Vehicle speed control device and driver model processing device

A vehicle speed control device, which controls vehicle speed by driving a drive robot that operates an accelerator pedal and a brake pedal of a vehicle, the vehicle speed control device comprising:

• a driving force command generator configured to generate a driving force command over the vehicle on a basis of actual vehicle speed of the vehicle and a vehicle speed command over the actual vehicle speed;
• an accelerator controller configured to generate an accelerator operation amount command over an accelerator pedal operation amount on a basis of the driving force command;
• a brake controller configured to generate a brake operation amount command over a brake pedal operation amount on a basis of the driving force command;
• and
• a pedal switch controller configured to select an accelerator control mode in which the accelerator operation amount command is input to the drive robot in response to the driving force command exceeding an acceleration/deceleration determination value, and select a brake control mode in which the brake operation amount command is input to the drive robot in response to the driving force command falling below the acceleration/deceleration determination value,
• wherein the pedal switch controller switches the control mode to the brake control mode in response to the driving force command falls below a first pedal switch threshold that is set to a value smaller than the acceleration/deceleration determination value in a situation where the accelerator control mode is selected as the control mode, and the pedal switch controller switches the control mode to the accelerator control mode in response to the driving force command exceeds a second pedal switch threshold that is set to a value larger than the acceleration/deceleration determination value in a situation where the brake control mode is selected as the control mode.

A driver model processing device, which simulates operations to be performed on an accelerator pedal and a brake pedal of a vehicle by a driver, the driver model processing device comprising:

• a driving force command generator configured to generate a driving force command over the vehicle on a basis of actual vehicle speed of the vehicle and a vehicle speed command over the actual vehicle speed;
• an accelerator controller configured to generate an accelerator operation amount command over an accelerator pedal operation amount on a basis of the driving force command;
• a brake controller configured to generate a brake operation amount command over a brake pedal operation amount on a basis of the driving force command;
• and
• a pedal switch controller configured to select, on a basis of the driving force command, an accelerator control mode in which the accelerator controller is turned on or a brake control mode in which the brake controller is turned on,
• wherein the driving force command generator includes
• a basic driving force calculator configured to calculate basic driving force on a basis of the vehicle speed command and vehicle weight,
• a feedback controller provided upstream from the accelerator controller and the brake controller in a flow from the vehicle speed command to the accelerator operation amount command and the brake operation amount command, and configured to calculate corrective driving force so that a vehicle speed deviation between the vehicle speed command and the actual vehicle speed becomes 0,
• a vehicle speed deviation calculator configured to calculate the vehicle speed deviation by subtracting the actual vehicle speed from the vehicle speed command, and to input the vehicle speed deviation to the feedback controller, and
• an adder configured to output a sum of the basic driving force and the corrective driving force as the driving force command.