Eco-cruise: fuel-economy optimized cruise control

A method to control a vehicle, comprising:

• receiving, by a controller of the vehicle, a set speed, a maximum allowed speed, and a minimum allowed speed, wherein the maximum allowed speed and the minimum allowed speed define an allowed speed range;
• commanding, by the controller, a propulsion system to produce a commanded axle torque to maintain the set speed;
• monitoring a current vehicle speed of the vehicle;
• determining, by the controller, whether the current vehicle speed is between a first speed value and a second speed value, wherein the first speed value is the minimum allowed speed plus a first predetermined value, and the second speed value is the maximum allowed speed minus a second predetermined value;
• and
• in response to determining that the current vehicle speed is not between the first speed value and the second speed value, commanding, by the controller, the propulsion system to adjust the commanded axle torque in order to maintain the current vehicle speed within the allowed speed range;
• wherein commanding, by the controller, the propulsion system to adjust the commanded axle torque includes:
• determining whether the current vehicle speed is less than the first speed value;
• and
• in response to determining that the current vehicle speed is less than the first speed value, commanding the propulsion system to continuously increase the commanded axle torque until the vehicle reaches a third speed value, wherein the third speed value is equal to the minimum allowed speed plus a third predetermined value, and the third predetermined value is greater than the first predetermined value.