JP2006002647A - Atmospheric pressure detecting device of engine - Google Patents

Atmospheric pressure detecting device of engine Download PDF

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JP2006002647A
JP2006002647A JP2004179222A JP2004179222A JP2006002647A JP 2006002647 A JP2006002647 A JP 2006002647A JP 2004179222 A JP2004179222 A JP 2004179222A JP 2004179222 A JP2004179222 A JP 2004179222A JP 2006002647 A JP2006002647 A JP 2006002647A
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atmospheric pressure
engine
pressure
intake pipe
average value
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JP4529124B2 (en
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Tsutomu Murakami
努 村上
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JGC Corp
Nikki Co Ltd
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Nikki Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To well maintain operability of an engine by continuously detecting atmospheric pressure without putting a heavy treating load on an electronic control device in an engine of a plurality of cylinders for performing operation control by the electronic control device based on intake pipe pressure measured by a pressure detecting means without using an atmospheric pressure sensor, a throttle valve position sensor, or a crank angle sensor. <P>SOLUTION: The electronic control device 10 is equipped with a sampling means for sampling intake pipe pressure at predetermined intervals during operation of the engine 1 using a sensor 11 as the pressure detecting means provided for a branch pipe 21 of an intake manifold 2b, a fluctuating width measuring means for checking whether or not fluctuating width of the sampled intake pipe pressure value is within a predetermined allowable value for not less than predetermined consecutive times, an average value calculating means for calculating an average value when the fluctuating width is within the predetermined allowable value for not less than the predetermined consecutive times, and a storage means for storing the average value as the atmospheric pressure so as to detect the atmospheric pressure. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

本発明は、エンジン制御のための大気圧を検出する装置に関し、殊に、大気圧の変動に応じて燃料噴射量を補正するためエンジン運転中において継続して大気圧を検出するエンジンの大気圧検出装置に関する。   The present invention relates to an apparatus for detecting atmospheric pressure for engine control, and more particularly, to detect atmospheric pressure continuously during engine operation in order to correct a fuel injection amount in accordance with fluctuations in atmospheric pressure. The present invention relates to a detection device.

エンジンの燃料噴射システムにおいては、大気圧(空気密度)が変動すると吸入空気量も変動することから、適正な空燃比に制御するために変動した大気圧に対応して燃料噴射量の補正を行うことが必要となる。この場合、大気圧検出のために大気圧センサを用いるのが通常であるが、比較的高価な大気圧センサを追加設置することはシステムの高価格化を招く。   In the fuel injection system of an engine, when the atmospheric pressure (air density) changes, the intake air amount also changes. Therefore, the fuel injection amount is corrected in accordance with the changed atmospheric pressure in order to control to an appropriate air-fuel ratio. It will be necessary. In this case, an atmospheric pressure sensor is usually used for atmospheric pressure detection. However, additionally installing a relatively expensive atmospheric pressure sensor leads to an increase in the cost of the system.

そこで、特開平5−1615公報に記載されているように、エンジン制御用のコンピュータ(電子式制御装置)がエンジン回転速度および吸気管圧力を基に吸入空気量を算出するスピード・デンティシティ方式を採用しているものにおいて、吸気管圧力センサを利用してキイスイッチをONとしてから所定時間内の吸気管圧力を近似大気圧とし、これを基に燃料噴射量の補正を行う方式が知られている。しかし、この方式によると、エンジン運転中の標高の変化等による大気圧の変動を検出できないことから、燃料噴射量について大気圧補正を行うことができないため、エンジン運転性を損なったり大気圧変化が大きい場合はエンジンが停止する心配がある。   Therefore, as described in Japanese Patent Laid-Open No. 5-1615, a speed-identity system in which an engine control computer (electronic control device) calculates an intake air amount based on an engine rotation speed and an intake pipe pressure. Is a method that uses the intake pipe pressure sensor to turn on the key switch and sets the intake pipe pressure within a predetermined time to the approximate atmospheric pressure, and corrects the fuel injection amount based on this. ing. However, according to this method, since it is impossible to detect atmospheric pressure fluctuations due to changes in altitude during engine operation, etc., it is impossible to perform atmospheric pressure correction on the fuel injection amount. If it is large, there is a concern that the engine will stop.

この問題に対し、特開平6−28666号公報や特開2003―176749号公報には、エンジン始動後において吸気管圧力センサにより検知した吸気管圧力値の変動量が所定期間に亘って所定の許容値以内である場合に、電子式制御装置の記憶手段にその平均値を大気圧として記憶する方式が提示されている。   In response to this problem, Japanese Patent Application Laid-Open Nos. Hei 6-28666 and Japanese Patent Application Laid-Open No. 2003-176749 disclose that the fluctuation amount of the intake pipe pressure value detected by the intake pipe pressure sensor after starting the engine has a predetermined tolerance over a predetermined period. When the value is within the value, a method of storing the average value as the atmospheric pressure in the storage means of the electronic control device is proposed.

この方式は、エンジン運転中においても吸気管圧力を継続的に測定し、吸気管圧力の変動が少ない部分を検出してその平均値を算出することで大気圧として記憶し、燃料噴射量の大気圧補正に利用するものである。   This method continuously measures the intake pipe pressure even during engine operation, detects the portion where the fluctuation of the intake pipe pressure is small, calculates the average value, stores it as the atmospheric pressure, and increases the fuel injection amount. It is used for atmospheric pressure correction.

しかしながら、前者の方式は吸気管圧力センサが吸気マニホルドの集合部に配設されているものであり、吸気管圧力データを表わした図4の波形図に示すように、複数気筒のそれぞれにおいて発生する吸気負圧による立ち下がりが互いに異なるタイミングで連続的に表れることから大気圧に一致する部分が存在しない。従って、大気圧を算出するために絞り弁全開時以外は様々な演算手段を加える必要が生じ、検出した大気圧の精度が低いものとなりやすいともに処理負担が大きくなることで電子式制御装置に所定レベル以上の処理能力が要求される。一方、後者の方式は単気筒のエンジンを想定していることに加え、クランク角センサを用いて吸気管圧力の検出タイミングとしていることからクランク角センサの設置が必須となるため、適用機種が限られたり高価格化を招いたりする。
特開平5−1615公報 特開平6−28666号公報 特開2003―176749号公報
However, in the former method, an intake pipe pressure sensor is disposed at a collection portion of the intake manifold, and is generated in each of a plurality of cylinders as shown in the waveform diagram of FIG. 4 showing intake pipe pressure data. Since the falling due to the intake negative pressure appears continuously at different timings, there is no portion that matches the atmospheric pressure. Therefore, it is necessary to add various calculation means except when the throttle valve is fully opened in order to calculate the atmospheric pressure. The accuracy of the detected atmospheric pressure tends to be low, and the processing load increases, so that the electronic control device is predetermined. A processing capacity higher than the level is required. On the other hand, the latter method assumes a single-cylinder engine and also uses a crank angle sensor to detect the intake pipe pressure. And invites higher prices.
JP-A-5-1615 JP-A-6-28666 Japanese Patent Laid-Open No. 2003-176749

本発明は、上記のような問題点を解決しようとするものであり、スピード・デンティシティ方式で運転される複数気筒のエンジンにおいて、電子式制御装置に大きな処理負担をかけずに大気圧を連続的に検出できるようにして、高価格化を招くことなくその運転性を良好に維持できるようにすることを課題とする。   The present invention is intended to solve the above-described problems. In a multi-cylinder engine operated by a speed-density method, the atmospheric pressure is reduced without imposing a large processing burden on the electronic control device. It is an object of the present invention to enable continuous detection so that the operability can be satisfactorily maintained without increasing the price.

そこで、本発明は、圧力検出手段で測定した吸気管圧力に基いて電子式制御装置が運転制御を行うエンジンに用いられる大気圧検出装置について、圧力検出手段が吸気マニホルドの一つの枝管に設置され、電子式制御装置が測定された吸気管圧力をエンジン運転中に所定の間隔でサンプリングするサンプリング手段と、サンプリングされた吸気管圧力値の変動幅が所定回数以上連続して所定の許容値以内であるか否かを調べる変動幅計測手段と、その変動幅が所定回数以上連続して所定許容値以内であるときその平均値を算出する平均値算出手段と、算出された平均値を大気圧データとして記憶する記憶手段とを具えているものとした。   Therefore, the present invention relates to an atmospheric pressure detection device used in an engine whose operation is controlled by an electronic control unit based on an intake pipe pressure measured by a pressure detection unit. The pressure detection unit is installed in one branch pipe of an intake manifold. The sampling means for sampling the intake pipe pressure measured by the electronic control unit at a predetermined interval during engine operation, and the fluctuation range of the sampled intake pipe pressure value continuously within a predetermined allowable value for a predetermined number of times or more A fluctuation range measuring means for checking whether the fluctuation range is within a predetermined allowable value continuously for a predetermined number of times or more, and an average value calculating means for calculating an average value when the fluctuation range is within a predetermined allowable value. It is assumed that it comprises storage means for storing data.

このように運転制御にスピード・デンティシティ方式を採用したエンジンにおいて、吸気管圧力センサを吸気マニホルドの好ましくは他の気筒による吸気干渉を受けない部位で枝管の一つに設置したことで、吸気行程時の吸気管圧力の立ち下がりと非吸気行程時の大気圧とほぼ等しい吸気管圧力値とが交互に連続する波形が形成されることから、大気圧とほぼ等しい吸気管圧力値の領域を利用して間接的に大気圧を検出することができ、容易に大気圧補正を実行できるようになる。また、吸気管圧力の処理およびそれより大気圧を算出する手順は比較的単純なものであって処理負担が極めて軽いことから、電子式制御装置として高性能なものは必ずしも必要とせず既設のものを利用すれば充分であるため、大気圧センサ、絞り弁位置センサ、クランク角センサが不要であることと相俟って製造コストを低く抑えることができる。   In this way, in the engine that employs the speed-dentity method for operation control, the intake pipe pressure sensor is preferably installed in one of the branch pipes at a portion that is not subject to intake interference by other cylinders of the intake manifold. Intake pipe pressure value area that is almost equal to atmospheric pressure because a waveform in which the fall of the intake pipe pressure during the intake stroke and the intake pipe pressure value almost equal to the atmospheric pressure during the non-intake stroke are alternately formed is formed. It is possible to indirectly detect the atmospheric pressure by using and to easily execute the atmospheric pressure correction. In addition, the processing of the intake pipe pressure and the procedure for calculating the atmospheric pressure from it are relatively simple and the processing burden is extremely light. Therefore, the manufacturing cost can be reduced due to the fact that the atmospheric pressure sensor, the throttle valve position sensor, and the crank angle sensor are unnecessary.

また、上述したエンジンの大気圧検出装置において、平均値算出手段が吸気管圧力の平均値を算出する度にその記憶手段に記憶された大気圧データを更新するものとすれば、大気圧データが更新される度にこれを基に空燃比制御における係数を補正することができるため、環境大気圧が変動しても適時これに対応して燃料噴射量を調整することで空燃比を最適に制御することができるため、エンジン運転性を良好に維持することが容易となる。   In the above-described engine atmospheric pressure detection device, if the average value calculation means updates the atmospheric pressure data stored in the storage means every time the average value of the intake pipe pressure is calculated, the atmospheric pressure data is Since the coefficient in the air-fuel ratio control can be corrected based on this every time it is updated, the air-fuel ratio is optimally controlled by adjusting the fuel injection amount in response to this even when the environmental atmospheric pressure fluctuates. Therefore, it is easy to maintain good engine operability.

さらに、そのサンプリング手段による吸気管圧力の検知の間隔を、少なくとも1/1000秒以下とすれば、吸気管圧力の波形においてほぼ大気圧に一致する平坦部の検出精度が充分なものとなって燃料噴射の大気圧補正を適正なものとしやすくなる。   Further, if the interval of detection of the intake pipe pressure by the sampling means is at least 1/1000 second or less, the detection accuracy of the flat portion that substantially matches the atmospheric pressure in the waveform of the intake pipe pressure will be sufficient, and the fuel It becomes easy to make the atmospheric pressure correction of injection appropriate.

本発明によると、エンジン制御のための大気圧について電子式制御装置に大きな処理負担をかけずに連続的に検出できるようになり、これを基に燃料噴射量の大気圧補正が的確に行われてエンジンの運転性を良好に維持することができるものである。   According to the present invention, the atmospheric pressure for engine control can be continuously detected without imposing a large processing burden on the electronic control unit, and the atmospheric pressure correction of the fuel injection amount is accurately performed based on this. Thus, the operability of the engine can be maintained satisfactorily.

図面を参照して本発明の実施の形態を説明すると、図1は本発明を実施するための大気圧検出装置が配置されたエンジンの配置図を示している。エンジン1は2気筒2サイクルエンジンであり、その吸気管2は入口にエアクリーナ5を有し、絞り弁3が配置されたスロットルボディ2aと吸気マニホルド2bとを具えていて、吸気マニホルド2bの二本の枝管21, 21がエンジン1の各気筒に接続されている。4は排気管である。   An embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows a layout of an engine in which an atmospheric pressure detecting device for carrying out the present invention is disposed. The engine 1 is a two-cylinder two-cycle engine. The intake pipe 2 has an air cleaner 5 at the inlet, and includes a throttle body 2a in which a throttle valve 3 is disposed and an intake manifold 2b. The branch pipes 21 and 21 are connected to each cylinder of the engine 1. 4 is an exhaust pipe.

本実施の形態においては、枝管21の一つに圧力検出手段としての圧力センサ11が設置されているとともにエンジン1にエンジン回転数センサ12が設置されており、電子式制御装置10が吸気管圧力およびエンジン回転数を基に吸入空気量を算出するスピード・デンティシティ方式を採用している。尚、電子式制御装置10はCPU、ROM、RAM、入出力回路等を具え、エンジンの基本的な運転制御を主として行う簡易で低価格のもので充分であり、そのROMに以下に述べるエンジンの大気圧検出装置として作動させるためのプログラムを入力記憶させたものである。   In the present embodiment, a pressure sensor 11 as pressure detecting means is installed in one of the branch pipes 21, an engine speed sensor 12 is installed in the engine 1, and the electronic control device 10 is connected to the intake pipe. The speed-density method is used to calculate the intake air volume based on pressure and engine speed. The electronic control device 10 includes a CPU, a ROM, a RAM, an input / output circuit, and the like, and a simple and low-priced device that mainly performs basic operation control of the engine is sufficient. A program for operating as an atmospheric pressure detection device is input and stored.

吸気管圧力を検出する圧力センサ11は、他の枝管が接続された気筒からの吸気負圧の影響を受けにくいようにするため、枝管21のエンジン1に接近した位置に配置されている。従って、圧力センサ11が測定する吸気管圧力値は図2に示すようにエンジン1の1サイクル当たり、吸気行程時に発生する一回の立ち下がりと非吸気行程時の圧力値変動が少ない比較的平坦な領域とからなる波形で表わされる。   The pressure sensor 11 for detecting the intake pipe pressure is arranged at a position close to the engine 1 in the branch pipe 21 so as not to be affected by the negative intake pressure from the cylinder to which the other branch pipe is connected. . Therefore, as shown in FIG. 2, the intake pipe pressure value measured by the pressure sensor 11 is relatively flat with a single fall that occurs during the intake stroke and a fluctuation in the pressure value during the non-intake stroke per cycle of the engine 1. It is represented by a waveform consisting of various areas.

次に、図2の吸気管圧力データを表わした波形図を用いて本発明の原理を説明する。圧力センサ11を用いて測定した吸気管圧力の波形図における立ち下がりdは気筒の吸気行程時、即ち1サイクル当たり1回発生し、立ち下がりdと次の1サイクルにおける立ち下がりdとの間である気筒の非吸気行程時に平坦部fが形成されるが、この平坦部fにおける吸気管圧力値がほぼ大気圧に匹敵することから、予め設定した条件に合致したときこれを大気圧として検出するものである。   Next, the principle of the present invention will be described with reference to the waveform diagram representing the intake pipe pressure data in FIG. The fall d in the waveform diagram of the intake pipe pressure measured using the pressure sensor 11 occurs during the intake stroke of the cylinder, that is, once per cycle, and between the fall d and the fall d in the next cycle. A flat portion f is formed during a non-intake stroke of a cylinder, and since the intake pipe pressure value in the flat portion f is almost equal to the atmospheric pressure, it is detected as an atmospheric pressure when a preset condition is met. Is.

即ち、電子式制御装置10は、サンプリング手段により吸気管圧力を所定のサンプリング間隔yでサンプリングし、サンプリングされた吸気管圧力データについて変動幅計測手段でその変動幅がn回に亘って所定の許容値x以内であるか否かを調べ、これが許容値x以内であるときに平均値算出手段でその区間の変動幅の平均値を算出してこれを大気圧として記憶手段(RAM)に記憶させるものである。   In other words, the electronic control device 10 samples the intake pipe pressure at a predetermined sampling interval y by the sampling means, and the fluctuation width of the sampled intake pipe pressure data by the fluctuation width measurement means is predetermined permissible for n times. It is checked whether or not the value is within the value x. When the value is within the allowable value x, the average value calculating means calculates the average value of the fluctuation range of the section and stores it in the storage means (RAM) as the atmospheric pressure. Is.

次に、本実施の形態の大気圧検出装置における電子式制御装置10の作用を、図3のフローチャートを用いて説明する。   Next, the operation of the electronic control device 10 in the atmospheric pressure detection device of the present embodiment will be described using the flowchart of FIG.

エンジンが始動すると、圧力センサ11が検出した吸気管圧力をサンプリング手段で所定の間隔yでサンプリングする(A1)。尚、サンプリングの間隔yは数100μs〜数msの間で設定することで平坦部fにおける吸気管圧力の変動幅を確実に検出できるが、エンジン1が2〜4気筒のガソリンエンジンであって電子式制御装置10が一般的な処理速度・処理能力のものである場合、y=1ms(1/1000秒)以下であればこの平坦部fを精度よく検出することができる。   When the engine is started, the intake pipe pressure detected by the pressure sensor 11 is sampled at a predetermined interval y by the sampling means (A1). Although the sampling interval y is set between several hundreds μs to several ms, the fluctuation range of the intake pipe pressure in the flat portion f can be detected with certainty. However, the engine 1 is a 2- to 4-cylinder gasoline engine and is electronic. When the expression control device 10 has a general processing speed and processing capability, the flat portion f can be detected with high accuracy if y = 1 ms (1/1000 second) or less.

そして、変動幅測定手段はサンプリングした最近n回の吸気管圧力値においてその変動幅が全て許容値x以内であるか否かを調べる(A2)。これが許容値x以内であれば平均値算出手段でこのn回の吸気管圧力の平均値を算出し(A3)、記憶手段であるRAMに記憶された大気圧データを更新し(A4)、許容値x以上の変動幅があれば、(A3)、(A4)の手順は実施せず、(A1)からの手順を繰り返す。   Then, the fluctuation range measuring means checks whether or not the fluctuation ranges are all within the allowable value x in the sampled n latest intake pipe pressure values (A2). If this is within the allowable value x, the average value calculating means calculates the average value of the n intake pipe pressures (A3), updates the atmospheric pressure data stored in the RAM as the storage means (A4), If there is a fluctuation range equal to or larger than the value x, the procedures (A3) and (A4) are not performed, and the procedure from (A1) is repeated.

尚、電子式制御装置10はエンジン1の燃料噴射制御機能を具えていることから、この更新された大気圧に基いて最適な空燃比となるように燃料噴射量の算定式における係数を補正する。   Since the electronic control device 10 has the fuel injection control function of the engine 1, the coefficient in the calculation formula of the fuel injection amount is corrected so that the optimum air-fuel ratio is obtained based on the updated atmospheric pressure. .

以上述べたように、吸気管圧力センサを他の気筒の吸気負圧の影響を受けにくい吸気マニホルドの枝管の一つに配置し吸気管圧力データにおいて大気圧とほぼ一致する平坦部を利用して容易に検出できるようにした本実施の形態によると、電子式制御装置に過大な処理負担をかけずにエンジン始動後において大気圧を連続的に検出できるようになり、低コストでエンジン運転性を良好に維持できるものである。   As described above, the intake pipe pressure sensor is arranged in one of the branch pipes of the intake manifold that is not easily affected by the intake negative pressure of other cylinders, and the flat portion that substantially matches the atmospheric pressure is used in the intake pipe pressure data. According to the present embodiment, which can be easily detected, the atmospheric pressure can be continuously detected after starting the engine without imposing an excessive processing burden on the electronic control device, and the engine operability can be reduced at a low cost. Can be maintained well.

本発明の実施の形態を示す配置図。The layout which shows embodiment of this invention. 図1の圧力センサで検知した吸気管圧力の波形図。The wave form diagram of the intake pipe pressure detected with the pressure sensor of FIG. 図1の電子式制御装置の作用を説明するフローチャート。The flowchart explaining the effect | action of the electronic control apparatus of FIG. 従来例において圧力センサで検知した吸気管圧力の波形図。The wave form diagram of the intake pipe pressure detected by the pressure sensor in the conventional example.

符号の説明Explanation of symbols

1 エンジン、 2b 吸気マニホルド、 10 電子式制御装置、 11 圧力センサ、 12 エンジン回転数センサ、 21 枝管
DESCRIPTION OF SYMBOLS 1 Engine, 2b Intake manifold, 10 Electronic control unit, 11 Pressure sensor, 12 Engine speed sensor, 21 Branch pipe

Claims (3)

圧力検出手段で測定した吸気管圧力に基いて電子式制御装置が運転制御を行うエンジンに用いられる大気圧検出装置であって、
前記圧力検出手段は吸気マニホルドの一つの枝管に設置されており、
前記電子式制御装置は測定された吸気管圧力をエンジン運転中に所定の間隔でサンプリングするサンプリング手段と、サンプリングされた吸気管圧力値の変動幅が所定回数以上連続して所定の許容値以内であるか否かを調べる変動幅計測手段と、前記変動幅が前記所定回数以上連続して所定許容値以内であるときその平均値を算出する平均値算出手段と、前記算出された平均値を大気圧データとして記憶する記憶手段とを具えている、
ことを特徴とするエンジンの大気圧検出装置。
An atmospheric pressure detection device used for an engine in which an electronic control device performs operation control based on an intake pipe pressure measured by a pressure detection means,
The pressure detecting means is installed in one branch pipe of the intake manifold,
The electronic control device includes sampling means for sampling the measured intake pipe pressure at predetermined intervals during engine operation, and the fluctuation range of the sampled intake pipe pressure value is continuously within a predetermined allowable value for a predetermined number of times or more. Fluctuation range measuring means for checking whether or not there is, average value calculating means for calculating an average value when the fluctuation range is within a predetermined allowable value continuously for the predetermined number of times or more, and calculating the calculated average value Storage means for storing as barometric pressure data,
An atmospheric pressure detection device for an engine.
前記平均値算出手段は平均値を算出する度に前記記憶手段に記憶された大気圧データを更新するものとされている、ことを特徴とする請求項1に記載したエンジンの大気圧検出装置。   2. The engine atmospheric pressure detection apparatus according to claim 1, wherein the average value calculating means updates atmospheric pressure data stored in the storage means every time an average value is calculated. 前記サンプリング手段による吸気管圧力の検知の間隔は、少なくとも1/1000秒以下とされていることを特徴とする請求項1または2に記載したエンジンの大気圧検出装置。
3. The engine atmospheric pressure detection device according to claim 1, wherein an interval of detection of the intake pipe pressure by the sampling means is at least 1/1000 second or less. 4.
JP2004179222A 2004-06-17 2004-06-17 Engine atmospheric pressure detector Expired - Fee Related JP4529124B2 (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007247588A (en) * 2006-03-17 2007-09-27 Nissan Motor Co Ltd Control device and control method for reciprocating internal combustion engine
JP2007269279A (en) * 2006-03-31 2007-10-18 Denso Corp Collision detection system for vehicle

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Publication number Priority date Publication date Assignee Title
JPH06280666A (en) * 1993-03-29 1994-10-04 Mitsubishi Electric Corp Atmospheric pressure detector for engine control

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06280666A (en) * 1993-03-29 1994-10-04 Mitsubishi Electric Corp Atmospheric pressure detector for engine control

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007247588A (en) * 2006-03-17 2007-09-27 Nissan Motor Co Ltd Control device and control method for reciprocating internal combustion engine
JP2007269279A (en) * 2006-03-31 2007-10-18 Denso Corp Collision detection system for vehicle
JP4670709B2 (en) * 2006-03-31 2011-04-13 株式会社デンソー Vehicle collision detection system

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