Driving force control device
In a driving force control device, a driving force is controlled based on an override driving force characteristic specifying a target acceleration according to a vehicle speed, an accelerator pedal position, and a traveling resistance to a vehicle, a longitudinal acceleration at a fully closed accelerator pedal position is higher in an override driving force characteristic than in a manual-driving-mode driving force characteristic, and a graph representing a relation between the accelerator pedal position and the longitudinal acceleration in the override driving force characteristic and a graph representing a relation between the accelerator pedal position and the longitudinal acceleration in the manual-driving-mode driving force characteristic intersect at a specific accelerator pedal position different from a fully closed position and a fully opened position.
1. A driving force control device comprising:
a processor configured to
cause a vehicle to travel by switching between a manual driving mode for controlling a driving force of the vehicle based on a manual-driving-mode driving force characteristic specifying a vehicle speed, an accelerator pedal position, and a longitudinal acceleration of the vehicle to be generated according to the accelerator pedal position as a target acceleration, and an automated driving mode for controlling the driving force by automatic control without depending on an accelerator pedal operation by a driver, and
change, when the automated driving mode is shifted to the manual driving mode, the driving force from a driving force generated in the automated driving mode to a driving force generated in the manual driving mode, wherein
when the automated driving mode is shifted to the manual driving mode, the driving force is temporarily controlled based on an override driving force characteristic before being controlled based on the manual-driving-mode driving force characteristic,
the override driving force characteristic specifies the target acceleration according to the vehicle speed, the accelerator pedal position, and a traveling resistance to the vehicle,
the longitudinal acceleration at a fully closed accelerator pedal position is higher in the override driving force characteristic than in the manual-driving-mode driving force characteristic, and
a graph representing a relation between the accelerator pedal position and the longitudinal acceleration in the override driving force characteristic and a graph representing a relation between the accelerator pedal position and the longitudinal acceleration in the manual-driving-mode driving force characteristic intersect at a specific accelerator pedal position different from the fully closed accelerator pedal position and a fully opened accelerator pedal position.
2. The driving force control device according to claim 1 , wherein the longitudinal acceleration in the override driving force characteristic and the longitudinal acceleration in the manual-driving-mode driving force characteristic are matched at an accelerator pedal position on a fully opened side from the specific accelerator pedal position.