CN103350699A - Method for setting automobile cruising status - Google Patents
Method for setting automobile cruising status Download PDFInfo
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- CN103350699A CN103350699A CN2013102946441A CN201310294644A CN103350699A CN 103350699 A CN103350699 A CN 103350699A CN 2013102946441 A CN2013102946441 A CN 2013102946441A CN 201310294644 A CN201310294644 A CN 201310294644A CN 103350699 A CN103350699 A CN 103350699A
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Abstract
The invention discloses a method for setting automobile cruising status. The method comprises the following steps: when the automobile speed is not smaller than the minimum cruising speed, if the conditions are met at the same time, an automobile enters the constant-speed cruising status at the automobile speed at the moment, and the conditions are that a) an accelerator pedal is located in a drifting main section, b) the speed of the accelerator pedal is not larger than the maximum speed stabilizing error speed, and c) the duration time when the speed of the accelerator pedal is not larger than the maximum speed stabilizing error speed exceeds the minimum speed stabilizing period; in the constant-speed cruising status, if any one of the conditions is met, the constant-speed cruising status is relieved, and the conditions are that d) the accelerator pedal is located in a minimum accelerating section, e) the accelerator pedal is located in a minimum decelerating section, f) the accelerator pedal is located outside the drifting main section, and g) the speed of the accelerator pedal is larger than the maximum speed stabilizing error speed. By the adoption of the method for setting the automobile cruising status, constant-speed cruising can be achieved to the maximum extent, meanwhile, acceleration or deceleration of the automobile is more timely, and a driver is prevented from subconsciously and excessively speeding up the automobile.
Description
Technical field
The invention belongs to speed of a motor vehicle automatic control technology field, particularly a kind of automobile cruise state method to set up.
Background technology
Controller for vehicle cruise (Cruise Control is called for short the device that cruises) is generally considered a kind of fuel saving device.But because its mode of operation arranges by manual control, cruising condition seldom is used under most road conditions, can not really reach the purpose of fuel-economizing.
The drawback that manually arranges in order to overcome the device that cruises, (the patent No.: ZL200610144985.0 that Chinese invention patent " uses the method for speed regulator Lookup protocol and releasing automobile cruise controller mode of operation ", open day: 2007.5.9) proposed according to the speed of vehicle and the method for accelerator pedal position Lookup protocol and the mode of operation of removing cruise control, during velocity variations that the speed of vehicle surpasses the minimum work speed of the device that cruises and vehicle surpasses the minimum speed stabilizing of setting in the time within the predefined speed course latitude error, the device that cruises enters mode of operation, and it is interval to set up virtual pedal position and the pedal displacement error corresponding to the damper open position; When accelerator pedal position exceeded pedal displacement error interval, the device mode of operation that cruises was removed.Like this, vehicle will and be removed cruise according to accelerator pedal position sensor signal automatic setting, and not need chaufeur to participate in, and will be more safer than traditional cruise control, more energy-conservation.
But there are the following problems for this method:
1, the impact that---is the same power output corresponding accelerator pedal position when non-cruise of vehicle---owing to not considering that road gradient is on virtual pedal position, when slope change made virtual pedal position shift out the speed stabilizing interval, speed regulator can be removed cruise;
2, there is vice proper in pedal displacement error interval.Pedal displacement error interval comprises up error burst and downlink error interval, as shown in Figure 2.The most random or subconscious motion that error burst is too small then can not filter driver's right crus of diaphragm, and the out of reach purpose of cruise farthest; Excessive then can the prolongation of error burst arranges and removes the required time of cruising condition, makes the acceleration or deceleration of vehicle become slow.
Summary of the invention
The object of the present invention is to provide a kind of automobile cruise state method to set up, farthest cruise makes the acceleration or deceleration of vehicle timely simultaneously.
The technical solution that realizes the object of the invention is: a kind of automobile cruise state method to set up comprises the steps:
11) when car speed is not less than minimum cruising speed, if satisfy simultaneously following Cruise Conditions, then by this moment car speed enter the cruise state:
A) accelerator pedal is positioned between the drift primary area,
B) accelerator pedal speed is not more than maximum speed stabilizing error speed,
C) accelerator pedal speed is not more than the time length of maximum speed stabilizing error speed above during the minimum speed stabilizing;
12) under the cruise state, if satisfy following arbitrary condition subsequent, then automobile is removed the cruise state:
D) accelerator pedal is positioned at minimum accelerating region,
E) accelerator pedal is positioned at the minimum deceleration district,
F) outside accelerator pedal is positioned between the drift region,
G) accelerator pedal speed is greater than maximum speed stabilizing error speed.
The present invention compared with prior art, its remarkable advantage:
1, cruise farthest: when less road gradient changes, keep cruising condition, avoided the frequent releasing of the cruise state that the gradient causes; Simultaneously, with accelerator pedal speed replace accelerator pedal position as the control cruise principal parameter, no longer need the up error burst of pedal and downlink error interval, can enter quickly cruising condition, avoid the farthest problem of cruise purpose of the interval too small out of reach of displacement error; Thereby make vehicle be in for a long time the cruise state as far as possible;
2, the acceleration or deceleration of vehicle is timely: with accelerator pedal speed replace accelerator pedal position as the control cruise principal parameter, no longer need the up error burst of pedal and downlink error interval, overcome the problem of slow (less responsive) because the acceleration of the interval ambassador of mistake of speed stabilizing vehicle and deceleration become, thereby made the acceleration or deceleration of vehicle more timely;
3, with accelerator pedal speed replace accelerator pedal position as the control cruise principal parameter, and the setting of alerting signal prevents the subconscious hypervelocity of chaufeur.
Below in conjunction with accompanying drawing the present invention is described in further detail.
Description of drawings
Fig. 1 is the diagram of circuit of a kind of automobile cruise state of the present invention method to set up.
Fig. 2 a-2d prior art is controlled accelerator pedal position and the pedal action radius schematic diagram of cruise with accelerator pedal position.
Fig. 3 is time---the length velocity relation figure of accelerator pedal motion.
Fig. 4 is the schematic diagram that the accelerator pedal range of movement is divided among the present invention.
Variation schematic diagram when Fig. 5 is vehicle driving up between virtual pedal position and drift region.
Fig. 6 a-6d is the different alarm signal schematic diagrams of light-emitting diode display.
The diagram of circuit of Fig. 7 embodiment.
Process warning signal sub-process figure among Fig. 8 embodiment.
The specific embodiment
As shown in Figure 1, automobile cruise state method to set up of the present invention comprises the steps:
11) when car speed is not less than minimum cruising speed, if satisfy simultaneously following Cruise Conditions, then by this moment car speed enter the cruise state:
A) accelerator pedal is positioned between the drift primary area,
B) accelerator pedal speed is not more than maximum speed stabilizing error speed,
C) accelerator pedal speed is not more than the time length of maximum speed stabilizing error speed above during the minimum speed stabilizing;
12) under the cruise state, if satisfy following arbitrary condition subsequent, then remove the cruise state:
D) accelerator pedal is positioned at minimum accelerating region,
E) accelerator pedal is positioned at the minimum deceleration district,
F) outside accelerator pedal is positioned between the drift region,
G) accelerator pedal speed is greater than maximum speed stabilizing error speed.
The present invention be directed to the automobile of cruise function, realize that by accelerator pedal position sensor is installed accelerator pedal position detects in the prior art.The detection of the speed of a motor vehicle then is that all vehicles are total.
Change and detect sample time according to accelerator pedal position, just can determine accelerator pedal speed:
v
k?=?（s
k?–?s
k-1）/t；
In the formula: v
kBe accelerator pedal K speed constantly, s
kBe accelerator pedal K position constantly, s
K-1Be accelerator pedal k-1 position constantly, k is the number of times of the position of detecting accelerator pedal, k 〉=1, and t is the time difference between adjacent twice accelerator pedal position detects, i.e. cycle detection sample time.
If be decided to be the unit time sample time, above-mentioned formula can also be reduced to:
v
k?=?s
k?–?s
k-1。
Virtual pedal position is to make vehicle keep the corresponding accelerator pedal position of a certain speed.Since keep the power output of a certain speed to be subjected to the road surface, the gradient, and the impact of the factors such as wind direction wind-force is not so virtual pedal position is fixed when keeping a certain speed.For example, virtual pedal position moves down during vehicle driving up, and virtual pedal position moves up during the vehicle descending.
Determining and the prior art (patent No.: ZL200610144985.0 of virtual pedal position, open day: definite method 2007.5.9) was identical, can be according under the non-cruise state, with the corresponding relation of damper corresponding to current car speed, accelerator pedal position, determine virtual pedal position.
The pedal drift is that right crus of diaphragm is subconsciously to slow mobile the causing of same direction.Make pedal between the drift region in when drift vehicle still keep cruise, will be actual pedal position only as the signal of removing cruise and the warning signal of acceleration/deceleration, rather than conduct directly affects valve arrangement or power output signal.
According to virtual pedal position, determine between the drift region and the drift primary area between;
As shown in Figure 4, between the drift region by between up drift region between (shown in 31 among Fig. 4) and descending drift region (shown in 32 among Fig. 4) combine, between up drift episode and the demarcation line between descending drift region is virtual pedal position (as shown in phantom in Figure 4).
The main purpose that arranges between the drift region is to prevent that subconscious hypervelocity and quickening from entering cruising condition.
Move with virtual pedal position between the drift region.What mainly consider when size is set between the drift region is: when the road gradient＜=Maximum Endurance gradient, change between the drift region that the gradient causes and do not remove as a rule cruising condition, be that the gradient is in pedal position still is between the drift region when changing among a small circle, as shown in Figure 5.Among the figure a between 31 up drift regions when being cruise, the 32nd, between descending drift region.If at this time vehicle begins to go up a slope, need more power outputs, will move on to the position among the 5b between virtual pedal position and drift region, namely 31 move on to 33,32 and move on to 34.5b shows that virtual pedal position moves the back step position still between up drift region in 32, and vehicle will keep cruise.
Owing to should not use cruise when road gradient is excessive.For this reason, a Maximum Endurance gradient is set, when road gradient exceeded this gradient, vehicle was removed cruising condition.The size of the Maximum Endurance gradient is determined by experiment.
Between the drift region near (core between the drift region) between 1/2 or 2/3 primary area that is defined as between the drift region of virtual pedal position---between the drift primary area.
Be determined by experiment between the drift region.
As previously mentioned, when car speed is not less than minimum cruising speed, advance if satisfy simultaneously three conditions, then by this moment car speed enter the cruise state.
The below discusses the condition that enters the cruise state in detail.
A) accelerator pedal is positioned between the drift primary area:
When accelerator pedal made vehicle accelerate in a certain position, vehicle was the gradually process of the actual pedal position of convergence of a virtual pedal position from the process that accelerates to speed stabilizing.This process may be very slow.In above-mentioned approach procedure, when actual pedal position entered between the drift primary area, automobile cruising device namely entered the cruise state, thereby has accelerated to enter the process of cruising condition;
B) accelerator pedal speed is not more than maximum speed stabilizing error speed:
When the accelerator pedal kinematic velocity was not more than maximum speed stabilizing error speed Vmax, it is subconscious or random that pedal travel is considered to.The size of Vmax is by the human engineering measuring.
C) accelerator pedal speed is not more than the time length of maximum speed stabilizing error speed above during the minimum speed stabilizing;
It is a time period of passing through the human engineering measuring during the minimum speed stabilizing, such as 1 second (or less).
The method that the device of accelerating to cruise enters cruise is during accelerator pedal speed surpasses a minimum speed stabilizing that sets in advance less than or equal to time of Vmax, if actual pedal position enters between primary area between instant pedal drift region, vehicle enters cruising condition.It is fixed to come according to test result between the primary area between the drift primary area, for example between up drift region and between descending drift region near 1/2nd or 2/3rds of virtual pedal position.If maximum drift is interval enough large, this method can make vehicle enter very soon cruising condition after slowing down after the acceleration.
As previously mentioned, under the cruise state, if the arbitrary condition in satisfied four conditions is then removed the cruise state.
The below discusses the condition of removing the cruise state in detail.
D) accelerator pedal is positioned at minimum accelerating region,
E) accelerator pedal is positioned at the minimum deceleration district,
If when partially overlapping with minimum accelerating region or minimum deceleration district between the drift region, minimum accelerating region (as shown in Figure 4 30) or minimum deceleration district (as shown in Figure 4 33) have preceence, and namely pedal enters to overlap and unconditionally removes cruise when interval.
The existence in these two intervals is important, and size is unimportant, can pass through the human engineering measuring.
F) outside accelerator pedal is positioned between the drift region;
Remove when accelerator pedal shifts out between the drift region and cruise, and this point and prior art (patent No.: ZL200610144985.0, open day: the up error burst 2007.5.9) was similar with the downlink error interval;
G) accelerator pedal speed is greater than maximum speed stabilizing error speed Vmax.
Intervally from up error burst and downlink error different be, even in still between the drift region, if pedal speed v
kVmax, cruise still removed.
As shown in Figure 6, automobile cruise state method to set up of the present invention also is included in the cruise state, provides sound and/or visual alarm signal:
If pedal is up near the coboundary between the drift region, provide the alarm signal that to slow down;
If pedal is descending near the lower boundary between the drift region, provide the alarm signal that will speed up.
Advantage between the drift region is can effectively prevent pedal from drifting about caused cruising condition is removed and quickening enters cruising condition; Shortcoming is that the acceleration of vehicle seems more unexpected when pedal shifts out between descending drift region.In order to prevent this from occurring, the LED among Fig. 6 shows can be with helping in chaufeur remains on pedal position between the drift region.
Vehicle is not in cruising condition, and LED shows blank (6a);
Vehicle is in cruising condition, and LED shows cruise (6b);
Vehicle is in cruising condition and pedal near between up drift region during the upper bound, and LED shows such as 6c, and computing machine can use sound notification chaufeur (pedal is further up) vehicle to slow down simultaneously;
Vehicle is in cruising condition and pedal near between descending drift region during lower bound, and LED shows such as 6d, and computing machine can will speed up with sound notification chaufeur (pedal is further descending) vehicle simultaneously.
Although traditional cruise control can constant-speed traveling, because this device is not used under most road conditions, so general run of thins does not have the effect that exceeds the speed limit of preventing.Arrange and add between the drift region that LED shows and auditory tone cues can solve pedal drifting problem and the subconscious hypervelocity problem of chaufeur effectively.
The present invention's function---speed of accelerator pedal position signal, replace pedal position signal, as the principal parameter that determines the vehicle cruise state, no longer need to arrange the up error burst of pedal and downlink error interval, thereby avoided the intrinsic problem in displacement error interval: displacement error is interval too small with regard to the out of reach purpose of cruise farthest, and the interval acceleration of crossing ambassador's vehicle of speed stabilizing becomes slow.
Simultaneously, by between the drift region and the setting of drift between the primary area, can enter quickly or remove cruising condition, when less road gradient changes, keep cruising condition, solve the frequent releasing of the cruise state that the gradient causes;
By providing sound and/or visual alarm signal when pedal travel during near the border between the drift region, solved the problem of the subconscious hypervelocity of chaufeur.
The embodiment of the invention uses the first derivative speed conduct of pedal position to enter or remove the essential condition of cruise, but is not limited to speed.
Because it is more and more universal to be equipped with the vehicle of E-gas accelerator, and do not need additionally to install accelerator pedal position sensor, so the inventive method both can have been used independent automobile cruise status setting device---speed regulator, also can incorporate control program into other existing CPU such as ECU (Engine Control Unit).
Make pedal between the drift region in when drift vehicle still keep cruise, will be actual pedal position only as the signal of removing cruise and the warning signal of acceleration/deceleration, rather than conduct directly affects valve arrangement or power output signal.
Fig. 2 a-2d is depicted as in the prior art, with accelerator pedal position subregion (patent No.: ZL200610144985.0, open day: 2007.5.9) of accelerator pedal position control cruise.
Among the figure, 1 is the accelerator pedal reference position, and 2 is final position, 3 is accelerator pedal, and 4 is the pedal travel scope, and 5 is virtual pedal position, be the same power output corresponding accelerator pedal position when non-cruise of vehicle, 6 and 9 are respectively deceleration and acceleration area.Pedal enters 6 or at 9 o'clock, is not manually to arrange if cruise, and speed regulator is removed cruise, car retardation or acceleration.7 and 8 are respectively up error burst and downlink error interval.In cruise, the motion of pedal in 7 and 8 scopes do not affect cruise.
Figure 3 shows that time---the length velocity relation figure of accelerator pedal motion.
Can illustrate with Fig. 3 with the function of pedal position such as the speed reason as the principal parameter principal parameter that determines the cruise state.Fig. 3 shows that vehicle enters behind the cruise once the speed of complete accelerator pedal downward movement (v) time (t) curve.Curve must possess following characteristics:
The terminal point (Ts) that starting point (0,0) and 0 speed of 0 speed are arranged;
Speed v 〉=0.V＜0 expression counter motion does not belong to once motion;
The process of velocity variations can be divided into three parts:
O acceleration area---(0,0) is to Ta01;
Between the o speed regulator---Ta01 is to Ta02; If Ta01=Ta02, the speed stabilizing interval is a point;
Between the o deceleration area---Ta02 is to Ts.
The curve that satisfies above-mentioned condition has ubiquity.The shape of curve, whether full symmetric is inessential, even there are a plurality of peak values also not affect result discussed below.
Vmax is the maximum speed stabilizing error of accelerator pedal speed in the curve, and TVmax is that pedal speed reaches the required time of Vmax.Tx is for reaching the time of the described downlink error interval border 8 of the patent No.: ZL200610144985.0.Although the interval size of downlink error can be decided arbitrarily, the too little purpose of obvious out of reach filtration pedal random motion.In general, Tx certain position away from TVmax in the middle of TVmax and Ts.As can be seen from the figure sensitive more than displacement as the parameter of removing cruise with speed.
Figure 7 shows that one embodiment of the present of invention, but the invention is not restricted to the present embodiment.
Main program enters an infinite loop after start.For the purpose of clear, use following integer variable in the main program flow chart:
● T: sample time counting machine.
● V: accelerator pedal instantaneous velocity.
● V0: accelerator pedal is 0 o'clock instantaneous velocity at counting machine T.
● Vmax: the maximum speed stabilizing error of accelerator pedal speed.The absolute value of pedal speed is considered to consciously acceleration or deceleration of chaufeur greater than Vmax
Clear 0 at initial point step 91 counting machine among Fig. 7, V0 is the instantaneous velocity of accelerator pedal when T=0.Step 92 is after counting machine increment, and whether the check speed of a motor vehicle is more than or equal to the minimum work speed of the device that cruises.Do not cruise when being lower than the minimum work speed of the device that cruises, remove warning signal in step 106, then the demonstration of namely removing Fig. 5 gets back to initial point step 91, otherwise whether the right crus of diaphragm of step 93 check chaufeur is on accelerator pedal.If assay is no, after removing warning signal, step 106 returns initial step 91.Otherwise step 94 is calculated between instant drift region and is drifted about between the primary area.Whether step 95 checks the device that cruises in running order.
The left-hand branch of step 95 is responsible for processing the mode of operation of device of cruising.Whether step 96 checks pedal in minimum accelerating region or minimum deceleration district, and if so, step 100 is removed cruising rating, otherwise, whether step 97 checks pedal travel speed greater than Vmax, and if so, step 100 is removed cruising rating, otherwise, in step 98 checks that pedal is whether between the drift region, if not, cruising condition removed, otherwise the subprogram in step 99 calling graph 8 is processed warning signal.
The right-hand branch of step 95 is responsible for arranging the device mode of operation that cruises.Step 101 is known warning signal.Whether step 102 inspection pedal travel speed if so, returns step 91 counter O reset greater than Vmax, otherwise, if T greater than the minimum speed stabilizing of pedal during and pedal position between the drift region between the primary area in, return 91 after cruising condition is set, execution in step 98 other situations return 92.
Fig. 8 is the diagram of circuit of the subprogram that step 99 is called in Fig. 7.After initial step 110, whether step 111 check cruising condition is arranged by craft among the figure.If the result is yes, step 117 is removed warning signal, otherwise, if pedal position in (112) between up drift region and near the upper bound between up drift region (113), step 114 demonstration deceleration warning signal.If pedal position is near lower bound (115) between descending drift region, step 116 shows Acceleration Signal.Step 118 sub-routine ends.
Claims (4)
1. an automobile cruise state method to set up is characterized in that, comprises the steps:
11) when car speed is not less than minimum cruising speed, if satisfy simultaneously following Cruise Conditions, then by this moment car speed enter the cruise state:
A) accelerator pedal is positioned between the drift primary area,
B) accelerator pedal speed is not more than maximum speed stabilizing error speed,
C) accelerator pedal speed is not more than the time length of maximum speed stabilizing error speed above during the minimum speed stabilizing;
12) under the cruise state, if satisfy following arbitrary condition subsequent, then remove the cruise state:
D) accelerator pedal is positioned at minimum accelerating region,
E) accelerator pedal is positioned at the minimum deceleration district,
F) outside accelerator pedal is positioned between the drift region,
G) accelerator pedal speed is greater than maximum speed stabilizing error speed.
2. automobile cruise state method to set up according to claim 1 is characterized in that, described accelerator pedal speed is so definite:
v
k?=?（s
k?–?s
k-1）/t
In the formula: v
kBe accelerator pedal K speed constantly, s
kBe accelerator pedal K position constantly, s
K-1Be accelerator pedal k-1 position constantly, k is the number of times of the position of detection accelerator pedal, k 〉=1, and t is the time difference that adjacent twice accelerator pedal position detects.
3. automobile cruise state method to set up according to claim 1 is characterized in that: also is included in the alarm signal step is provided in the cruise state, that is,
If pedal is up near the upper bound between up drift region, provide vehicle with the alarm signal that slows down;
If pedal is descending near the lower bound between descending drift region, provide the alarm signal that vehicle will speed up.
4. automobile cruise state method to set up according to claim 3, it is characterized in that: described alarm signal comprises sound and/or visual signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310294644.1A CN103350699B (en) | 2013-07-12 | 2013-07-12 | Automobile cruise state method to set up |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310294644.1A CN103350699B (en) | 2013-07-12 | 2013-07-12 | Automobile cruise state method to set up |
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| CN103350699A true CN103350699A (en) | 2013-10-16 |
| CN103350699B CN103350699B (en) | 2016-02-10 |
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ID=49307150
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310294644.1A Expired - Fee Related CN103350699B (en) | 2013-07-12 | 2013-07-12 | Automobile cruise state method to set up |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106800022A (en) * | 2015-11-26 | 2017-06-06 | 大陆泰密克汽车系统（上海）有限公司 | A kind of cruise constant speed control system and method |
| CN107264528A (en) * | 2015-09-07 | 2017-10-20 | 重庆大学 | Automobile cruise intelligent control method |
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| CN1958326A (en) * | 2006-11-28 | 2007-05-09 | 孙俊世 | Oil saving stable speed device of motor vehicle capable of automatic setting up and relieving working state of cruising device |
| CN101264761A (en) * | 2007-03-14 | 2008-09-17 | 丰田自动车株式会社 | Hybrid vehicle and control method thereof |
| US7706953B1 (en) * | 2006-10-30 | 2010-04-27 | Sun Jun-Shi | Speed stabilizer for automatically turning conventional cruise controls on/off in dense low speed traffic to save fuel |
| CN102555903A (en) * | 2012-03-15 | 2012-07-11 | 北京科技大学 | Detection method for mistakenly pedaling of throttle pedal of automobile and detection device thereof |
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2013
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1031453B1 (en) * | 1999-02-26 | 2003-06-25 | Thales | Vehicle accelerator pedal |
| US7706953B1 (en) * | 2006-10-30 | 2010-04-27 | Sun Jun-Shi | Speed stabilizer for automatically turning conventional cruise controls on/off in dense low speed traffic to save fuel |
| CN1958326A (en) * | 2006-11-28 | 2007-05-09 | 孙俊世 | Oil saving stable speed device of motor vehicle capable of automatic setting up and relieving working state of cruising device |
| CN101264761A (en) * | 2007-03-14 | 2008-09-17 | 丰田自动车株式会社 | Hybrid vehicle and control method thereof |
| CN102555903A (en) * | 2012-03-15 | 2012-07-11 | 北京科技大学 | Detection method for mistakenly pedaling of throttle pedal of automobile and detection device thereof |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107264528A (en) * | 2015-09-07 | 2017-10-20 | 重庆大学 | Automobile cruise intelligent control method |
| CN107264528B (en) * | 2015-09-07 | 2019-08-02 | 重庆大学 | Automobile cruise intelligent control method |
| CN106800022A (en) * | 2015-11-26 | 2017-06-06 | 大陆泰密克汽车系统（上海）有限公司 | A kind of cruise constant speed control system and method |
| US10166983B2 (en) | 2015-11-26 | 2019-01-01 | Continental Automotive Gmbh | Pedal cruise control (PCC) |
| CN106800022B (en) * | 2015-11-26 | 2019-04-09 | 大陆泰密克汽车系统（上海）有限公司 | A kind of cruise constant speed control system and method |
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| CN103350699B (en) | 2016-02-10 |
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