Vehicle controller and vehicle control method

A vehicle controller that controls a traveling speed of a vehicle based on request values related to a longitudinal acceleration of the vehicle when receiving the request values from a driver assistance device, wherein

• the vehicle controller is configured to receive, as the request values, a request value that defines an upper limit of the longitudinal acceleration and a request value that defines a lower limit of the longitudinal acceleration from the driver assistance device, and
• the vehicle controller comprises:
• a setting unit that,
• when obtaining the request value that defines the upper limit of the longitudinal acceleration, the setting unit sets an upper limit request value to a value that corresponds to the obtained request value,
• when obtaining the request value that defines the lower limit of the longitudinal acceleration, the setting unit sets a lower limit request value to a value that corresponds to the obtained request value, and
• when a driver of the vehicle is requesting acceleration of the vehicle through an operation of the vehicle, the setting unit sets an acceleration request value to a request value related to the longitudinal acceleration that corresponds to an amount of the operation of the vehicle;
• a first arbiter unit that sets a first arbitration request value to a greater one of the lower limit request value and the acceleration request value;
• a second arbiter unit that sets a second arbitration request value to a smaller one of the first arbitration request value and the upper limit request value;
• and
• a commanding unit that sets, to a value that corresponds to the second arbitration request value, a command value sent to an actuator that operates to adjust the traveling speed.