JP7192217B2 - Drive force controller - Google Patents

Description

The present invention relates to a driving force control device.

In order to prevent the host vehicle from suddenly starting due to an erroneous operation by the driver, an erroneous start suppression control technology is known that suppresses the drive torque of the host vehicle. In such erroneous start suppression control, as in Patent Document 1, the opening degree of the accelerator pedal and the operation speed of the accelerator pedal, which are the start suppression operation conditions, are changed according to the inter-vehicle distance and relative speed between the own vehicle and the preceding vehicle. A technique for changing the threshold is disclosed.

JP-A-2018-5808

By the way, such erroneous start suppression control may impair drivability if the erroneous start suppression control is activated despite the driver's intention. It is necessary to appropriately suppress the driving torque when an operation that does not perform is input.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a driving force control device capable of suppressing torque output due to an erroneous operation while suppressing deterioration of drivability.

In order to solve the above-described problems, the present invention provides a driving force control device that executes a driving torque suppression control that suppresses the output of driving torque of the host vehicle in accordance with the operating state of an accelerator pedal, wherein the opening degree of the accelerator pedal is: a torque control unit that executes the drive torque suppression control when at least one of an accelerator opening threshold value and a change amount of the accelerator pedal opening amount being greater than an accelerator opening change amount threshold value is satisfied; a driving state determination unit that determines whether the host vehicle is in a stopped state or a running state; and the accelerator opening threshold value and the above when the running state determination unit determines that the host vehicle is in the stopped state. a condition setting unit that sets an accelerator opening change amount threshold to be larger than the accelerator opening change amount threshold and the accelerator opening change amount threshold when it is determined that the vehicle is in a running state; an alarm control unit that outputs an alarm to an occupant when at least one of the degree of opening and the amount of change in the degree of opening of the accelerator pedal is greater than an alarm threshold; and a warning threshold value setting unit that sets a value smaller than the threshold value, and the torque control unit is configured such that after the warning is output by the warning control unit, the opening degree of the accelerator pedal is still lower than the accelerator opening threshold value. or the accelerator opening change amount is greater than the accelerator opening change amount threshold value, the driving torque suppression control is executed .

Thus, according to the present invention, it is possible to suppress torque output due to erroneous operation while suppressing deterioration of drivability.

FIG. 1 is a block diagram of a driving force control device according to one embodiment of the present invention. FIG. 2 is a diagram showing a setting example of threshold values of the driving force control device according to one embodiment of the present invention. FIG. 3 is a flow chart showing the procedure of condition setting processing of the driving force control device according to the embodiment of the present invention. FIG. 4 is a flow chart showing the procedure of driving torque suppression processing of the driving force control device according to one embodiment of the present invention. FIG. 5 is a time chart showing the output of an alarm due to a change in accelerator opening and the timing of execution of driving torque suppression control by the driving torque suppression processing of the driving force control device according to the embodiment of the present invention. FIG. 6 is a flow chart showing the procedure of the driving torque suppression control continuation process of the driving force control device according to the embodiment of the present invention. FIG. 7 is a time chart showing the timing of stopping the driving torque suppression control by the driving torque suppression control continuation process of the driving force control device according to the embodiment of the present invention.

A driving force control device according to an embodiment of the present invention is a driving force control device that executes a driving torque suppression control that suppresses the output of a driving torque of a host vehicle according to an operation state of an accelerator pedal, and comprises at least an accelerator A torque control unit that executes driving torque suppression control when the opening of the pedal is greater than the accelerator opening threshold, a traveling direction detecting unit that detects the traveling direction of the own vehicle, and the own vehicle detected by the traveling direction detecting unit. and a condition setting unit that sets an accelerator opening threshold when the traveling direction of the vehicle is the forward direction to be larger than the accelerator opening threshold when the traveling direction of the own vehicle is the reverse direction. .

As a result, torque output due to erroneous operation can be suppressed while suppressing deterioration in drivability.

Hereinafter, a driving force control device according to an embodiment of the present invention will be described in detail with reference to the drawings.

In FIG. 1, a vehicle 1 equipped with a driving force control device according to the first embodiment of the present invention includes an engine 2, an alarm device 3, an engine ECU (Electronic Control Unit) 4, and a control section 5. consists of

A plurality of cylinders are formed in the engine 2 . In this embodiment, the engine 2 is constructed so that each cylinder performs a series of four strokes consisting of an intake stroke, a compression stroke, an expansion stroke and an exhaust stroke. In this embodiment, the driving force of the engine 2 is used to drive the vehicle 1 .

The alarm device 3 includes, for example, a monitor device, a speaker, a lamp, a meter, a buzzer, etc., and notifies the driver of various alarms through sight, hearing, and the like.

The engine ECU 4 is composed of a computer unit having a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), flash memory, an input port, and an output port.

The ROM of the engine ECU 4 stores a program for causing the computer unit to function as the engine ECU 4 along with various control constants, various maps, and the like. That is, the computer unit functions as the engine ECU 4 by the CPU executing the program stored in the ROM. The engine ECU 4 is also connected to the control unit 5 and exchanges data with each other.

The engine ECU 4 controls the engine 2 according to the torque command signal from the control unit 5 so that the output torque of the engine 2 becomes the torque command value set in the torque command signal. The engine ECU 4 controls the output torque of the engine 2 by controlling the fuel injection amount and the intake air amount by controlling injectors and throttle valves (not shown).

The control unit 5 is composed of a computer unit having a CPU, RAM, ROM, flash memory, input port, and output port.

The ROM of the controller 5 stores a program for causing the computer unit to function as the controller 5 together with various control constants, various maps, and the like. That is, the computer unit functions as the control section 5 by the CPU executing the program stored in the ROM. The control unit 5 is connected to the engine ECU 4 and exchanges data with each other.

Various sensors including a front sensor 51, a rear sensor 52, an accelerator opening sensor 53, a brake switch 54, a vehicle speed sensor 55, an engine speed sensor 56, and a shift position sensor 57 are connected to input ports of the control unit 5. there is

The forward sensor 51 detects the distance to an object present in front of the vehicle 1 by transmitting/receiving laser light, ultrasonic waves, millimeter waves, or the like, or taking an image of the forward direction with a camera.

The rearward sensor 52 detects the distance to an object behind the vehicle 1 by transmitting/receiving laser light, ultrasonic waves, millimeter waves, or the like, or by capturing an image behind the vehicle 1 with a camera.

An accelerator opening sensor 53 detects the amount of depression of an accelerator pedal (not shown) by the driver as an accelerator opening.

A brake switch 54 detects whether or not a brake pedal (not shown) is depressed by the driver.

A vehicle speed sensor 55 detects the vehicle speed from, for example, the rotational speed of a drive shaft (not shown). The vehicle speed sensor 55 outputs a positive vehicle speed when the vehicle 1 is traveling forward, and outputs a negative vehicle speed when the vehicle 1 is traveling backward.

An engine speed sensor 56 detects the engine speed, which is the engine speed of the engine 2 .

A shift position sensor 57 detects a shift position selected by the driver's operation of a shift lever (not shown). For example, one of forward, reverse, and neutral is selected as the shift position.
On the other hand, the alarm device 3 is connected to the output port of the controller 5 .

In the vehicle 1 having such a configuration, the control unit 5 controls, for example, that the brake pedal is not depressed, and that the vehicle 1 travels a predetermined distance in the direction of travel in order to prevent the vehicle 1 from suddenly starting due to an erroneous operation by the driver. If an obstacle is detected inside the vehicle, or if the accelerator opening or the amount of change in the accelerator opening exceeds a threshold, the drive torque output from the engine 2 is suppressed. drive torque suppression control is executed.

The control unit 5 functions as a torque control unit 11 that suppresses the drive torque output from the engine 2 by a torque command signal to the engine ECU 4 .

The control unit 5 determines whether to execute the drive torque suppression control based on an accelerator opening threshold, which is a threshold for the accelerator opening, and an accelerator opening change amount threshold, which is a threshold for the amount of change in the accelerator opening.

The control unit 5 executes driving torque suppression control when the accelerator opening and the amount of change in the accelerator opening satisfy a predetermined driving torque suppression control execution condition.

The control unit 5 sets, for example, that the accelerator opening is greater than the accelerator opening threshold as the driving torque suppression control execution condition.

For example, the control unit 5 may set the drive torque suppression control execution condition that, in addition to the accelerator opening being larger than the accelerator opening threshold, the change amount of the accelerator opening being larger than the accelerator opening change amount threshold.

For example, the control unit 5 determines that either the accelerator opening is larger than the accelerator opening threshold or the change amount of the accelerator opening is larger than the accelerator opening change amount threshold is satisfied. It may be used as a control execution condition.

The control unit 5 functions as a travel direction detection unit 12 that detects the travel direction of the vehicle 1 based on the shift position detected by the shift position sensor 57 .

The control unit 5 functions as a running state determination unit 14 that determines whether the vehicle 1 is in a stopped state or a running state based on the vehicle speed detected by the vehicle speed sensor 55 .

The control unit 5 sets a condition setting unit that sets an accelerator opening threshold when the traveling direction of the vehicle 1 is the forward direction to be larger than an accelerator opening threshold when the traveling direction of the vehicle 1 is the reverse direction. 13.

The driver tends to depress the accelerator pedal more when the vehicle is moving forward than when reversing. By setting, it is possible to prevent torque output due to an erroneous operation while satisfying the torque output intended by the driver.

In addition, since the accelerator opening threshold is changed according to whether the vehicle is traveling forward or backward, for example, the pedaling speed is the same regardless of whether the vehicle is traveling forward or backward, and the amount of depression is adjusted according to whether the vehicle is traveling forward or backward. It is possible to appropriately prevent torque output due to erroneous operation even by a person.

The control unit 5 sets the accelerator opening change amount threshold when the vehicle 1 is moving forward so that it is larger than the accelerator opening change amount threshold when the vehicle 1 is moving backward. It functions as a condition setting unit 13 that

In addition to the accelerator opening itself, the amount of change in the accelerator opening is further set so that the drive torque suppression control is more difficult to operate when moving forward than when moving backward. Even in the case of , even if the final depression amount is the same, even if the driver operates the accelerator with the operation characteristics that the depression speed is different, it is possible to appropriately prevent torque output due to erroneous operation. .

The control unit 5 sets conditions for setting an accelerator opening degree threshold when the vehicle 1 is in a stopped state to be larger than an accelerator opening degree threshold when the vehicle 1 is in a running state. It functions as part 13.

When starting from a stopped state, the driver tends to depress the accelerator pedal more and quickly than when driving at a low speed (for example, when driving when parking), so the driver tends to stop more than when driving. By setting the conditions so that the drive torque suppression control is less likely to operate, it is possible to prevent torque output due to erroneous operation while satisfying the torque output intended by the driver.

The control unit 5 sets the accelerator opening change amount threshold when the vehicle 1 is in the stopped state to be larger than the accelerator opening change amount threshold when the vehicle 1 is in the running state. It functions as a condition setting unit 13 for setting.

In addition to the accelerator opening itself, the amount of change in the accelerator opening is also set so that the driving torque suppression control is more difficult to operate when moving forward than when moving backward. In either case, although the final depression amount is the same, the driver who operates the accelerator with the operation characteristic that the depression speed is different, or conversely, the depression amount is the same although the depression speed is the same Even if the driver operates the accelerator with operation characteristics different from each other, it is possible to appropriately prevent torque output due to erroneous operation.

The control unit 5 functions as an alarm control unit 15 that outputs an alarm to the occupant of the vehicle 1 by an alarm device when the accelerator opening or the amount of change in the accelerator opening exceeds a threshold value.

The control unit 5 determines the output of an alarm based on an accelerator opening warning threshold, which is a threshold for the accelerator opening, and an accelerator opening change amount warning threshold, which is a threshold for the amount of change in the accelerator opening.

The control unit 5 outputs an alarm when the accelerator opening and the amount of change in the accelerator opening satisfy a predetermined alarm condition.

The control unit 5 sets, for example, that the accelerator opening is greater than the accelerator opening warning threshold value as a warning condition.

For example, the controller 5 may set the warning condition to be that the accelerator opening is greater than the accelerator opening warning threshold and that the change amount of the accelerator opening is greater than the accelerator opening change amount warning threshold.

For example, the controller 5 warns that either the accelerator opening is greater than the accelerator opening warning threshold value or the change amount of the accelerator opening is greater than the accelerator opening change amount warning threshold value is satisfied. It can be used as a condition.

The control unit 5 functions as a warning threshold setting unit 16 that sets the accelerator opening warning threshold to be smaller than the accelerator opening threshold. The control unit 5 functions as a warning threshold value setting unit 16 that sets an accelerator opening change amount warning threshold value to be smaller than the accelerator opening change amount threshold value.

By doing so, an alarm is output before the drive torque suppression control is executed, so that unnecessary drive torque suppression control can be prevented from being executed when the driver notices the erroneous operation early. can be done.

The control unit 5 sets an accelerator opening warning threshold when the traveling direction of the vehicle 1 is the forward direction to be larger than the accelerator opening warning threshold when the traveling direction of the vehicle 1 is the reverse direction. It functions as the threshold setting unit 16 .

The control unit 5 sets the accelerator opening variation warning threshold when the traveling direction of the vehicle 1 is the forward direction to be larger than the accelerator opening variation warning threshold when the traveling direction of the vehicle 1 is the reverse direction. It functions as an alarm threshold value setting unit 16 that sets to .

The control unit 5 sets an accelerator opening warning threshold when the vehicle 1 is in a stopped state to be larger than an accelerator opening warning threshold when the vehicle 1 is in a running state. It functions as the alarm threshold value setting unit 16 .

The control unit 5 makes the accelerator opening change amount warning threshold when the vehicle 1 is in the stopped state larger than the accelerator opening change amount warning threshold when the vehicle 1 is in the running state. It functions as an alarm threshold value setting unit 16 that sets as follows.

The control unit 5 functions as a driving range detection unit 17 that detects the driving range based on the shift position detected by the shift position sensor 57 . For example, one of forward, reverse, and neutral is selected as the travel range.

The control unit 5 continues the driving torque suppression control for a predetermined period of time when it is detected that the driving range is switched to the neutral or the opposite traveling direction during execution of the driving torque suppression control.

The above-mentioned predetermined period may be a period set in advance, may be changed in length according to the vehicle speed when the switching of the driving range is detected, or may be a period until the vehicle speed becomes equal to or less than a predetermined value. may be

If the drive torque suppression control is stopped when the drive torque suppression control is switched from forward to reverse or neutral, or from reverse to forward or neutral at the will of the driver, the vehicle 1 immediately after the switching is at a vehicle speed does not immediately become zero, the traveling direction before switching is continued, and the obstacle is approached while the driving torque suppression control is stopped.

Therefore, when it is detected that the driving range has been switched to neutral or the opposite traveling direction during execution of the driving torque suppression control, by continuing the driving torque suppression control, it is possible to prevent the vehicle 1 from moving in the opposite direction. While the distance to the obstacle is getting shorter, the driving torque suppression control can be continued to reduce the vehicle speed.

The control unit 5 stores, for example, an accelerator opening threshold value, an accelerator opening change amount threshold value, an accelerator opening warning threshold value, and an accelerator opening change amount warning threshold value for each traveling direction and driving state, as shown in FIG. Keep

In FIG. 2, each threshold value is smaller when the vehicle is traveling at low speed than when the vehicle is stopped when the traveling direction is forward, and when the traveling direction is reverse than when the vehicle is traveling at low speed when the traveling direction is forward. is smaller when the vehicle is stopped, and is smaller when the vehicle is running at a low speed than when the vehicle is stopped when the traveling direction is the reverse direction.

In addition, the accelerator opening threshold θsfs when the vehicle is stopped when the traveling direction is forward is set to a value larger than the accelerator opening threshold θsbs when the vehicle is stationary when the traveling direction is the reverse direction, and the traveling direction is forward. The accelerator opening degree threshold θsfr during low speed running when the vehicle is in the direction is set to a value larger than the accelerator opening degree threshold θsbr during low speed running when the traveling direction is the reverse direction.

Further, the accelerator opening change amount threshold θ'sfs while the vehicle is stopped when the traveling direction is the forward direction is a value larger than the accelerator opening change amount threshold θ'sbs while the vehicle is stopped when the traveling direction is the reverse direction. is set, and the accelerator opening change amount threshold θ'sfr during low-speed running when the traveling direction is the forward direction is set to the accelerator opening change amount threshold θ'sfr during low-speed traveling when the traveling direction is the reverse direction. A value greater than is set.

In addition, the accelerator opening threshold θsfs during stop when the traveling direction is the forward direction is set to a value larger than the accelerator opening threshold θsfr during low-speed driving when the traveling direction is the forward direction. The accelerator opening change amount threshold θ'sfs during stopping when the vehicle is moving forward is set to a value larger than the accelerator opening change amount threshold θ'sfr during low-speed running when the vehicle is moving forward. .

Further, the accelerator opening threshold θsbs during stopping when the traveling direction is reverse is set to a value larger than the accelerator opening threshold θsbr during low-speed driving when the traveling direction is reverse. The accelerator opening change amount threshold θ'sbs during stop when the vehicle is traveling in the reverse direction is set to a value larger than the accelerator opening change amount threshold θ'sbr during low speed running when the traveling direction is the reverse direction. .

Also, when the traveling direction is the reverse direction, the vehicle tends to creep and the accelerator is not stepped on so much. That is, the accelerator pedal is weaker when the vehicle is stopped when the vehicle is traveling in the reverse direction than when the vehicle is traveling at a low speed when the vehicle is traveling in the forward direction.

For this reason, the accelerator opening warning threshold θafr during low-speed running when the traveling direction is forward is set to a value larger than the accelerator opening warning threshold θabs during stopping when the traveling direction is reverse. be.

In addition, the accelerator opening variation warning threshold θ'afr during low-speed driving when the traveling direction is forward is higher than the accelerator opening variation warning threshold θ'abs during stopping when the traveling direction is reverse. is set to a large value.

Further, the accelerator opening degree threshold θsfr during low-speed running when the traveling direction is the forward direction is set to a larger value than the accelerator opening degree threshold θsbs during stopping when the traveling direction is the reverse direction.

Further, the accelerator opening change amount threshold θ'sfr during low-speed running when the traveling direction is the forward direction is greater than the accelerator opening change amount threshold θ'sbs while the vehicle is stopped when the traveling direction is the reverse direction. Value is set.

Condition setting processing by the driving force control apparatus according to the present embodiment configured as described above will be described with reference to FIG. The condition setting process described below is started when the control unit 5 starts operating, and is executed at preset time intervals.

In step S<b>1 , the control unit 5 detects the traveling direction of the vehicle 1 based on the shift position detected by the shift position sensor 57 .

At step S<b>2 , the control unit 5 detects the running state of the vehicle 1 based on the vehicle speed detected by the vehicle speed sensor 55 .

In step S<b>3 , the control unit 5 sets an accelerator opening threshold based on the traveling direction of the vehicle 1 and the running state of the vehicle 1 .

In step S<b>4 , the control unit 5 sets an accelerator opening change amount threshold based on the traveling direction of the vehicle 1 and the running state of the vehicle 1 .

In step S5, the control unit 5 sets an accelerator opening warning threshold value and an accelerator opening change amount warning threshold value based on the traveling direction of the vehicle 1 and the running state of the vehicle 1, and ends the process.

Driving torque suppression processing by the driving force control device according to the present embodiment will be described with reference to FIG. The drive torque suppression process described below is started when the above-described erroneous start suppression condition is satisfied, is executed at preset time intervals, and is stopped when the above-described erroneous start suppression condition is no longer satisfied. be.

In step S<b>11 , the controller 5 detects the accelerator opening using the accelerator opening sensor 53 .

In step S12, the control unit 5 calculates the amount of change in accelerator opening from the accelerator opening at the previous execution and the accelerator opening at this time.

In step S13, the control unit 5 determines whether or not the accelerator opening and the amount of change in the accelerator opening satisfy the above-described alarm conditions. When determining that the alarm condition is not satisfied, the control unit 5 terminates the process.

If it is determined in step S13 that the alarm condition is satisfied, the controller 5 causes the alarm device 3 to output an alarm in step S14.

In step S15, the control unit 5 determines whether or not the accelerator opening and the amount of change in the accelerator opening satisfy the driving torque suppression control execution condition described above. When determining that the drive torque suppression control execution condition is not satisfied, the control unit 5 terminates the process.

If it is determined in step S15 that the driving torque suppression control execution condition is satisfied, then in step S16 the control unit 5 executes the driving torque suppression control and terminates the process.

The operation of such driving torque suppression processing will be described with reference to FIG.
As shown in FIG. 5, when an obstacle is detected within a predetermined distance in the traveling direction of the vehicle 1 and the accelerator is rapidly depressed, the amount of change in the accelerator opening increases. exceeds the degree change amount alarm threshold, and exceeds the accelerator opening degree change amount threshold at time t2.

After that, when the accelerator is further depressed, the accelerator opening warning threshold value is exceeded at time t3, and the warning device 3 outputs a warning. When the accelerator opening threshold is exceeded at time t4, driving torque suppression control is executed.

Driving torque suppression control continuation processing by the driving force control device according to the present embodiment will be described with reference to FIG. The driving torque suppression control continuation process described below is started when the control unit 5 starts operating, and is executed at preset time intervals.

In step S21, the control unit 5 determines whether or not the travel range has been switched to neutral or the opposite travel direction. When determining that the travel range has not been switched to neutral or the opposite direction of travel, the control unit 5 ends the process.

If it is determined in step S21 that the travel range has been switched to neutral or the opposite direction of travel, then in step S22 the controller 5 determines whether drive torque suppression control is being executed. When determining that the driving torque suppression control is not being executed, the control unit 5 ends the process.

When it is determined in step S22 that the drive torque suppression control is being executed, in step S23, the controller 5 continues the drive torque suppression control for a predetermined period.

The operation of such driving torque suppression control continuation processing will be described with reference to FIG.
As shown in FIG. 7, when an obstacle is detected behind the vehicle while backing up at a low speed and drive torque suppression control is being executed, when the driving range is switched from reverse to forward at time t5, drive torque suppression control is performed. Since it is being executed, the driving torque suppression control is continuously executed.

At time t6, when it is determined that the vehicle speed has become equal to or less than the predetermined value and the vehicle 1 has stopped, it is determined that the predetermined period has ended, and the driving torque suppression control ends.

If the engine speed drops below a predetermined value while driving torque suppression control is being executed, the driver may be notified of the drop in engine speed by displaying a message, sounding a buzzer, or the like.

In a vehicle equipped with a manual transmission, when the drive torque suppression control is activated, the engine torque is suppressed to a low torque, but if nothing is done, the engine stalls. Therefore, when the engine speed drops below a predetermined value, the driver is notified of the drop in engine speed, thereby prompting the driver to perform an operation to avoid the engine stall.

In addition, a vehicle such as a truck equipped with a gate at the rear is provided with a sensor for detecting that the gate is open. The drive torque suppression control may be executed when an obstacle farther away is detected.

By doing so, it is possible to avoid execution of the driving torque suppression control by detecting the gate as an obstacle, and it is possible to suppress unnecessary execution of the driving torque suppression control.

If the rear sensor 52 can distinguish between the gate and other obstacles, the detection result of the rear sensor 52 may be used to detect that the gate is open.

In this embodiment, the engine 2 is used to output the driving torque of the vehicle 1, but the same configuration can be applied to the case of outputting the driving torque of the vehicle 1 by using a motor or the like.

In the present embodiment, an example in which the control unit 5 performs various determinations and calculations based on various sensor information has been described. Various determinations and calculations are performed by the external device based on the detection information of various sensors transmitted from the communication unit, the determination results and calculation results are received by the communication unit, and the received determination results and calculation results are used. various controls may be performed.

Although embodiments of the present invention have been disclosed, it will be apparent that modifications may be made by those skilled in the art without departing from the scope of the invention. All such modifications and equivalents are intended to be included in the following claims.

1 vehicle 2 engine 3 alarm device 4 engine ECU
5 control unit 11 torque control unit 12 traveling direction detection unit 13 condition setting unit 14 driving state determination unit 15 alarm control unit 16 alarm threshold value setting unit 17 driving range detection unit 53 accelerator opening sensor 55 vehicle speed sensor 57 shift position sensor

Claims (2)

A driving force control device that executes a driving torque suppression control that suppresses the output of the driving torque of the own vehicle according to the operating state of an accelerator pedal,
The driving torque suppression control is executed when at least one of the opening degree of the accelerator pedal is larger than an accelerator opening threshold value and the amount of change in the opening degree of the accelerator pedal is larger than an accelerator opening change amount threshold value. a torque control unit that
a running state determination unit that determines whether the own vehicle is in a stopped state or in a running state;
The accelerator opening degree threshold value and the accelerator opening change amount threshold value when the vehicle is determined to be in a stopped state by the running state determination unit are set to the threshold values when the vehicle is determined to be in a running state. a condition setting unit that is set to be larger than the accelerator opening threshold and the accelerator opening variation threshold;
an alarm control unit that outputs an alarm to an occupant when at least one of the degree of opening of the accelerator pedal and the amount of change in the degree of opening of the accelerator pedal is greater than an alarm threshold;
an alarm threshold setting unit that sets the alarm threshold to a value smaller than the accelerator opening threshold and the accelerator opening change amount threshold,
After the warning is output by the warning control unit, the torque control unit is configured to control the accelerator pedal when the opening degree of the accelerator pedal is still larger than the accelerator opening threshold value, or when the amount of change in the opening degree of the accelerator pedal changes to the accelerator opening degree. A driving force control device that executes the driving torque suppression control when at least one of cases where the amount of change is greater than a threshold value is satisfied . A driving range detection unit that detects the driving range of the own vehicle,
The torque control unit performs the driving torque suppression control for a predetermined period of time when the driving range detection unit detects that the travel range is switched to neutral or to the opposite traveling direction during execution of the driving torque suppression control. 2. The driving force control device of claim 1, continuing.

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