GB2309555B - A cruise control system for a motor vehicle - Google Patents

A cruise control system for a motor vehicle

Info

Publication number
GB2309555B
GB2309555B GB9701467A GB9701467A GB2309555B GB 2309555 B GB2309555 B GB 2309555B GB 9701467 A GB9701467 A GB 9701467A GB 9701467 A GB9701467 A GB 9701467A GB 2309555 B GB2309555 B GB 2309555B
Authority
GB
United Kingdom
Prior art keywords
vehicle
control system
cruise control
follow
motor vehicle
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.)
Expired - Fee Related
Application number
GB9701467A
Other versions
GB9701467D0 (en
GB2309555A (en
Inventor
Simon Peter Gilling
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MG Rover Group Ltd
Original Assignee
MG Rover Group Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by MG Rover Group Ltd filed Critical MG Rover Group Ltd
Publication of GB9701467D0 publication Critical patent/GB9701467D0/en
Publication of GB2309555A publication Critical patent/GB2309555A/en
Application granted granted Critical
Publication of GB2309555B publication Critical patent/GB2309555B/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/862—Combination of radar systems with sonar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0293—Convoy travelling
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9314—Parking operations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9315—Monitoring blind spots
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/93185—Controlling the brakes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9319—Controlling the accelerator
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9321—Velocity regulation, e.g. cruise control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9324—Alternative operation using ultrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93275—Sensor installation details in the bumper area
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9329—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles cooperating with reflectors or transponders
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Acoustics & Sound (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Controls For Constant Speed Travelling (AREA)
  • Traffic Control Systems (AREA)

Abstract

In a vehicle cruise control system, a vehicle 20 is controlled at a set speed or operates to follow a safe distance behind a target vehicle 30 using a radar system 16A,26A. At low speeds or when the vehicle is halted, short range sensors 17B, 17C are used to detect if obstacles eg pedestrians 39 are present in a safety area substantially in front of the vehicle 20. If an obstacle 39 is detected in this safety area then the engine power is reduced and the brakes are applied if the vehicle is moving or the vehicle 20 is prevented from pulling away to follow the target vehicle 30 if it is already at rest. A system whereby a series of emitters 31 inform the vehicle that it is approaching a red traffic signal 34 is also disclosed.
GB9701467A 1996-01-27 1997-01-24 A cruise control system for a motor vehicle Expired - Fee Related GB2309555B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GBGB9601691.0A GB9601691D0 (en) 1996-01-27 1996-01-27 A cruise control system for a motor vehicle

Publications (3)

Publication Number Publication Date
GB9701467D0 GB9701467D0 (en) 1997-03-12
GB2309555A GB2309555A (en) 1997-07-30
GB2309555B true GB2309555B (en) 1999-09-29

Family

ID=10787695

Family Applications (2)

Application Number Title Priority Date Filing Date
GBGB9601691.0A Pending GB9601691D0 (en) 1996-01-27 1996-01-27 A cruise control system for a motor vehicle
GB9701467A Expired - Fee Related GB2309555B (en) 1996-01-27 1997-01-24 A cruise control system for a motor vehicle

Family Applications Before (1)

Application Number Title Priority Date Filing Date
GBGB9601691.0A Pending GB9601691D0 (en) 1996-01-27 1996-01-27 A cruise control system for a motor vehicle

Country Status (1)

Country Link
GB (2) GB9601691D0 (en)

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DE19712857A1 (en) * 1997-03-27 1998-10-01 Bayerische Motoren Werke Ag Brake control system for motor vehicles with an electronic speed that can be switched on and off
DE19736915B4 (en) 1997-08-25 2018-05-03 Henry Tunger Radio-communicative braking / stopping control triggered by traffic control devices as well as handicapped, road-crossing-authorized passers-by with simultaneous individual minimum safety distance control for motor vehicles
EP0913751B1 (en) * 1997-11-03 2003-09-03 Volkswagen Aktiengesellschaft Autonomous vehicle and guiding method for an autonomous vehicle
JPH11301383A (en) 1998-04-20 1999-11-02 Matsushita Electric Works Ltd On-vehicle obstacle detecting system
DE19845568A1 (en) * 1998-04-23 1999-10-28 Volkswagen Ag Object detection device for motor vehicles
EP0952459B1 (en) * 1998-04-23 2011-05-25 Volkswagen Aktiengesellschaft Device for detecting objects for vehicles
EP1103004A1 (en) * 1999-05-26 2001-05-30 Robert Bosch Gmbh Object detection system
DE19934670B4 (en) * 1999-05-26 2004-07-08 Robert Bosch Gmbh Object detection system
US7068211B2 (en) 2000-02-08 2006-06-27 Cambridge Consultants Limited Methods and apparatus for obtaining positional information
GB2372895A (en) * 2001-02-28 2002-09-04 Systems Engineering & Assessme Boundary protection system
DE10113323C2 (en) * 2001-03-20 2003-04-03 Bosch Gmbh Robert Radar sensor platform
US20030111902A1 (en) * 2001-12-17 2003-06-19 David Thiede Intelligent braking system and method
DE10220837A1 (en) * 2002-05-08 2003-11-27 Daimler Chrysler Ag Device for parking space search by means of radar
GB0300948D0 (en) * 2003-01-16 2003-02-12 Ford Global Tech Inc Adaptive cruise control
GB0300975D0 (en) * 2003-01-16 2003-02-19 Ford Global Tech Inc Adaptive cruise control systems
US7027920B2 (en) 2003-07-18 2006-04-11 Visteon Global Technologies, Inc. Low-speed collision avoidance system
DE102004047177A1 (en) 2004-09-29 2006-04-13 Robert Bosch Gmbh Start-up assistant for motor vehicles
WO2006057070A1 (en) 2004-11-29 2006-06-01 Hitachi, Ltd. Control device for automobile
DE102005009702A1 (en) * 2005-03-03 2006-09-07 Robert Bosch Gmbh Distance measuring device and method for functional testing of a distance measurement
JP2006259895A (en) 2005-03-15 2006-09-28 Omron Corp Start control device for movable body
US8364366B2 (en) 2005-06-24 2013-01-29 Deere & Company System and method for providing a safety zone associated with a vehicle
DE102005038489A1 (en) * 2005-08-13 2007-02-15 Bayerische Motoren Werke Ag A method of disabling an automatic start-up function of a distance-related cruise control system
DE102006056629A1 (en) * 2006-11-30 2008-06-05 Bayerische Motoren Werke Ag Method for speed and / or distance control in motor vehicles
GB2448392A (en) * 2007-02-02 2008-10-15 Henri Duong Anti-collision automatic braking device
DE102009034026A1 (en) * 2009-07-21 2011-01-27 Bayerische Motoren Werke Aktiengesellschaft Method for recognizing object in environment of sensor system of vehicle, involves realizing object recognition based on determined candidates and part of environment detected by complementary metal oxide semiconductor-camera
DE102009057836B4 (en) 2009-12-10 2013-02-21 Continental Teves Ag & Co. Ohg Emergency braking assistance system to assist a driver of a vehicle when starting
DE102010039418A1 (en) * 2010-08-17 2012-02-23 Bayerische Motoren Werke Aktiengesellschaft Method for controlling starting process of car, involves providing car-to-infrastructure communication device for receiving data from traffic lights, and automatically selecting beginning of acceleration phase based on received data
SE537618C2 (en) * 2013-09-30 2015-08-04 Scania Cv Ab Method and system for common driving strategy for vehicle trains
SE537603C2 (en) * 2013-09-30 2015-07-21 Scania Cv Ab Method and system for handling obstacles for vehicle trains
GB2523193B (en) * 2014-02-18 2017-10-25 Jaguar Land Rover Ltd Control system and method
CN111862635B (en) * 2020-02-28 2022-08-09 重庆长安汽车股份有限公司 Traffic signal lamp-based vehicle speed control method and device and automobile

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US4779095A (en) * 1986-10-28 1988-10-18 H & G Systems, Inc. Image change detection system
EP0605104A1 (en) * 1992-12-24 1994-07-06 Jaguar Cars Limited Cruise control systems for motor vehicles
GB2295695A (en) * 1994-12-01 1996-06-05 Lucas Ind Plc Apparatus and method for cruise control

Patent Citations (3)

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US4779095A (en) * 1986-10-28 1988-10-18 H & G Systems, Inc. Image change detection system
EP0605104A1 (en) * 1992-12-24 1994-07-06 Jaguar Cars Limited Cruise control systems for motor vehicles
GB2295695A (en) * 1994-12-01 1996-06-05 Lucas Ind Plc Apparatus and method for cruise control

Also Published As

Publication number Publication date
GB9701467D0 (en) 1997-03-12
GB9601691D0 (en) 1996-03-27
GB2309555A (en) 1997-07-30

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Legal Events

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732E Amendments to the register in respect of changes of name or changes affecting rights (sect. 32/1977)
PCNP Patent ceased through non-payment of renewal fee

Effective date: 20160124