Patent Publication Number: US-2023147441-A1

Title: Driving force control device

Description:
CROSS-REFERENCE TO RELATED APPLICATION(S) 
     The present application claims priority to and incorporates by reference the entire contents of Japanese Patent Application No. 2021-184407 filed in Japan on Nov. 11, 2021. 
     BACKGROUND 
     The present disclosure relates to a driving force control device. 
     Japanese Laid-open Patent Publication No. 2021-079746 discloses a technique for setting a mode shifting driving force characteristic by determining a driver&#39;s intention to accelerate when override is detected. 
     SUMMARY 
     There is a need for providing a driving force control device capable of controlling an occurrence of a sense of stalling due to a sudden change in the driving force. 
     According to an embodiment, a driving force control device causes 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 configured to 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. Further, when the manual driving mode is shifted to the automated driving mode, the driving force is controlled based on an override driving force characteristic specifying the target acceleration according to the vehicle speed, the accelerator pedal position, and a traveling resistance to the vehicle, and when a driving mode is switched to the manual driving mode during the automated driving mode in which the driving force is controlled based on the override driving force characteristic, the control of the driving force based on the override driving force characteristic is continued for a predetermined period after the switching to the manual driving mode. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a diagram illustrating an example of a gear train and a control system of a vehicle according to an embodiment; 
         FIG.  2    is a diagram for explaining details of the control system of the vehicle according to the embodiment; 
         FIG.  3    is a flowchart for explaining an example of control performed by an ECU of the vehicle according to the embodiment; 
         FIG.  4    is a diagram illustrating a relation between an accelerator pedal position and a longitudinal acceleration in an override driving force characteristic and a manual-driving-mode driving force characteristic in the present embodiment; and 
         FIG.  5    is an image of time-series behavior in the present embodiment. 
     
    
    
     DETAILED DESCRIPTION 
     In the related art, the technique disclosed in Japanese Laid-open Patent Publication No. 2021-079746 has a problem that a sudden change in the driving force occurs when a mode shifting driving force characteristic is switched to a manual-driving-mode driving force characteristic. 
     Hereinafter, an embodiment of a driving force control device according to the present disclosure will be described. Note that, the present disclosure is not limited to the following embodiments. 
       FIG.  1    is a diagram illustrating an example of a gear train and a control system of a vehicle  100  according to the embodiment. Similarly to a conventional general vehicle, the vehicle  100  according to the embodiment is configured to be capable of switching between a manual driving mode in which the vehicle  100  travels according to a driver&#39;s driving operation and an automated driving mode in which the vehicle  100  travels by automatically controlling a driving operation without depending on the driver&#39;s driving operation. Specifically, as illustrated in  FIG.  1   , the vehicle  100  includes a drive power source  1 , driving wheels  2 , an accelerator pedal  3 , and an electronic control unit (ECU)  4 , as main components. 
     The drive power source  1  is a power source that outputs driving torque for causing the vehicle  100  to travel. The drive power source  1  is, for example, an internal combustion engine, such as a gasoline engine or a diesel engine, and is configured in such a manner that operating states, such as output adjustment, start, and stop, are electrically controlled. In the case of a gasoline engine, the opening of a throttle valve, a supply amount or an injection amount of fuel, execution and stop of ignition, an ignition timing, and the like are electrically controlled. Alternatively, in the case of a diesel engine, an injection amount of fuel, an injection timing of fuel, the opening of a throttle valve in an EGR system, and the like are electrically controlled. 
     The drive power source  1  may be, for example, a permanent magnet synchronous motor or an electric motor such as an induction motor. The electric motor in that case may be, for example, what is called a motor-generator having a function as a prime mover that is driven by supply of electric power to output motor torque and a function as a generator that is driven by receiving external torque to generate electricity. In the case of the motor-generator, the rotational speed, the torque, the switching between the function as the prime mover and the function as the generator, and the like are electrically controlled. 
     The driving wheels  2  generate the driving force by transmission of the driving torque output from the drive power source  1 .  FIG.  1    illustrates a configuration of a front-wheel drive vehicle in which the front wheels are the driving wheels  2 . The vehicle  100  according to the embodiment may be a rear-wheel drive vehicle in which the rear wheels are the driving wheels or may be a four-wheel drive vehicle in which both the front wheels and the rear wheels are the driving wheels. When an engine is mounted as the drive power source  1 , a transmission may be provided on the output side of the engine, and the driving torque output from the drive power source  1  may be increased or decreased by the transmission and transmitted to the driving wheels  2 . Each of the wheels including the driving wheels  2  is provided with a braking device. In addition, at least either the front wheels or the rear wheels are provided with a steering device that steers the vehicle  100 . 
     In the vehicle  100 , the driving force or the acceleration of the vehicle  100  is controlled based on a driver&#39;s acceleration request operation, that is, an operation amount of an accelerator pedal operation (a pressing operation of the accelerator pedal  3  and a returning operation of the accelerator pedal  3 ) by the driver and the vehicle speed. For example, the ECU  4  sets a target acceleration based on the operation amount of the accelerator pedal  3  or the accelerator pedal position and the vehicle speed and controls the output of the drive power source  1  to achieve the target acceleration. 
     The accelerator pedal  3  is used to adjust the driving force of the vehicle  100  and control the acceleration of the vehicle  100  by the driver&#39;s acceleration request operation. Therefore, the accelerator pedal  3  is provided with an accelerator position sensor for detecting the operation amount of the accelerator pedal  3  by the driver as an internal sensor  13  described later. The operation amount of the accelerator pedal  3  or the accelerator pedal position (an accelerator pedal opening degree, a pressing angle of the accelerator pedal  3 , or the like) can be detected by the accelerator position sensor. 
     The ECU  4  is, for example, an electronic control device mainly constituted by a microcomputer and functions as a driving force control device that controls the driving force of the vehicle  100 . The ECU  4  receives various types of data from an external sensor  11 , a GPS reception unit  12 , an internal sensor  13 , a map database  14 , a navigation system  15 , and the like, which will be described later. In addition, the ECU  4  can be configured to receive data from an inter-vehicle communication system. The ECU  4  performs calculation using various input data, data and calculation formulas stored in advance, and the like. At the same time, the ECU  4  is configured to output the calculation result as a control command signal to control the vehicle  100 . 
     For example, the ECU  4  acquires various types of data including the accelerator pedal position detected by the accelerator position sensor. At the same time, the ECU  4  calculates a target acceleration or target driving torque of the vehicle  100  based on the acquired various types of data. Then, the ECU  4  controls, based on the calculated target acceleration or target driving torque, the longitudinal acceleration to be generated in the vehicle  100 . That is, the ECU  4  outputs a control command signal to control the driving force for achieving the target acceleration. 
     Therefore, the ECU  4  sets the target acceleration based on the detected accelerator pedal position and controls the driving force and the braking force of the vehicle  100  to achieve the target acceleration. Specifically, the ECU  4  controls the output of the drive power source  1 . That is, the ECU  4  performs driving force control of the vehicle  100 . Although  FIG.  1    illustrates an example in which one ECU  4  is provided, a plurality of ECUs  4  may be provided for each device or equipment to be controlled or for each control content. For example, the ECU  4  may be used as a main controller that integrally controls the vehicle  100 , and a sub controller that exclusively controls the drive power source  1 , the transmission, and the like in cooperation with the ECU  4  may be separately provided. 
     The vehicle  100  according to the embodiment can perform automated driving in which a driving operation of the vehicle  100  is automatically controlled to travel (traveling in an automated driving mode). The automated driving defined in the present embodiment is automated driving in which the control system of the vehicle  100  performs all driving operations, such as recognition of the travel environment, monitoring of the surrounding situation, start/acceleration, steering, and braking/stopping. For example, the automated driving defined in the present embodiment is high automated driving or full automated driving corresponding to “Level 4” in the automation levels established by National Highway Traffic Safety Administration (NHTSA), or “Level 4” and “Level 5” in the automation levels established by Society of Automotive Engineers (SAE) in the United States. For example, as defined by “Level 4” in the automation levels of the SAE, the vehicle  100  may be configured to be able to select an automated driving mode in which the vehicle travels by automated driving and a manual driving mode in which a driver performs a driving operation. 
       FIG.  2    illustrates a specific example of the ECU  4  that performs the above automated driving.  FIG.  2    is a diagram for explaining details of the control system of the vehicle  100  according to the embodiment. 
     The ECU  4  is configured to receive detection signals and information signals from the external sensor  11 , the GPS reception unit  12 , the internal sensor  13 , the map database  14 , the navigation system  15 , and the like. 
     The external sensor  11  detects the travel environment and the surrounding situation outside the vehicle  100 . As the external sensor  11 , an in-vehicle camera, radio detection and ranging (RADAR), laser imaging detection and ranging (LIDAR), an ultrasonic sensor, and the like are provided, for example. As the external sensor  11 , all of the above sensors may be provided, or at least one of the above sensors may be provided. 
     For example, the in-vehicle camera is installed in front of and on a side of the vehicle  100  and transmits imaging information regarding the external situation of the vehicle  100  to the ECU  4 . The in-vehicle camera may be a monocular camera or a stereo camera. The monocular camera is smaller in size, lower in cost, and easier to attach to the vehicle  100  as compared with the stereo camera. The stereo camera includes a plurality of imaging units arranged to reproduce binocular parallax. With the imaging information of the stereo camera, information in the depth direction of a recognition target can also be obtained. 
     The RADAR detects other vehicles, obstacles, and the like outside the vehicle  100  using radio waves, such as millimeter waves and microwaves, and transmits the detection data to the ECU  4 . For example, the RADAR is configured to detect other vehicles, obstacles, and the like by radiating radio waves to the surroundings of the vehicle  100  and receiving and measuring/analyzing the radio waves reflected by other vehicles, obstacles, and the like. 
     The LIDAR (alternatively, a laser sensor or a laser scanner) detects other vehicles, obstacles, and the like outside the vehicle  100  using laser light and transmits the detection data to the ECU  4 . For example, the LIDAR is configured to detect other vehicles, obstacles, and the like by emitting laser light to the surroundings of the vehicle  100  and receiving and measuring/analyzing the laser light reflected by other vehicles, obstacles, and the like. 
     The ultrasonic sensor detects other vehicles, obstacles, and the like outside the vehicle  100  using ultrasonic waves and transmits the detection data to the ECU  4 . For example, the ultrasonic sensor is configured to detect other vehicles, obstacles, and the like by radiating ultrasonic waves to the surroundings of the vehicle  100  and receiving and measuring/analyzing the ultrasonic waves reflected by other vehicles, obstacles, and the like. 
     The GPS reception unit  12  receives radio waves from a plurality of global positioning system (GPS) satellites to measure the position of the vehicle  100  (for example, the latitude and longitude of the vehicle  100 ) and transmits the position information to the ECU  4 . 
     The internal sensor  13  detects a travel state of the vehicle  100  and an operation state, a behavior, and the like of each unit. The internal sensor  13  includes at least an accelerator position sensor that detects an operation amount of the accelerator pedal  3  or an accelerator pedal position. In addition, the internal sensor  13  mainly includes, for example, a wheel speed sensor that detects a vehicle speed, a rotational speed sensor that detects a rotational speed of an output shaft of the drive power source  1  (a resolver in the case of an electric motor mounted as the drive power source), a throttle opening sensor that detects an opening of a throttle valve, a brake stroke sensor (brake switch) that detects an operation amount (operation state) of a brake pedal, an acceleration sensor that detects the acceleration of the vehicle  100 , a steering angle sensor that detects a steering angle of the steering device, and the like. The internal sensor  13  is electrically connected to the ECU  4  and outputs electric signals corresponding to detection values or calculated values of the various sensors, equipment, and devices as described above to the ECU  4  as detection data. 
     The map database  14  is a database in which map information is accumulated, and is formed in the ECU  4 , for example. Alternatively, data stored in a computer at an external facility, such as an information processing center, capable of communicating with the vehicle  100  can also be used. 
     The navigation system  15  is configured to calculate a traveling route of the vehicle  100  based on the position information of the vehicle  100  measured by the GPS reception unit  12  and the map information of the map database  14 . 
     The detection data and information data from the external sensor  11 , the GPS reception unit  12 , the internal sensor  13 , the map database  14 , the navigation system  15 , and the like as described above are input to the ECU  4 . The ECU  4  is configured to perform calculation using various types of input data, data stored in advance, and the like, and output a control command signal to an actuator  16 , auxiliary equipment  17 , and the like for each unit of the vehicle  100  based on the calculation result. 
     The actuator  16  is an operating device involved in driving operations, such as start/acceleration, steering, and braking/stop of the vehicle  100 , when the vehicle  100  is caused to travel by automated driving and controls the drive power source  1 , the braking device, the steering device, and the like. As the main actuator  16 , a throttle actuator, a brake actuator, a steering actuator, and the like are provided, for example. 
     For example, the throttle actuator is configured to control the opening of a throttle valve of the engine and supply power to the electric motor according to a control signal output from the ECU  4 . The brake actuator is configured to operate the braking device according to a control signal output from the ECU  4  to control the braking force applied to each wheel. The steering actuator is configured to drive an assist motor of the electric power steering device according to a control signal output from the ECU  4  to control the steering torque in the steering device. 
     The auxiliary equipment  17  is equipment or devices that are not included in the actuator  16 , such as a windshield wiper, a headlight, a direction indicator, an air conditioner, and an audio device, and are not directly involved in the driving operation of the vehicle  100 . 
     In addition, the ECU  4  includes, for example, a vehicle position recognition unit  18 , an external situation recognition unit  19 , a travel state recognition unit  20 , a travel plan generation unit  21 , a travel control unit  22 , and an auxiliary equipment control unit  23 , as main control units for causing the vehicle  100  to travel in the automated driving mode. 
     The vehicle position recognition unit  18  is configured to recognize the current position of the vehicle  100  on the map based on the position information of the vehicle  100  received by the GPS reception unit  12  and the map information of the map database  14 . Note that the position of the vehicle  100  used in the navigation system  15  can also be obtained from the navigation system  15 . Alternatively, if the position of the vehicle  100  can be measured by sensors, sign posts, or the like installed outside on or beside the road, the current position can be obtained by communication with such sensors. 
     The external situation recognition unit  19  is configured to recognize the external situation of the vehicle  100  based on, for example, the imaging information of the in-vehicle camera or the detection data of RADAR or LIDAR. As the external situation, the position of a traveling lane, the road width, the road shape, the road gradient, information about an obstacle around the vehicle, and the like are obtained, for example. In addition, as the travel environment, weather information around the vehicle  100 , a friction coefficient of the road surface, and the like may be detected. 
     The travel state recognition unit  20  is configured to recognize the travel state of the vehicle  100  based on various types of detection data of the internal sensor  13 . As the travel state of the vehicle  100 , a vehicle speed, a longitudinal acceleration, a lateral acceleration, a yaw rate, and the like are input, for example. 
     The travel plan generation unit  21  is configured to generate a course of the vehicle  100  based on, for example, a target route calculated by the navigation system  15 , the current position of the vehicle  100  recognized by the vehicle position recognition unit  18 , the external situation recognized by the external situation recognition unit  19 , and the like. The course is a path along which the vehicle  100  travels along the target route. In addition, the travel plan generation unit  21  generates the course in such a manner that the vehicle  100  can properly travel on the target route according to criteria such as safe traveling, traveling in compliance with laws and regulations, and efficient traveling. Then, the travel plan generation unit  21  is configured to generate a travel plan according to the generated course. Specifically, the travel plan is generated along a preset target route based on at least the external situation recognized by the external situation recognition unit  19  and the map information of the map database  14 . 
     The travel plan is a setting of the travel state of the vehicle including a future driving force request of the vehicle  100 , and future data several seconds ahead of the current time is generated, for example. Depending on the external situation or the travel situation of the vehicle  100 , future data several tens of seconds ahead of the current time is generated. The travel plan is output from the travel plan generation unit  21  as data indicating changes in the vehicle speed, acceleration, steering torque, and the like when the vehicle  100  travels on the course along the target route, for example. 
     The travel plan can also be output from the travel plan generation unit  21  as a speed pattern, acceleration pattern, and steering pattern of the vehicle  100 . The speed pattern is, for example, data including a target vehicle speed set in association with time for each target control position set at a predetermined interval on the course. The acceleration pattern is, for example, data including a target acceleration set in association with time for each target control position set at a predetermined interval on the course. The steering pattern is, for example, data including a target steering torque set in association with time for each target control position set at a predetermined interval on the course. 
     The travel control unit  22  is configured to automatically control the traveling of the vehicle  100  based on the travel plan generated by the travel plan generation unit  21 . Specifically, a control signal according to the travel plan is output to the actuator  16 , such as the throttle actuator, the brake actuator, the steering actuator, and the like. In addition, a control signal according to the travel plan as described above may be output to the drive power source  1 . 
     The auxiliary equipment control unit  23  is configured to automatically control the auxiliary equipment  17  based on the travel plan generated by the travel plan generation unit  21 . Specifically, a control signal according to the travel plan is output to the auxiliary equipment  17 , such as the windshield wiper, the headlight, the direction indicator, the air conditioner, the audio device, and the like, as necessary. 
     Note that the control for causing the vehicle  100  to travel in the automated driving mode based on the travel plan as described above is disclosed in, for example, Japanese Laid-open Patent Publication No. 2016-99713 A. The vehicle  100  is configured to be able to travel in the above-described high automated driving or full automated driving by applying the content described in Japanese Laid-open Patent Publication No. 2016-99713 A and other control technologies related to automated driving. 
     The ECU  4  of the vehicle  100  according to the embodiment is configured to reflect the driver&#39;s intention to accelerate or decelerate, to make it difficult for the driver to feel shocks or discomfort, and to appropriately switch the driving mode from the automated driving mode to the manual driving mode. In general, in the manual driving mode, the ECU  4  performs the driving force control based on a manual-driving-mode driving force characteristic specifying an accelerator pedal position (an operation amount of the accelerator pedal  3 ) and a longitudinal acceleration of the vehicle  100  to be generated according to the accelerator pedal position as a target acceleration. 
     For example, when the driver requests acceleration during the automated driving mode, and override is performed, the ECU  4  changes a driving force characteristic from an automated-driving-mode driving force characteristic to an override driving force characteristic based on the vehicle travel state (vehicle speed, traveling resistance (road gradient), and the like) and the driver&#39;s intention (an accelerator pedal position (an operation amount of the accelerator pedal  3 ), movement of the body or eye lines of the driver photographed by the in-vehicle camera or the like included in the internal sensor  13 , and the like). The override driving force characteristic specifies the driving force characteristic during the override based on the travel state of the vehicle  100  and the driver&#39;s intention. Specifically, the override driving force characteristic specifies the longitudinal acceleration of the vehicle  100  to be generated corresponding to the accelerator pedal position as the target acceleration according to the vehicle speed, the accelerator pedal position (the operation amount of the accelerator pedal  3 ), and the traveling resistance to the vehicle  100 . Therefore, during the override, the target acceleration is calculated based on the override driving force characteristic, and the driving force control of the vehicle  100  is performed by the ECU  4  based on the target acceleration calculated from the override driving force characteristic. 
     As described above, by changing the driving force characteristic to the override driving force characteristic when the driver requests acceleration during the automated driving mode and the override is performed, it is possible to quickly achieve the vehicle behavior reflecting the driver&#39;s intention to accelerate even during the automated driving mode. In particular, when the driver intends to accelerate, it is possible to achieve the vehicle behavior reflecting the driver&#39;s intention by arbitrating the automated-driving-mode driving force characteristic in such a manner as not to give a sense of stalling. As a result, it is possible to smoothly start the override. 
     In the present embodiment, the override driving force characteristic is changed to the manual-driving-mode driving force characteristic based on information about the vehicle speed, the accelerator pedal position, the relation with the manual-driving-mode driving force characteristic, and the like. Accordingly, it is possible to switch from the override driving force characteristic to the manual-driving-mode driving force characteristic without giving the driver a sense of discomfort. 
     On the other hand, when the automated driving mode is released during the override, the override driving force characteristic is not changed to the manual-driving-mode driving force characteristic. Accordingly, it is possible to switch the driving mode to the manual driving mode without giving the driver a sense of acceleration or stalling even if the automated driving mode is released during the override. 
       FIG.  3    is a flowchart for explaining an example of control performed by the ECU  4  of the vehicle  100  according to the embodiment. The control illustrated in the flowchart in  FIG.  3    is repeatedly performed every several ms when the vehicle  100  travels in the automated driving mode. 
     First, the ECU  4  determines whether the driving force characteristic is the override driving force characteristic (step S 1 ). When determining that the driving force characteristic is the override driving force characteristic (Yes in step S 1 ), the ECU  4  determines whether a condition for changing to the manual-driving-mode driving force characteristic is satisfied (step S 2 ). When determining that the condition for changing to the manual-driving-mode driving force characteristic is satisfied (Yes in step S 2 ), the ECU  4  changes the driving force characteristic to the manual-driving-mode driving force characteristic (step S 3 ). Thereafter, the ECU  4  returns to a series of control. 
     When determining in step S 2  that the condition for changing to the manual-driving-mode driving force characteristic is not satisfied (No in step S 2 ), the ECU  4  returns to a series of control without changing the driving force characteristic. 
     When determining in step S 1  that the driving force characteristic is not the override driving force characteristic (No in step S 1 ), the ECU  4  determines whether the vehicle  100  is in the automated driving mode (step S 4 ). When determining that the vehicle  100  is in the automated driving mode (Yes in step S 4 ), the ECU  4  determines whether a condition for changing to the override driving force characteristic is satisfied (step S 5 ). When determining that the condition for changing to the override driving force characteristic is satisfied (Yes in step S 5 ), the ECU  4  changes the driving force characteristic to the override driving force characteristic (step S 6 ). Thereafter, the ECU  4  returns to a series of control. 
     When determining in step S 4  that the vehicle  100  is not in the automated driving mode (No in step S 4 ), the ECU  4  controls the vehicle  100  to travel in the normal manual driving mode and returns to a series of control. 
     When determining in step S 5  that the condition for changing to the override driving force characteristic is not satisfied (No in step S 5 ), the ECU  4  does not change the driving force characteristic, controls the vehicle  100  to travel in the normal automated driving mode, and returns to a series of control. 
     Here, in the present embodiment, the procedure of the processing performed by the ECU  4  in the flowchart in  FIG.  3    from “start” to “return” in the order of step S 1  (No in step S 1 ), step S 4  (Yes in step S 4 ), step S 5  (Yes in step S 5 ), and step S 6  is defined as Flow  1 . In addition, the procedure of the processing performed by the ECU  4  in the flowchart in  FIG.  3    from “start” to “return” in the order of step S 1  (Yes in step S 1 ), step S 2  (Yes in step S 2 ), and step S 3  is defined as Flow  2 . In addition, the procedure of the processing performed by the ECU  4  from “start” to “return” in the order of step S 1  (Yes in step S 1 ) and step S 2  (No in step S 2 ) is defined as Flow  3 . 
     In the present embodiment, in the flowchart in  FIG.  3   , when Flow  1  is established and the driving force characteristic is changed to the override driving force characteristic, and then the automated driving mode is released while the driving force characteristic remains the changed override driving force characteristic, the condition for change to the manual-driving-mode driving force characteristic is set in such a manner that Flow  3  in which the override driving force characteristic is continued is established instead of Flow  2  in which a sense of stalling due to the decrease in the driving force occurs. The change condition may be a condition that the override driving force characteristic is continued although the automated driving mode is released. For example, the driving force characteristic is changed to the manual-driving-mode driving force characteristic only when the accelerator pedal position is at or near the fully closed position or when the difference between the driving force based on the override driving force characteristic and the driving force based on the manual-driving-mode driving force characteristic (a driving force difference) becomes a predetermined value or less. 
       FIG.  4    is a diagram illustrating a relation between an accelerator pedal position and a longitudinal acceleration in the override driving force characteristic and the manual-driving-mode driving force characteristic in the present embodiment. In  FIG.  4   , the accelerator pedal position being 0 is the fully closed position (the accelerator opening degree is fully closed), and the accelerator pedal position being 100 is the fully opened position (the accelerator opening degree is fully opened).  FIG.  5    is an image of time-series behavior in the present embodiment. 
     As illustrated in  FIGS.  4  and  5   , when the driving force characteristic is changed to the override driving force characteristic by the establishment of Flow  1  and then the automated driving mode is released without being changed to the manual-driving-mode driving force characteristic, the ECU  4  of the vehicle  100  according to the embodiment calculates the driving force based on the override driving force characteristic. 
     That is, when the driving force is switched to the manual driving mode during the automated driving mode in which the driving force is controlled based on the override driving force characteristic, the ECU  4  continues the control of the driving force based on the override driving force characteristic for a predetermined period after the switching to the manual driving mode. Accordingly, when the driving mode is switched to the manual driving mode during the automated driving mode in which the driving force is controlled based on the override driving force characteristic (during the override), it is possible to control the occurrence of a sense of stalling due to a sudden change in the driving force. 
     Note that, the predetermined period is a period until the accelerator pedal position is at or near the fully closed position during the manual driving mode or a period until the difference between the driving force based on the override driving force characteristic and the driving force based on the manual-driving-mode driving force characteristic (driving force difference) becomes a predetermined value or less. Accordingly, it is possible to control a sudden change in the driving force by switching the driving force characteristic when the driving force is not generated or when the driving force fluctuation is small. 
     A driving force control device according to the present disclosure has an effect of controlling the occurrence of a sense of stalling due to a sudden change in the driving force when the driving mode is switched to a manual driving mode during an automated driving mode in which the driving force is controlled based on an override driving force characteristic. 
     According to an embodiment, it is possible to control the occurrence of a sense of stalling due to a sudden change in the driving force when the driving mode is switched to the manual driving mode during the automated driving mode in which the driving force is controlled based on the override driving force characteristic. 
     According to an embodiment, it is possible to control a sudden change in the driving force by switching the driving force characteristic when the driving force is not generated or when the driving force fluctuation is small. 
     Although the disclosure has been described with respect to specific embodiments for a complete and clear disclosure, the appended claims are not to be thus limited but are to be construed as embodying all modifications and alternative constructions that may occur to one skilled in the art that fairly fall within the basic teaching herein set forth.