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

Claim 18:
19. A program for a vehicle control device stored in a non-transitory computer readable medium and executable by a processor, the computer program comprising:
controlling operation of a driving motor that is to output a driving force for a vehicle to travel at a target vehicle speed;
executing 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; and
during the cruise control mode, calculating 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 executing an integrated-value adjustment process when the controller 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, 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 integral value is reset to a predetermined value of the deviation in the integrated-value adjustment process when the controller 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.