Patent ID: 11897465
Assignee: SUBARU CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B  Y | IPC B

Claim 14:
15. A vehicle control device comprising:
circuitry configured to
control operation of a driving motor that is to output a driving force for a vehicle to travel at a target vehicle speed, and
execute a normal mode and a cruise control mode that are switchable, the normal mode being a mode in which acceleration and deceleration of the vehicle are controlled in accordance with an acceleration-and-deceleration operation by a driver, the cruise control mode being a mode in which a vehicle speed of the vehicle is maintained at the target vehicle speed by controlling torque of the driving motor without being dependent on the acceleration-and-deceleration operation by the driver,

wherein, during the cruise control mode, the circuitry configured to
calculate a torque command value for the driving motor by using integral control based on an integral value of a deviation between the vehicle speed and the target vehicle speed, and
execute an integrated-value adjustment process when the circuitry determines that the vehicle has entered either one of a flat road and an uphill road from a downhill road or that the vehicle has entered a downhill road from either one of a flat road and an uphill road during the cruise control mode, the integrated-value adjustment process comprising adjusting the integral value of the deviation to reduce an absolute value of the integral value of the deviation in the integral control, the torque command value controls the torque of the driving motor,
wherein the circuitry is configured to reset the integral value to a predetermined value of the deviation in the integrated-value adjustment process when the circuitry has determined that the vehicle has entered either one of the flat road and the uphill road from the downhill road or that the vehicle has entered the downhill road from either one of the flat road and the uphill road.