Vehicle controller and vehicle control method
A travel controller executes a first correction process on a request value when the vehicle is traveling on an uphill road, and executes a second correction process on the request value when the vehicle is traveling on a downhill road. The first correction process corrects the request value such that the traveling speed is higher than that in a case in which the first correction process is not executed. The second correction process corrects the request value such that the traveling speed is lower than that in a case in which the second correction process is not executed. If hard braking of the vehicle is requested during execution of the first correction process, the travel controller sets a correction amount of the request value to a lower value than that in a case in which hard braking of the vehicle is not requested.
1. A vehicle controller that automatically controls a traveling speed of a vehicle based on a request value provided by a driver assistance device, wherein
the vehicle controller comprises a correction unit,
when the vehicle is traveling on an uphill road, the correction unit executes a first correction process on the request value, the first correction process being a process that corrects the request value such that the traveling speed is higher than that in a case in which the first correction process is not executed,
when the vehicle is traveling on a downhill road, the correction unit executes a second correction process on the request value, the second correction process being a process that corrects the request value such that the traveling speed is lower than that in a case in which the second correction process is not executed,
if hard braking of the vehicle is requested by the driver assistance device when the vehicle is traveling on the uphill road and the first correction process is being executed, the correction unit sets a correction amount of the request value in the first correction process to a lower value than that in a case in which hard braking of the vehicle is not requested, thereby increasing a force that decelerates the vehicle, and
if hard braking of the vehicle is requested by the driver assistance device when the vehicle is traveling on the downhill road and the second correction process is being executed, the correction unit refrains from making a correction amount of the request value in the second correction process lower than that in a case in which hard braking of the vehicle is not requested.
2. The vehicle controller according to claim 1 , further comprising a slope resistance calculating unit that calculates a slope resistance that corresponds to a gradient of a road surface on which the vehicle is traveling, wherein
the correction unit includes a feedforward correction unit,
the feedforward correction unit calculates a feedforward correction amount that corresponds to the slope resistance, and executes the first correction process and the second correction process using the feedforward correction amount, and
if hard braking of the vehicle is requested by the driver assistance device when the first correction process is being executed, the feedforward correction unit sets a correction amount of the request value based on the feedforward correction amount in the first correction process to a lower value than that in a case in which hard braking of the vehicle is not requested.
3. The vehicle controller according to claim 2 , wherein
the slope resistance calculating unit calculates the slope resistance based on a relational expression between a longitudinal force acting on the vehicle and an actual acceleration of the vehicle, and
the longitudinal force includes a driving force that accelerates the vehicle, a braking force that decelerates the vehicle, and the slope resistance.
4. The vehicle controller according to claim 3 , wherein the longitudinal force further includes at least one of an air resistance that acts on the vehicle and a rolling resistance of a wheel of the vehicle.