# US 11,897,465 B2 · Vehicle control device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,897,465 B2 - Document ID: US11897465B2 - Status: Granted - Kind: B2 - Application number: 17/081,792 - Filed: 2020-10-27 - Published: 2021-08-12 - Granted: 2024-02-13 - Earliest claimed: 2020-02-12 - Assignees: Subaru Corporation - Applicants: Subaru Corporation - Inventors: Shoto Arai - Web page: https://patentgrep.com/patent/US11897465B2 ## CPC - B60W 30/143: {Speed control (B60W30/16 takes precedence)} - B60K 1/00: Arrangement or mounting of electrical propulsion units (B60K7/00 takes precedence; arrangement or mounting of plural diverse prime-movers for mutual or common propulsion B60K6/00) - B60K 1/04: of the electric storage means for propulsion - B60K 17/354: having separate mechanical assemblies for transmitting drive to the front or to the rear wheels or set of wheels - B60K 17/356: having fluid or electric motor, for driving one or more wheels - B60K 2001/001: {one motor mounted on a propulsion axle for rotating right and left wheels of this axle} - B60W 2050/0011: {Proportional Integral Differential [PID] controller} - B60W 2050/0012: {Feedforward or open loop systems} - B60W 2050/0088: {Adaptive recalibration} - B60W 2520/10: Longitudinal speed - B60W 2552/15: Road slope, i.e. the inclination of a road segment in the longitudinal direction - B60W 2710/083: Torque - B60W 2720/10: Longitudinal speed - B60Y 2400/61: Arrangements of controllers for electric machines, e.g. inverters - Y02T 10/72: Electric energy management in electromobility - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES - B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract A vehicle control device includes a controller configured to control operation of a driving motor that is to output a driving force for a vehicle. The controller is switchable between a normal mode of controlling acceleration/deceleration based on a driver's acceleration/deceleration operation, and a cruise control mode of maintaining the vehicle speed at a target speed without the acceleration/deceleration operation. The controller is configured to, during the cruise control mode, calculate a torque command value for the motor by using integral control based on an integrated value of a deviation between the vehicle speed and the target speed, and execute an integrated-value adjustment process if the controller determines that the vehicle entered a flat road or an uphill road from a downhill road or a downhill road from a flat road or an uphill road. The process adjusts the integrated value to reduce an absolute value of the integrated value. ## Claims ### Claim 1 A vehicle control device comprising: a controller 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, wherein the controller is capable of 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 wherein the controller is configured to, during the cruise control mode, calculate a torque command value for the driving motor for the vehicle to travel 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 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 controller is configured to reset the integral value 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. ### Claim 2 (depends on 1) The vehicle control device according to claim 1, wherein the controller is configured to determine that the vehicle has entered either one of a flat road and an uphill road from a downhill road when the vehicle speed falls below a first reference vehicle speed that is lower than the target vehicle speed during the cruise control mode. ### Claim 3 (depends on 1) The vehicle control device according to claim 1, wherein, the controller is configured to execute the 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 during the cruise control mode and torque of a component of the integral control in the torque command value acts in a reverse direction of the vehicle. ### Claim 4 (depends on 2) The vehicle control device according to claim 2, wherein, the controller is configured to execute the 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 during the cruise control mode and torque of a component of the integral control in the torque command value acts in a reverse direction of the vehicle. ### Claim 5 (depends on 1) The vehicle control device according to claim 1, wherein the controller is configured to determine that the vehicle has entered a downhill road from either one of a flat road and an uphill road when the vehicle speed exceeds a second reference vehicle speed that is higher than the target vehicle speed during the cruise control mode. ### Claim 6 (depends on 2) The vehicle control device according to claim 2, wherein the controller is configured to determine that the vehicle has entered a downhill road from either one of a flat road and an uphill road when the vehicle speed exceeds a second reference vehicle speed that is higher than the target vehicle speed during the cruise control mode. ### Claim 7 (depends on 1) The vehicle control device according to claim 1, wherein, the controller is configured to execute the integrated-value adjustment process when the controller determines that the vehicle has entered a downhill road from either one of a flat road and an uphill road during the cruise control mode and torque of a component of the integral control in the torque command value acts in an advancing direction of the vehicle. ### Claim 8 (depends on 2) The vehicle control device according to claim 2, wherein, the controller is configured to execute the integrated-value adjustment process when the controller determines that the vehicle has entered a downhill road from either one of a flat road and an uphill road during the cruise control mode and torque of a component of the integral control in the torque command value acts in an advancing direction of the vehicle. ### Claim 9 (depends on 1) The vehicle control device according to claim 1, wherein the controller is configured to reset the integral value of the deviation in the integrated-value adjustment process to a zero value or a substantially zero value. ### Claim 10 (depends on 2) The vehicle control device according to claim 2, wherein the controller is configured to reset the integral value of the deviation in the integrated-value adjustment process to a zero value or a substantially zero value. ### Claim 11 (depends on 1) The vehicle control device according to claim 1, wherein the controller is configured to limit an adjustment amount for the integral value of the deviation to an upper limit value or smaller in the integrated-value adjustment process. ### Claim 12 (depends on 2) The vehicle control device according to claim 2, wherein the controller is configured to limit an adjustment amount for the integral value of the deviation to an upper limit value or smaller in the integrated-value adjustment process. ### Claim 13 (depends on 1) The vehicle control device according to claim 1, wherein the cruise control mode comprises a high-speed cruise control mode and a low-speed cruise control mode that are switchable and executable by the controller, the low-speed cruise control mode being a mode in which a target vehicle speed used is lower than a target vehicle speed in the high-speed cruise control mode, and wherein the controller is configured to execute the 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 during the low-speed cruise control mode. ### Claim 14 (depends on 2) The vehicle control device according to claim 2, wherein the cruise control mode comprises a high-speed cruise control mode and a low-speed cruise control mode that are switchable and executable by the controller, the low-speed cruise control mode being a mode in which a target vehicle speed used is lower than a target vehicle speed in the high-speed cruise control mode, and wherein the controller is configured to execute the 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 during the low-speed cruise control mode. ### Claim 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. ### Claim 16 (depends on 15) The vehicle control device according to claim 15, wherein the circuitry is configured to determine that the vehicle has entered either one of a flat road and an uphill road from a downhill road when the vehicle speed falls below a first reference vehicle speed that is lower than the target vehicle speed during the cruise control mode, and wherein the predetermined value is zero or substantially zero. ### Claim 17 (depends on 15) The vehicle control device according to claim 15, wherein, the circuitry is configured to execute the 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 during the cruise control mode and torque of a component of the integral control in the torque command value acts in a reverse direction of the vehicle. ### Claim 18 (depends on 15) The vehicle control device according to claim 15, wherein the circuitry is configured to determine that the vehicle has entered a downhill road from either one of a flat road and an uphill road when the vehicle speed exceeds a second reference vehicle speed that is higher than the target vehicle speed during the cruise control mode. ### Claim 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. ### Claim 20 (depends on 19) The program according to claim 19, further comprising determining that the vehicle has entered either one of a flat road and an uphill road from a downhill road when the vehicle speed falls below a first reference vehicle speed that is lower than the target vehicle speed during the cruise control mode, and wherein the predetermined value is zero or substantially zero.