Accelerator Force Feedback Pedal (AFFP) as Assistance System for Distance Control in Traffic

摘要

A driver of a vehicle applies an actuation force to an accelerator device such as an accelerator pedal or a twist-grip throttle of the vehicle to deflect the accelerator device to an actual deflection angle (φact), which is detected. A restoring force acts on the accelerator device opposite the actuation force. An electronic controller determines a nominal deflection angle (φnom) to which the accelerator device shall be deflected, based on inputs such as an actual speed of the subject vehicle, a relative speed of the subject vehicle relative to a leading vehicle driving ahead of the subject vehicle, an actual distance of the subject vehicle to the leading vehicle, and a nominal distance at which the subject vehicle shall follow the leading vehicle. The restoring force on the accelerator device is modulated as a function of the difference between the actual deflection angle (φact) and the nominal deflection angle (φnom).

主权项

1. A method of operating an accelerator device in a subject vehicle, wherein a driver of the subject vehicle applies a driver's actuation force to the accelerator device to deflect the accelerator device to a deflected position, and the accelerator device outputs a control signal that is dependent on the deflected position and is used to control a drive power, a drive torque or a drive speed of a drive motor of the subject vehicle, wherein the method comprises:
a) with one or more sensors, determining an actual speed of the subject vehicle, a relative speed of the subject vehicle relative to a leading vehicle ahead of the subject vehicle, and an actual distance between the subject vehicle and the leading vehicle; b) obtaining a specified nominal distance that shall exist between the subject vehicle and the leading vehicle; c) with a deflection sensor, determining an actual deflection of the accelerator device in the deflected position thereof; d) with at least one electronic controller, producing a control difference (14) as a difference between the actual distance and the nominal distance, weighting the control difference to produce a weighted control difference (20), producing a first control contribution (16) based on the actual speed, the relative speed and the weighted control difference, producing a second control contribution (17) based on the control difference, and determining a nominal deflection (15) for the accelerator device by summing (28) at least the first control contribution and the second control contribution; e) determining a deflection difference between the actual deflection and the nominal deflection; and f) with an actuator arrangement, applying to the accelerator device a restoring force directed opposite the actuation force, and modulating the restoring force as a function of the deflection difference between the actual deflection and the nominal deflection.