US 12,459,506 B2
Vehicle control device for managing driving force during resumption of constant-speed control from override
Shoto Arai, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Feb. 17, 2022, as Appl. No. 17/674,544.
Claims priority of application No. 2021-027855 (JP), filed on Feb. 24, 2021.
Prior Publication US 2022/0266828 A1, Aug. 25, 2022
Int. Cl. B60W 30/14 (2006.01)
CPC B60W 30/143 (2013.01) [B60W 2520/10 (2013.01); B60W 2540/10 (2013.01); B60W 2552/15 (2020.02)] 18 Claims
OG exemplary drawing
 
1. A vehicle control device to be applied to a vehicle, wherein the vehicle has a normal mode in which a driving force of the vehicle is controlled in accordance with a driver of the vehicle pressing and releasing an accelerator pedal, and a constant-speed control mode in which the driving force is controlled to maintain a speed of the vehicle at a target speed without requiring the driver to press and release the accelerator pedal, the vehicle control device comprising:
at least one processor; and
at least one memory storing a program, when executed, causing the at least one processor to be configured to:
perform constant-speed control in the constant-speed control mode to adjust the driving force of the vehicle to match a target driving force, wherein the target driving force includes a component of integral control, and wherein the at least one processor is configured to calculate the component of the integral control by integrating a deviation between a speed of the vehicle and the target speed of the vehicle;
in response to detecting that the driver has pressed an accelerator pedal to require the driving force to exceed the target driving force during the constant-speed control in the constant-speed control mode, allow an override of the constant-speed control and enable the driver to control the driving force manually using the accelerator pedal;
in response to determining that the override has been ended, determine whether the vehicle has failed to drive over a step when the speed of the vehicle remains lower than or equal to a threshold for a predetermined time period while the driving force is greater than zero;
in response to determining that the vehicle has not failed to drive over the step, set the component of the integral control in the target driving force to zero, and resume the constant-speed control based on the target driving force after the component of the integral control has been set to zero; and
in response to determining that the vehicle has failed to drive over the step, set the component of the integral control in the target driving force to a value corresponding to the driving force required by the driver pressing the accelerator pedal during the override, and resume the constant-speed control based on the target driving force including the component of the integral control that has been set.