal (15) that moves when pressed by an operator; a reaction force generating unit (20) that deforms due to the force from the pedal when the pedal is pressed, thereby generating a reaction force to the operator's pressing force; a support member (25) having a support unit (250) that extends in the direction of movement (Da) of the pedal and supports the pedal so that the pedal can move, and a flange unit (252) connected to the support unit and extending in a direction intersecting the direction of movement; and load sensors (30, 31, 32, 33, 34) that detect a load (Wc) related to the pressing force, wherein the load sensors include force receiving units (300, 310, 320, 330, 340) that receive the force from the pedal together with the reaction force generating unit, A pedal device comprising: deformable parts (302, 312, 322, 332, 342) attached to the flange portion and deformed by a force from the force receiving portion; and load elements (314, 324, 334, 344) arranged in the deformable part and outputting a signal corresponding to the strain of the deformable part corresponding to the load, wherein the support portion and the flange portion are integrally formed. [Perspective 2] The pedal device according to Perspective 1, wherein the load sensor is a first load sensor (31), the force receiving part is a first force receiving part (310), the deformation part is a first deformation part (312), the load element is a first load element (314), the pedal device further comprises a second load sensor (32) for detecting the load, the second load sensor comprising: a second force receiving part (320) that receives force from the pedal together with the reaction force generating part and the first force receiving part; a second deformation part (322) attached to the flange part and deformed by the force from the second force receiving part; and a second load element (324) arranged in the second deformation part and outputting a signal corresponding to the strain of the second deformation part corresponding to the load. [Perspective 3] The pedal device according to Perspective 2, wherein the second load sensor is positioned symmetrically with respect to the first load sensor with respect to a center line (Os) that passes through the center of the support part and extends in the direction of movement.[Perspective 4] The pedal device according to perspective 2 or 3, wherein the reaction force generating section comprises: a first elastic member (201, 203) that generates a reaction force to the pedaling force by elastically deforming in response to the force from the pedal when the pedal is pressed; and a second elastic member (202, 204) that generates a reaction force to the pedaling force by elastically deforming in response to the force from the pedal when the pedal is pressed, wherein the first elastic member transmits the force from the pedal to the first force receiving section, and the second elastic member transmits the force from the pedal to the second force receiving section. [Perspective 5] The pedal device further comprises: a third load sensor (33) for detecting the load; a fourth load sensor (34) for detecting the load; the third load sensor includes: a third force receiving part (330) that receives force from the pedal together with the reaction force generating part, the first force receiving part and the second force receiving part; a third deformation part (332) attached to the flange part and deformed by the force from the third force receiving part; and a third load element (334) positioned in the third deformation part and outputting a signal corresponding to the strain of the third deformation part corresponding to the load; the fourth load sensor includes: a fourth force receiving part (340) that receives force from the pedal together with the reaction force generating part, the first force receiving part, the second force receiving part and the third force receiving part; and a fourth deformation part (342) attached to the flange part and deformed by the force from the fourth force receiving part. A pedal device according to any one of viewpoints 2 to 4, further comprising: a fourth load element (344) disposed in the fourth deformation portion and outputting a signal corresponding to the strain of the fourth deformation portion corresponding to the load; [Viewpoint 6] A pedal device according to viewpoint 1, wherein the load element is a first load element (314), and the load sensor further comprises a second load element (324) disposed in the deformation portion and outputting a signal corresponding to the strain of the deformation portion corresponding to the load.[Perspective 7] The pedal device according to Perspective 6, wherein the load sensor is a first load sensor (31), the force receiving part is a first force receiving part (310), the deformation part is a first deformation part (312), the pedal device further comprises a second load sensor (32) for detecting the load, the second load sensor comprises a second force receiving part (320) that receives force from the pedal together with the reaction force generating part and the first force receiving part, a second deformation part (322) attached to the flange part and deformed by the force from the second force receiving part, a third load element (334) disposed in the second deformation part and outputting a signal corresponding to the strain of the second deformation part corresponding to the load, and a fourth load element (344) disposed in the second deformation part and outputting a signal corresponding to the strain of the second deformation part corresponding to the load. [Perspective 8] The pedal device according to Perspective 5 or 7, wherein the first load element and the second load element are connected to a first calculation device (91), the first calculation device calculates a value relating to the pedaling force based on signals from the first load element and the second load element, and the third load element and the fourth load element are connected to a second calculation device (92), the second calculation device communicates with the first calculation device and calculates a value relating to the pedaling force based on signals from the third load element and the fourth load element. [Perspective 9] The pedal device according to any one of Perspectives 1 to 8, further comprising a stroke sensor (40, 41, 42) for detecting the amount of pedal stroke (X) relating to the pedaling force. [Perspective 10] The pedal device according to Perspective 9, wherein the stroke sensor has stroke elements (406, 416, 426) that output a signal corresponding to the amount of stroke, and the stroke elements are arranged on the support member.[Perspective 11] The pedal device according to Perspective 9, wherein the load element is connected to a first calculation device (91), the first calculation device calculates a value relating to the pedaling force based on a signal from the load element, the stroke sensor has stroke elements (406, 416, 426) that output a signal corresponding to the stroke amount, the stroke element is connected to a second calculation device (92), the second calculation device communicates with the first calculation device and calculates a value relating to the pedaling force based on a signal from the stroke element. [Perspective 12] The pedal device according to Perspective 9, wherein the stroke sensor has a first stroke element (416) that outputs a signal corresponding to the stroke amount, and a second stroke element (426) that outputs a signal corresponding to the stroke amount. [Perspective 13] The pedal device according to Perspective 12, wherein the first stroke element and the second stroke element are arranged on the support member. [Perspective 14] The pedal device according to Perspective 9, wherein the stroke sensor is a first stroke sensor (41), and the pedal device further comprises a second stroke sensor (42) that detects the stroke amount. [Perspective 15] The pedal device according to Perspective 14, wherein the second stroke sensor is positioned symmetrically with respect to the first stroke sensor with respect to a center line (Os) that passes through the center of the support and extends in the direction in which the support extends. [Perspective 16] The pedal device according to Perspective 14 or 15, further comprising: a third stroke sensor (43) for detecting the stroke amount; and a fourth stroke sensor (44) for detecting the stroke amount.[Perspective 17] The first stroke sensor comprises a first magnet (412) that moves with the pedal, and a first stroke element (416) that outputs a signal corresponding to the stroke amount and the change in the magnetic field that changes due to the movement of the first magnet, The second stroke sensor comprises a second magnet (422) that moves with the pedal, and a second stroke element (426) that outputs a signal corresponding to the stroke amount and the change in the magnetic field that changes due to the movement of the second magnet, The first stroke element and the second stroke element include either a Hall element or an MR element, The third stroke sensor comprises a first conductor (418) that moves with the pedal, and a third stroke element (436) that outputs a signal corresponding to the stroke amount and the change in the magnetic field that changes due to the movement of the first conductor, The fourth stroke sensor comprises a second conductor (428) that moves with the pedal, and a fourth stroke element (446) that outputs a signal corresponding to the stroke amount and the change in the magnetic field that changes due to the movement of the second conductor, The pedal device according to viewpoint 16, wherein the third stroke element and the fourth stroke element include coils.[Perspective 18] The load sensor is a first load sensor (31), the force receiving part is a first force receiving part (310), the deformation part is a first deformation part (312), the load element is a first load element (314), the pedal device further comprises a second load sensor (32) for detecting the load, the second load sensor has: a second force receiving part (320) that receives force from the pedal together with the reaction force generating part and the first force receiving part, a second deformation part (322) that is attached to the flange part and deforms due to the force from the second force receiving part, and a second load element (324) that is arranged in the second deformation part and outputs a signal corresponding to the strain of the second deformation part corresponding to the load, the pedal device further comprises a first stroke sensor (41) for detecting the stroke amount (X) of the pedal with respect to the pedaling force, and a second stroke sensor (42) for detecting the stroke amount. The pedal device according to viewpoint 1, wherein the first stroke sensor has a first stroke element (416) that outputs a signal corresponding to the stroke amount, the second stroke sensor has a second stroke element (426) that outputs a signal corresponding to the stroke amount, the first load element and the first stroke element are connected to a first calculation device (91), the first calculation device calculates a value related to the pedaling force based on the signals from the first load element and the first stroke element, and the second load element and the second stroke element are connected to a second calculation device (92), the second calculation device communicates with the first calculation device and calculates a value related to the pedaling force based on the signals from the second load element and the second stroke element.[Perspective 19] The load sensor is a first load sensor (31), the force receiving part is a first force receiving part (310), the deformation part is a first deformation part (312), the load element is a first load element (314), the pedal device further comprises a second load sensor (32) for detecting the load, the second load sensor having: a second force receiving part (320) that receives force from the pedal together with the reaction force generating part and the first force receiving part; a second deformation part (322) that is attached to the flange part and deforms due to the force from the second force receiving part; and a second load element (324) that is arranged in the second deformation part and outputs a signal corresponding to the strain of the second deformation part corresponding to the load, the pedal device further comprises a stroke sensor (40) for detecting the amount of pedal stroke (X) with respect to the pedaling force, the stroke sensor having: a first stroke element (416) that outputs a signal corresponding to the amount of stroke, A pedal device according to viewpoint 1, comprising: a second stroke element (426) that outputs a signal corresponding to the stroke amount, wherein the first load element and the first stroke element are connected to a first calculation device (91), the first calculation device calculates a value relating to the pedaling force based on the signals from the first load element and the first stroke element; and the second load element and the second stroke element are connected to a second calculation device (92), the second calculation device communicates with the first calculation device and calculates a value relating to the pedaling force based on the signals from the second load element and the second stroke element.[Perspective 20] The load element is a first load element (314), and the load sensor is located in the deformed part and further comprises a second load element (324) which outputs a signal corresponding to the strain of the deformed part corresponding to the load, and the pedal device further comprises a first stroke sensor (41) which detects the stroke amount (X) of the pedal with respect to the pedaling force, and a second stroke sensor (42) which detects the stroke amount, the first stroke sensor has a first stroke element (416) which outputs a signal corresponding to the stroke amount, the second stroke sensor has a second stroke element (426) which outputs a signal corresponding to the stroke amount, the first load element and the first stroke element are connected to a first calculation device (91), the first calculation device calculates a value related to the pedaling force based on the signals from the first load element and the first stroke element, and the second load element and the second stroke element are connected to a second calculation device (92). The pedal device according to viewpoint 1, wherein the second calculation device communicates with the first calculation device and calculates a value relating to the pedaling force based on signals from the second load element and the second stroke element.[Perspective 21] The pedal device according to Perspective 1, wherein the load element is a first load element (314), the load sensor is located in the deformed part and further comprises a second load element (324) that outputs a signal corresponding to the strain of the deformed part corresponding to the load, the pedal device further comprises a stroke sensor (40) that detects the stroke amount (X) of the pedal with respect to the pedaling force, the stroke sensor comprises a first stroke element (416) that outputs a signal corresponding to the stroke amount, and a second stroke element (426) that outputs a signal corresponding to the stroke amount, the first load element and the first stroke element are connected to a first calculation device (91), the first calculation device calculates a value related to the pedaling force based on the signals from the first load element and the first stroke element, the second load element and the second stroke element are connected to a second calculation device (92), the second calculation device communicates with the first calculation device and calculates a value related to the pedaling force based on the signals from the second load element and the second stroke element.

Claims

1. A pedal device comprising: a pedal (15) that moves when pressed by an operator; a reaction force generating unit (20) that deforms due to the force from the pedal when the pedal is pressed, thereby generating a reaction force to the operator's pressing force; a support member (25) having a support unit (250) that extends in the direction of movement (Da) of the pedal and supports the pedal so that it can move, and a flange unit (252) connected to the support unit and extending in a direction intersecting the direction of movement; and load sensors (30, 31, 32, 33, 34) that detect a load (Wc) related to the pressing force, wherein the load sensor comprises: a force receiving unit (300, 310, 320, 330, 340) that receives the force from the pedal together with the reaction force generating unit; and a deformable unit (302, 312, 322, 332, 342) that is attached to the flange unit and deforms due to the force from the force receiving unit. A pedal device comprising load elements (314, 324, 334, 344) arranged in the deformed portion and outputting a signal corresponding to the strain of the deformed portion corresponding to the load, wherein the support portion and the flange portion are integrally formed.

2. The pedal device according to claim 1, wherein the load sensor is a first load sensor (31), the force receiving part is a first force receiving part (310), the deformation part is a first deformation part (312), the load element is a first load element (314), the pedal device further comprises a second load sensor (32) for detecting the load, the second load sensor comprises a second force receiving part (320) that receives force from the pedal together with the reaction force generating part and the first force receiving part, a second deformation part (322) that is attached to the flange part and deforms due to the force from the second force receiving part, and a second load element (324) that is arranged in the second deformation part and outputs a signal corresponding to the strain of the second deformation part corresponding to the load.

3. The pedal device according to claim 2, wherein the second load sensor is positioned symmetrically with respect to the first load sensor with respect to a center line (Os) that passes through the center of the support portion and extends in the direction of movement.

4. The pedal device according to claim 2, wherein the reaction force generating section comprises: a first elastic member (201, 203) that generates a reaction force to the pedaling force by elastically deforming in response to the force from the pedal when the pedal is pressed; and a second elastic member (202, 204) that generates a reaction force to the pedaling force by elastically deforming in response to the force from the pedal when the pedal is pressed, wherein the first elastic member transmits the force from the pedal to the first force receiving section, and the second elastic member transmits the force from the pedal to the second force receiving section.

5. The pedal device further comprises a third load sensor (33) for detecting the load, and a fourth load sensor (34) for detecting the load, wherein the third load sensor has a third force receiving part (330) that receives force from the pedal together with the reaction force generating part, the first force receiving part and the second force receiving part, a third deformation part (332) attached to the flange part and deformed by the force from the third force receiving part, and a third load element (334) arranged in the third deformation part and outputting a signal corresponding to the strain of the third deformation part corresponding to the load, wherein the fourth load sensor has a fourth force receiving part (340) that receives force from the pedal together with the reaction force generating part, the first force receiving part, the second force receiving part and the third force receiving part, and a fourth deformation part (342) attached to the flange part and deformed by the force from the fourth force receiving part, The pedal device according to claim 2, further comprising: a fourth load element (344) disposed in the fourth deformation portion and outputting a signal corresponding to the strain of the fourth deformation portion corresponding to the load; 6. The pedal device according to claim 1, wherein the load element is a first load element (314), and the load sensor further comprises a second load element (324) which is arranged in the deformed portion and outputs a signal corresponding to the strain of the deformed portion that corresponds to the load.

7. The pedal device according to claim 6, wherein the load sensor is a first load sensor (31), the force receiving part is a first force receiving part (310), the deformation part is a first deformation part (312), the pedal device further comprises a second load sensor (32) for detecting the load, the second load sensor comprises a second force receiving part (320) that receives force from the pedal together with the reaction force generating part and the first force receiving part, a second deformation part (322) attached to the flange part and deformed by the force from the second force receiving part, a third load element (334) disposed in the second deformation part and outputting a signal corresponding to the strain of the second deformation part corresponding to the load, and a fourth load element (344) disposed in the second deformation part and outputting a signal corresponding to the strain of the second deformation part corresponding to the load.

8. The pedal device according to claim 5 or 7, wherein the first load element and the second load element are connected to a first calculation device (91), the first calculation device calculates a value relating to the pedaling force based on signals from the first load element and the second load element, and the third load element and the fourth load element are connected to a second calculation device (92), the second calculation device communicates with the first calculation device and calculates a value relating to the pedaling force based on signals from the third load element and the fourth load element.

9. The pedal device according to claim 1, further comprising stroke sensors (40, 41, 42) for detecting the amount of pedal stroke (X) with respect to the pedaling force.

10. The pedal device according to claim 9, wherein the stroke sensor has stroke elements (406, 416, 426) that output a signal corresponding to the stroke amount, and the stroke elements are arranged on the support member.

11. The pedal device according to claim 9, wherein the load element is connected to a first calculation device (91), the first calculation device calculates a value relating to the pedaling force based on a signal from the load element, the stroke sensor has stroke elements (406, 416, 426) that output a signal corresponding to the stroke amount, the stroke element is connected to a second calculation device (92), the second calculation device communicates with the first calculation device and calculates a value relating to the pedaling force based on a signal from the stroke element.

12. The pedal device according to claim 9, wherein the stroke sensor comprises a first stroke element (416) that outputs a signal corresponding to the stroke amount, and a second stroke element (426) that outputs a signal corresponding to the stroke amount.

13. The pedal device according to claim 12, wherein the first stroke element and the second stroke element are arranged on the support member.

14. The pedal device according to claim 9, wherein the stroke sensor is a first stroke sensor (41), and the pedal device further comprises a second stroke sensor (42) for detecting the stroke amount.

15. The pedal device according to claim 14, wherein the second stroke sensor is positioned symmetrically with respect to the first stroke sensor with respect to a center line (Os) that passes through the center of the support portion and extends in the direction in which the support portion extends.

16. The pedal device according to claim 14 or 15, further comprising: a third stroke sensor (43) for detecting the stroke amount; and a fourth stroke sensor (44) for detecting the stroke amount.

17. The first stroke sensor comprises a first magnet (412) that moves with the pedal, and a first stroke element (416) that outputs a signal corresponding to the stroke amount and the change in the magnetic field that changes due to the movement of the first magnet; The second stroke sensor comprises a second magnet (422) that moves with the pedal, and a second stroke element (426) that outputs a signal corresponding to the stroke amount and the change in the magnetic field that changes due to the movement of the second magnet; The first stroke element and the second stroke element include either a Hall element or an MR element; The third stroke sensor comprises a first conductor (418) that moves with the pedal, and a third stroke element (436) that outputs a signal corresponding to the stroke amount and the change in the magnetic field that changes due to the movement of the first conductor; The fourth stroke sensor comprises a second conductor (428) that moves with the pedal, and a fourth stroke element (446) that outputs a signal corresponding to the stroke amount and the change in the magnetic field that changes due to the movement of the second conductor; The pedal device according to claim 16, wherein the third stroke element and the fourth stroke element include a coil.

18. The load sensor is a first load sensor (31), the force receiving part is a first force receiving part (310), the deformation part is a first deformation part (312), the load element is a first load element (314), the pedal device further comprises a second load sensor (32) for detecting the load, the second load sensor having: a second force receiving part (320) that receives force from the pedal together with the reaction force generating part and the first force receiving part; a second deformation part (322) that is attached to the flange part and deforms due to the force from the second force receiving part; and a second load element (324) that is arranged in the second deformation part and outputs a signal corresponding to the strain of the second deformation part corresponding to the load, the pedal device further comprises a first stroke sensor (41) for detecting the stroke amount (X) of the pedal with respect to the pedaling force, and a second stroke sensor (42) for detecting the stroke amount. The pedal device according to claim 1, wherein the first stroke sensor has a first stroke element (416) that outputs a signal corresponding to the stroke amount, the second stroke sensor has a second stroke element (426) that outputs a signal corresponding to the stroke amount, the first load element and the first stroke element are connected to a first calculation device (91), the first calculation device calculates a value relating to the pedaling force based on the signals from the first load element and the first stroke element, and the second load element and the second stroke element are connected to a second calculation device (92), the second calculation device communicates with the first calculation device and calculates a value relating to the pedaling force based on the signals from the second load element and the second stroke element.

19. The load sensor is a first load sensor (31), the force receiving part is a first force receiving part (310), the deformation part is a first deformation part (312), the load element is a first load element (314), the pedal device further comprises a second load sensor (32) for detecting the load, the second load sensor having: a second force receiving part (320) that receives force from the pedal together with the reaction force generating part and the first force receiving part; a second deformation part (322) attached to the flange part and deformed by the force from the second force receiving part; and a second load element (324) positioned in the second deformation part and outputting a signal corresponding to the strain of the second deformation part corresponding to the load, the pedal device further comprises a stroke sensor (40) for detecting the stroke amount (X) of the pedal with respect to the pedaling force, the stroke sensor having: a first stroke element (416) that outputs a signal corresponding to the stroke amount, The pedal device according to claim 1, comprising: a second stroke element (426) that outputs a signal corresponding to the stroke amount, wherein the first load element and the first stroke element are connected to a first calculation device (91), the first calculation device calculates a value relating to the pedaling force based on the signals from the first load element and the first stroke element; and the second load element and the second stroke element are connected to a second calculation device (92), the second calculation device communicates with the first calculation device and calculates a value relating to the pedaling force based on the signals from the second load element and the second stroke element.

20. The load element is a first load element (314), and the load sensor is located in the deformed part and further comprises a second load element (324) which outputs a signal corresponding to the strain of the deformed part corresponding to the load, and the pedal device further comprises a first stroke sensor (41) which detects the stroke amount (X) of the pedal with respect to the pedaling force, and a second stroke sensor (42) which detects the stroke amount, the first stroke sensor has a first stroke element (416) which outputs a signal corresponding to the stroke amount, the second stroke sensor has a second stroke element (426) which outputs a signal corresponding to the stroke amount, the first load element and the first stroke element are connected to a first calculation device (91), the first calculation device calculates a value related to the pedaling force based on the signals from the first load element and the first stroke element, and the second load element and the second stroke element are connected to a second calculation device (92), The pedal device according to claim 1, wherein the second calculation device communicates with the first calculation device and calculates a value relating to the pedaling force based on signals from the second load element and the second stroke element.

21. The pedal device according to claim 1, wherein the load element is a first load element (314), the load sensor is located in the deformed portion and further comprises a second load element (324) that outputs a signal corresponding to the strain of the deformed portion corresponding to the load, the pedal device further comprises a stroke sensor (40) that detects the stroke amount (X) of the pedal with respect to the pedaling force, the stroke sensor comprises a first stroke element (416) that outputs a signal corresponding to the stroke amount, and a second stroke element (426) that outputs a signal corresponding to the stroke amount, the first load element and the first stroke element are connected to a first calculation device (91), the first calculation device calculates a value related to the pedaling force based on the signals from the first load element and the first stroke element, the second load element and the second stroke element are connected to a second calculation device (92), the second calculation device communicates with the first calculation device and calculates a value related to the pedaling force based on the signals from the second load element and the second stroke element.

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