Vehicle controller, vehicle, vehicle control method, and computer-readable non-transitory storage medium

1 . A vehicle controller comprising one or more processors that execute computer-executable instructions stored in memory,

wherein the one or more processors execute the computer-executable instructions to cause the vehicle controller to:

set a target driving torque for a drive source that drives a drive wheel provided to a vehicle;

acquire an output driving torque of the drive source;

control the drive source in accordance with the target driving torque;

calculate a temporal integral of the output driving torque after the output driving torque switches between positive and negative, or calculate a temporal integral of the target driving torque after a required driving torque for the drive source switches between positive and negative;

determine whether the temporal integral calculated has reached a predetermined value;

execute, when the output driving torque or the required driving torque switches between positive and negative, a torque limiting process that limits an absolute value of the target driving torque to be equal to or less than a predetermined limit value; and

terminate the torque limiting process based on a determination that the temporal integral has reached the predetermined value.

2 . The vehicle controller according to claim 1 , wherein

the one or more processors execute the computer-executable instructions to cause the vehicle controller to reset the temporal integral of the output driving torque when the output driving torque or the required driving torque that has turned from positive to negative turns to positive again or when the output driving torque or the required driving torque that has turned from negative to positive turns to negative again.

3 . A vehicle comprising the vehicle controller according to claim 1 .

4 . A vehicle control method comprising:

a target driving torque setting step of setting a target driving torque of a drive source that drives a drive wheel provided to a vehicle;

an output driving torque acquisition step of acquiring an output driving torque of the drive source;

a control step of controlling the drive source in accordance with the target driving torque;

a calculation step of calculating a temporal integral of the output driving torque after the output driving torque switches between positive and negative, or calculating a temporal integral of the target driving torque after a required driving torque for the drive source switches between positive and negative; and

a determination step of determining whether the temporal integral calculated in the calculation step has reached a predetermined value,

wherein

when the output driving torque or the required driving torque switches between positive and negative, in the target driving torque setting step, a torque limiting process is performed for limiting an absolute value of the target driving torque to be equal to or less than a predetermined limit value, and

the torque limiting process is terminated in the target driving torque setting step based on a determination in the determining step that the temporal integral has reached the predetermined value.

5 . The vehicle control method according to claim 4 ,

further comprising a reset step of resetting the temporal integral of the output driving torque when the output driving torque or the required driving torque that has turned from positive to negative turns to positive again, or when the output driving torque or the required driving torque that has turned from negative to positive turns to negative again.

6 . A computer-readable non-transitory storage medium storing a program for causing a computer to execute the vehicle control method according to claim 4 .