JPS6050033A - Controlling device for speed of vehicle - Google Patents
Controlling device for speed of vehicleInfo
- Publication number
- JPS6050033A JPS6050033A JP15827183A JP15827183A JPS6050033A JP S6050033 A JPS6050033 A JP S6050033A JP 15827183 A JP15827183 A JP 15827183A JP 15827183 A JP15827183 A JP 15827183A JP S6050033 A JPS6050033 A JP S6050033A
- Authority
- JP
- Japan
- Prior art keywords
- speed
- limit
- control
- increase
- actual
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/06—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including fluid pressure actuated servomechanism in which the vehicle velocity affecting element is actuated by fluid pressure
- B60K31/10—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including fluid pressure actuated servomechanism in which the vehicle velocity affecting element is actuated by fluid pressure and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of a pressure which is fed into the controlling means
- B60K31/102—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including fluid pressure actuated servomechanism in which the vehicle velocity affecting element is actuated by fluid pressure and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of a pressure which is fed into the controlling means where at least one electrical quantity is set by the vehicle operator
- B60K31/105—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including fluid pressure actuated servomechanism in which the vehicle velocity affecting element is actuated by fluid pressure and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of a pressure which is fed into the controlling means where at least one electrical quantity is set by the vehicle operator in a memory, e.g. a capacitor
- B60K31/107—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including fluid pressure actuated servomechanism in which the vehicle velocity affecting element is actuated by fluid pressure and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of a pressure which is fed into the controlling means where at least one electrical quantity is set by the vehicle operator in a memory, e.g. a capacitor the memory being digital
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Controls For Constant Speed Travelling (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Control Of Velocity Or Acceleration (AREA)
Abstract
Description
【発明の詳細な説明】
［産業上の利用分野］
本発明は、実際の車両速度と目標速度とに関連して速度
調節要素を駆動する車両用速度制御装置で、しかも増速
指令を受ける手段に発生した増速信号が発生している間
、前記速度調節要素を増速側に駆動する増速制御手段を
含むものに関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a speed control device for a vehicle that drives a speed adjustment element in relation to an actual vehicle speed and a target speed, and further includes means for receiving a speed increase command. The present invention relates to a device including speed increase control means for driving the speed adjustment element to the speed increase side while the speed increase signal generated in the above is generated.
［背景］
上記のように増速制御を可能にした車両用速度制御装置
は例えば特公昭５１−３０２３４号公報により公知であ
る。この公知の装置においては、増速の結果としての実
際速度を目標速度として再設定するように構成されるた
め、実際速度をどこまで増速させるかについて制限がな
く車両速度が過度になる問題がある。一般に、車両速度
を目標速度に維持するように速度調節要素を駆動する制
御装置においては、目標速度がある限界速度を越えて設
定されないように制限する手段を設けることも行われる
。こうした制限手段を上記の公知技術と併用することに
ついて検討すると、増速指令中において実際速度が目標
速度を越えないように制限することが考えられる。この
場合、実際速度が限界速度に達した時点で増速を停止す
るようにすると、実際速度がオーバーシュートし運転フ
ィーリングが悪化することとなる。[Background] A vehicle speed control device that enables speed increase control as described above is known, for example, from Japanese Patent Publication No. 51-30234. In this known device, since the actual speed as a result of speed increase is reset as the target speed, there is a problem in that the vehicle speed becomes excessive because there is no limit to how much the actual speed can be increased. . Generally, in a control device that drives a speed adjusting element to maintain a vehicle speed at a target speed, a means for restricting the target speed from exceeding a certain limit speed is also provided. When considering the use of such a limiting means in combination with the above-mentioned known technology, it is possible to limit the actual speed so that it does not exceed the target speed during a speed increase command. In this case, if the speed increase is stopped when the actual speed reaches the limit speed, the actual speed will overshoot and the driving feeling will deteriorate.
［目的］
本発明は、増速指令によって実際速度が限界速度を越え
ないようにすることと、その際にオーバーシュートしな
いようにすることとを可能にした車両用速度制御装置を
提供することを目的とするものである。[Objective] The present invention aims to provide a speed control device for a vehicle that makes it possible to prevent the actual speed from exceeding a limit speed by a speed increase command, and to prevent overshoot at that time. This is the purpose.
［構成］
このため本発明は、冒頭に述べた制御装置において、増
速制御手段を、限界速度に関連するデータが設定される
設定手段と、この前記増速信号に応答して実際の車両速
度と上記設定手段に設定されたデータとに関連して増速
制御量を決定する制御量決定手段とを含む構成としたこ
とを特徴とする。[Structure] Therefore, in the control device described at the beginning, the present invention includes a speed increase control means, a setting means for setting data related to the limit speed, and a setting means for setting data related to the speed limit, and a setting means for setting data related to the speed limit, and a setting means for setting data related to the speed limit, and a setting means for setting data related to the speed limit, and a setting means for setting data related to the speed limit. and a control amount determining means for determining the speed increase control amount in relation to the data set in the setting means.
［効果］
本発明によれば、増速指令のもとで、実際速度が限界速
度に接近するに従って増速制御量が減少するので、実際
速度が限界速度を越えて過度に上昇することが防止され
、しかもオーバーシュートを生じることがない。[Effect] According to the present invention, under the speed increase command, the speed increase control amount decreases as the actual speed approaches the limit speed, thereby preventing the actual speed from increasing excessively beyond the limit speed. Moreover, no overshoot occurs.
［実施例］
以下、本発明を２つの実施例−増速制御量の決定の仕方
が異なる−につぃて説明する。いずれの実施例も、限界
速度の設定手段は、予め設定された固定の限界速度が設
定されているものであるが、その限界速度を例えば手動
で、あるいは無線などの外部からの指令信号により可変
としてもよい。[Embodiments] The present invention will be described below with reference to two embodiments in which the speed increase control amount is determined differently. In any of the embodiments, the limit speed setting means has a fixed limit speed set in advance, but the limit speed can be varied manually or by an external command signal such as wireless. You can also use it as
第１図において・バキューム式の速度調節要素１が車両
原動機である内燃機関の気化器スロットル弁２と公知の
方法で結合されている。速度間節要素１はいずれも電磁
作動型であるリリーフ弁３とコントロール弁４とを備え
ている。コントロール弁４は制御信号ｓ２に応答する電
磁作動型に構成されており、大気と吸気管内負圧とを交
互に断続することにより圧力室内の空気圧を調整し、ス
ロットル弁２を変位させる。リリーフ弁３は通常開放さ
れており、圧力室内を大気に開放するが、電気信号によ
り付勢されると閉成し、コントロール弁４による圧力室
内の空気圧の調整を可能にする。In FIG. 1, a vacuum speed regulating element 1 is connected in a known manner to a carburetor throttle valve 2 of an internal combustion engine as a vehicle prime mover. The speed adjustment element 1 includes a relief valve 3 and a control valve 4, both of which are electromagnetically operated. The control valve 4 is configured to be an electromagnetically actuated type that responds to the control signal s2, and adjusts the air pressure in the pressure chamber by alternately connecting the atmosphere and the negative pressure in the intake pipe, thereby displacing the throttle valve 2. The relief valve 3 is normally open, opening the pressure chamber to the atmosphere, but closes when energized by an electrical signal, allowing the control valve 4 to adjust the air pressure within the pressure chamber.
制御回路５は、増進指令スイッチ６およびキャンセル指
令スイッチ７の操作により発生ずる指令信号Ｓ３、Ｓ４
によりｉｌＪ御モードが決定されリリーフ弁３への制御
信号Ｓ１の付勢、消勢を決定するとともに、車両の実際
の速度に応じたパルス列信号を発生する車速センサ８か
らの信号に作成される実際速度データおよび目標速度デ
ータと、内部に予め設定された限界速度データとに基づ
いてコントロール弁４への制御信号Ｓ２の付勢、消勢の
断続比を変化させる。増速指令スイッチ６が操作された
場合、その断続比が増速側に変化されて車両速度を増加
させ、増速指令スイッチ６の操作が停止されるとそのと
きの実際速度が目標速度として制御回路５に設定される
。従って、増速指令スイッチ６をワンタッチ１柴作する
ならば、実質的には増進は行われずそのときの実際速度
が目標速度として設定される。しかし、こうした増速指
令スイッチ６とは別に公知であるセットスイッチを設け
ることは自由である。The control circuit 5 receives command signals S3 and S4 generated by operating the increase command switch 6 and the cancel command switch 7.
The ilJ control mode is determined and the control signal S1 to the relief valve 3 is determined to be energized or deenergized. The intermittent ratio of energization and deenergization of the control signal S2 to the control valve 4 is changed based on the speed data, target speed data, and internally preset limit speed data. When the speed increase command switch 6 is operated, the intermittent ratio is changed to the speed increase side to increase the vehicle speed, and when the speed increase command switch 6 is stopped, the actual speed at that time is controlled as the target speed. It is set to circuit 5. Therefore, if the speed increase command switch 6 is pressed one-touch, the actual speed at that time is set as the target speed without actually increasing the speed. However, a known set switch may be provided separately from the speed increase command switch 6.
制御回路５はマイクロコンピュータと入出力装置を結合
するために普通に使用される周辺回路とを用いて構成さ
れており、マイクロコンピュータの動作を規定する制御
プログラムの概要が第２図に示される。マイクロコンピ
ュータには制御プログラムおよび制御定数を記憶したＲ
ＯＭが含まれており、ＲＯＭには予め限界速度を設定し
た記憶番地５Ａも有している。次ぎに第２図を参照して
この装置の作動を説明する。The control circuit 5 is constructed using a microcomputer and peripheral circuits commonly used to connect input/output devices, and an outline of the control program that defines the operation of the microcomputer is shown in FIG. The microcomputer stores control programs and control constants.
OM is included, and the ROM also has a memory address 5A in which a limit speed is set in advance. Next, the operation of this device will be explained with reference to FIG.
いま、図示しない主スィッチの投入により、装置に給電
が開始されると、コンピュータ５は制御プログラムの実
行を開始し、ステップ１１でイニシャライズ処理を行い
、ステップ１２から循環処理ルーチンの処理を開始する
。Now, when power is started to be supplied to the device by turning on a main switch (not shown), the computer 5 starts executing the control program, performs initialization processing in step 11, and starts processing the circulation processing routine from step 12.
ステップ１１において、速度制御が行われているかどう
かを判別する。この判別は図示しないタイマ割り込みプ
ログラムにより、周期的にチェックされたスイッチ６．
７の操作状態によりセット−リセットされるフラグを参
照し−Ｃ行われる。なお、割り込みプログラムにおいて
は、スイッチ６に操作信号が発生するとフラグをセット
し、スイソチ７に操作信号が発生するフラジ゛を１ノセ
・ノ１するものとする。In step 11, it is determined whether speed control is being performed. This determination is made by periodically checking the switch 6. by a timer interrupt program (not shown).
-C is performed with reference to the flag that is set/reset according to the operation status of step 7. In the interrupt program, when an operation signal is generated at the switch 6, a flag is set, and the flag for which the operation signal is generated at the switch 7 is set.
制御中でなければステ・ノブ１７で、キャンセノシ処理
としてリリーフ弁３の制御信号Ｓ１を？肖ｇＢレベルと
して速度調節要素１ｃこよるスロ・ノトルブＰ２の吸引
能力を減退させる。制御中であれＬ−１’、ステップ１
２で′ＸｖＪ連霜１連節１１御中力）どう力）力＜♀１
男覧１される。このｌ′１１別は増速指令スイ・フチ６
に生しるｌ築（ヤ信号が存在するか否かによりなされる
。If it is not under control, use the control knob 17 to send the control signal S1 of the relief valve 3 as a cancellation process. As a portrait B level, the suction ability of the suction control element 1c is reduced. Under control L-1', step 1
In 2'
The first man is seen. This l'11 is different from the speed increase command switch/edge 6.
This is determined by the presence or absence of the signal.
もし、増速操作信号が発生しても）る上烏合、ステ・７
ブ１Ｂで目標速度データとして予め内宮６メモ１ノ（Ｒ
ＯＭ）の記憶番地５Ａに設定されてＬ）る限界速度デー
タを記憶する。この後ステ・ノブ１４力く実行される。If the speed increase operation signal is generated,
1B, set the target speed data in Naiku 6 Memo 1 (R).
The limit speed data set in memory address 5A of OM) is stored. After this, Ste Knob 14 is executed forcefully.
ステ・ノブ１４るよそれ自体公り１１であり、車速セン
サ８から得られるノくルス列（君号番二基づむ１て計算
される実際速度データと目４票速度データとに基づいて
その偏差に対応して、この偏差をなくすべくコントロー
ル弁４に付与する制御計信号Ｓ２の断続比を決定し出力
する。この上烏合、必要Ｇこより実際速度データの時間
当りの変イヒう）も考慮した比例微分制御の手法を用い
ることもできる。Stereo knob 14 itself is public 11, and the number sequence obtained from the vehicle speed sensor 8 (based on the actual speed data calculated based on the 2nd number 1 and the 4th vote speed data) In order to eliminate this deviation, the intermittent ratio of the control meter signal S2 to be applied to the control valve 4 is determined and output in accordance with the deviation. It is also possible to use a proportional differential control method that takes this into consideration.
従って、増速指令スイ・ノチ６が投入されているとき、
実＠速度が限界速度より充分に小さいならば、両者の偏
差が太きいため制御信号Ｓ２の断続比は速度調節要素１
の圧力室内に導入される負圧の割合を増大させて車両速
度を充分に速く増加させることができる。実際速度が限
界速度に接近すると、両者の偏差が小さくなり、制御信
号Ｓ２の断続比は導入される負圧の割合を徐々に減少さ
せて限界速度への接近速度を緩やかなものとすることが
できる。Therefore, when the speed increase command switch 6 is applied,
If the actual speed is sufficiently smaller than the limit speed, the deviation between the two is large, so the intermittent ratio of the control signal S2 is set to the speed adjustment element 1.
By increasing the proportion of negative pressure introduced into the pressure chamber of the vehicle, the vehicle speed can be increased sufficiently quickly. When the actual speed approaches the limit speed, the deviation between the two becomes smaller, and the intermittent ratio of the control signal S2 gradually decreases the proportion of the negative pressure introduced to slow the approach speed to the limit speed. can.
増速指令スイッチ６の操作が停止されると、ステップ１
２からステップ１５に処理が移行する。When the operation of the speed increase command switch 6 is stopped, Step 1
The process moves from step 2 to step 15.
ステ・／プ１５では増速指令が停止された直後であるか
どうかを判別する。なお、このために直前のプログラム
実行サイクルでのステップ１５での判別結果を記憶する
ようにすることができる。In step 15, it is determined whether the speed increase command has just been stopped. Note that for this purpose, the determination result at step 15 in the immediately previous program execution cycle may be stored.
もし、増速指令が停止された直後であるならばステップ
１６で、そのときに６１Ｗされている最新の実際速度デ
ータを目標速度データとして記憶する。この後にステッ
プ１４が実行され、増速指令が停止された時点の車両速
度を目標速度として維持するように制御信号Ｓ２の断続
比が計算され、速度調節要素１に出力される。If the speed increase command has just been stopped, in step 16, the latest actual speed data that is 61W at that time is stored as target speed data. After this, step 14 is executed, and the intermittent ratio of the control signal S2 is calculated so as to maintain the vehicle speed at the time when the speed increase command was stopped as the target speed, and is output to the speed adjustment element 1.
第３図は、以上の実施例中、増速制御中の制御量を決定
するプログラムステップ１３を変形させた第２の実施例
を表している。FIG. 3 shows a second embodiment in which the program step 13 for determining the control amount during speed increase control is modified from the above embodiments.
第３図において、ステップ１３Ａは増速制御中の制御信
号Ｓ２の断続比を計算する処理で、ステップ１４Ａは通
常の制御中の断続比を計算する処理である。ステップ１
４Ａでの断続比の計算は、先の実施例におけるステップ
１４でと同様になされ、出力処理１４Ｂのみがステップ
１３Ａ以降で共通となるようにプログラムされている。In FIG. 3, step 13A is a process for calculating the intermittent ratio of the control signal S2 during speed increase control, and step 14A is a process for calculating the intermittent ratio during normal control. Step 1
The calculation of the intermittent ratio at step 4A is performed in the same manner as at step 14 in the previous embodiment, and only output processing 14B is programmed to be common from step 13A onwards.
さて、ステップ１３Ａでは、断続比りは次式に基づいて
計算される。Now, in step 13A, the intermittent ratio is calculated based on the following equation.
Ｄ＝Ｄｍａｘ −Ｋ （Ｓｐ−、Ｓｐ ｏ）なお、Ｄｍ
ａχは速度調節要素１が応答可能な最大値で予め設定さ
れている。Ｓｐは実際速度、Ｓｐｏは限界速度（Ｓｐｍ
ａｘ）より所定速度例えば５ ｋｍ／ ｈだけ小さく設
定された閥い速度で、マイ／／ロコンピュータは限界速
度の代わりにこの閾い速度データＳｐｏを記憶番地５Ａ
に記憶しているものとする。Ｋは比例定数である。D=Dmax −K (Sp−, Sp o) In addition, Dm
aχ is preset at the maximum value to which the speed adjustment element 1 can respond. Sp is the actual speed, Spo is the limit speed (Spm
At a predetermined speed, for example, 5 km/h, the computer stores this threshold speed data Spo in memory address 5A instead of the limit speed.
It is assumed that the K is a proportionality constant.
しかして、この制御プログラノ、によれば、増速指令中
に速度調節要ｌｆ：ｉに付与される断続比は、実際速度
Ｓｐが閥い速度Ｓｐｏに病たない場合においては、最大
値Ｄ ｍａｘより大きい値となり（最大値Ｄｍａにを越
える分は実質的に無効）速度調節要素ｌはスロットル弁
２を急激にＩＩＵいて車両速度を増速させる。ところが
、車両速度が閥い速度Ｓｐｏに達すると、閾い速度Ｓｐ
ｏを越える分に比例した値だけ断続比４減少さ・ｌて、
スロットル弁２の開度を閉じ方向に変位させ、車両の増
速量を抑える。この実施例においても、増速指令中の車
両速度は閾い速度をそれ程越えることがない。According to this control program, the intermittent ratio given to the speed adjustment requirement lf:i during the speed increase command is the maximum value D max when the actual speed Sp does not suffer from the slow speed Spo. The value becomes larger (exceeding the maximum value Dma is substantially ineffective), and the speed adjusting element 1 rapidly IIUs the throttle valve 2 to increase the vehicle speed. However, when the vehicle speed reaches the threshold speed Spo, the threshold speed Sp
The intermittent ratio is reduced by 4 by a value proportional to the amount exceeding o,
The opening degree of the throttle valve 2 is shifted in the closing direction to suppress the amount of speed increase of the vehicle. Also in this embodiment, the vehicle speed during the speed increase command does not exceed the threshold speed by much.
なお、断続比の最大値Ｄ ｍａｘはスロットル弁２を最
大開度とする値に限らず、それ以下の適当な値に設定し
得る。Note that the maximum value D max of the intermittent ratio is not limited to the value that makes the throttle valve 2 open to the maximum degree, but may be set to an appropriate value below that value.
第１図は本発明の一実施例を示す構成図、第２図は第１
図の構成に適用されるマイクロコンピュータの制御プロ
グラムの第１の例を示すフローチャー１・、第３図は制
御プログラムの第２の例を示すフローチャートである。
■・・・速度調節要素、５・・・制御回路、５Ａ・・・
設定手段をなす記憶番地、６・・・増速指令スイッチ、
１３．１３Ａ・・・増速制御手段をなすプログラムステ
ップ。
代理人 弁理士 岡 部 隆FIG. 1 is a configuration diagram showing one embodiment of the present invention, and FIG.
Flowcharts 1 and 3 are flowcharts showing a first example of a control program of a microcomputer applied to the configuration shown in the figure, and FIG. 3 is a flowchart showing a second example of a control program. ■...Speed adjustment element, 5...Control circuit, 5A...
Memory address forming setting means, 6... speed increase command switch,
13.13A: Program step forming speed increase control means. Agent Patent Attorney Takashi Okabe
Claims (1)
駆動する車両用速度制御装置で、しかも増速指令を受け
る手段に発生した増速信号が発生している間、前記速度
調節要素を増速側に駆動する増進制御手段を含むものに
おいて、 上記増速制御手段は、限界速度に関連するデータが設定
される設定手段と、この前記増速信号に応答して実際の
車両速度と上記設定手段に設定されたデータとに関連し
て増速制御量を決定する制御量決定手段と、を含んでな
る車両用速度制御装置。[Scope of Claims] A speed control device for a vehicle that drives a speed adjustment element in relation to an actual vehicle speed and a target speed, and moreover, while a speed increase signal is generated in a means for receiving a speed increase command. , comprising an acceleration control means for driving the speed adjustment element to the speed increase side, the speed increase control means comprising a setting means for setting data related to a limit speed, and a setting means for setting data related to the speed limit, and a A speed control device for a vehicle, comprising control amount determining means for determining a speed increase control amount in relation to an actual vehicle speed and data set in the setting means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15827183A JPS6050033A (en) | 1983-08-29 | 1983-08-29 | Controlling device for speed of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15827183A JPS6050033A (en) | 1983-08-29 | 1983-08-29 | Controlling device for speed of vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6050033A true JPS6050033A (en) | 1985-03-19 |
| JPH0356928B2 JPH0356928B2 (en) | 1991-08-29 |
Family
ID=15667957
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP15827183A Granted JPS6050033A (en) | 1983-08-29 | 1983-08-29 | Controlling device for speed of vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6050033A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6261836A (en) * | 1985-09-11 | 1987-03-18 | Jidosha Denki Kogyo Co Ltd | Automatic vehicle speed control device |
| US4984166A (en) * | 1985-12-27 | 1991-01-08 | Toyota Jidosha Kabushiki Kaisha | Automotive constant speed cruise control system |
| JP2017089831A (en) * | 2015-11-13 | 2017-05-25 | ヤンマー株式会社 | Work vehicle |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS52142182A (en) * | 1976-03-13 | 1977-11-26 | Ass Eng Ltd | Speed control apparatus |
-
1983
- 1983-08-29 JP JP15827183A patent/JPS6050033A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS52142182A (en) * | 1976-03-13 | 1977-11-26 | Ass Eng Ltd | Speed control apparatus |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6261836A (en) * | 1985-09-11 | 1987-03-18 | Jidosha Denki Kogyo Co Ltd | Automatic vehicle speed control device |
| JPH0571414B2 (en) * | 1985-09-11 | 1993-10-07 | Jidosha Denki Kogyo Kk | |
| US4984166A (en) * | 1985-12-27 | 1991-01-08 | Toyota Jidosha Kabushiki Kaisha | Automotive constant speed cruise control system |
| JP2017089831A (en) * | 2015-11-13 | 2017-05-25 | ヤンマー株式会社 | Work vehicle |
| US10486697B2 (en) | 2015-11-13 | 2019-11-26 | Yanmar Co., Ltd. | Work vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0356928B2 (en) | 1991-08-29 |
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