Patent ID: 11904687
Assignee: SUBARU CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 4:
5. A vehicle control apparatus to be applied to a vehicle, the vehicle control apparatus being configured to control a driving motor of the vehicle coupled to at least one wheel of the vehicle, the vehicle control apparatus comprising:
circuitry configured to
control the driving motor upon executing a constant speed driving mode of maintaining a driving speed of the vehicle constant in a very low speed range,
calculate a first vehicle speed based on a rotation angle of the driving motor, the first vehicle speed being the driving speed of the vehicle, and
set, as the driving speed of the vehicle used in the constant speed driving mode, a second vehicle speed based on the first vehicle speed and a brake operation amount,

wherein the circuitry is configured to
set zero as the second vehicle speed in a case where the brake operation amount exceeds a brake operation threshold and the first vehicle speed falls below a vehicle speed threshold during execution of the constant speed driving mode, and
set the first vehicle speed as the second vehicle speed in a case where the brake operation amount is less than or equal to the brake operation threshold or the first vehicle speed is greater than or equal to the vehicle speed threshold during execution of the constant speed driving mode.