JP5116877B2 - 車両速度制限装置 - Google Patents
車両速度制限装置 Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
- F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
- F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
- F02D11/105—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type characterised by the function converting demand to actuation, e.g. a map indicating relations between an accelerator pedal position and throttle valve opening or target engine torque
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- 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
- B60K31/02—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 electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically
- B60K31/04—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 electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically 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 an electrical signal which is fed into the controlling means
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- 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
- B60W30/143—Speed control
- B60W30/146—Speed limiting
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- F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
- F02D11/02—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by hand, foot, or like operator controlled initiation means
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- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
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- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
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- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
- F02D31/001—Electric control of rotation speed
- F02D31/002—Electric control of rotation speed controlling air supply
- F02D31/006—Electric control of rotation speed controlling air supply for maximum speed control
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- F02D9/00—Controlling engines by throttling air or fuel-and-air induction conduits or exhaust conduits
- F02D9/02—Controlling engines by throttling air or fuel-and-air induction conduits or exhaust conduits concerning induction conduits
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- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D9/00—Controlling engines by throttling air or fuel-and-air induction conduits or exhaust conduits
- F02D9/08—Throttle valves specially adapted therefor; Arrangements of such valves in conduits
- F02D9/10—Throttle valves specially adapted therefor; Arrangements of such valves in conduits having pivotally-mounted flaps
- F02D9/109—Throttle valves specially adapted therefor; Arrangements of such valves in conduits having pivotally-mounted flaps having two or more flaps
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02M—SUPPLYING COMBUSTION ENGINES IN GENERAL WITH COMBUSTIBLE MIXTURES OR CONSTITUENTS THEREOF
- F02M35/00—Combustion-air cleaners, air intakes, intake silencers, or induction systems specially adapted for, or arranged on, internal-combustion engines
- F02M35/10—Air intakes; Induction systems
- F02M35/10006—Air intakes; Induction systems characterised by the position of elements of the air intake system in direction of the air intake flow, i.e. between ambient air inlet and supply to the combustion chamber
- F02M35/10026—Plenum chambers
- F02M35/10039—Intake ducts situated partly within or on the plenum chamber housing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02M—SUPPLYING COMBUSTION ENGINES IN GENERAL WITH COMBUSTIBLE MIXTURES OR CONSTITUENTS THEREOF
- F02M35/00—Combustion-air cleaners, air intakes, intake silencers, or induction systems specially adapted for, or arranged on, internal-combustion engines
- F02M35/10—Air intakes; Induction systems
- F02M35/104—Intake manifolds
- F02M35/116—Intake manifolds for engines with cylinders in V-arrangement or arranged oppositely relative to the main shaft
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02M—SUPPLYING COMBUSTION ENGINES IN GENERAL WITH COMBUSTIBLE MIXTURES OR CONSTITUENTS THEREOF
- F02M35/00—Combustion-air cleaners, air intakes, intake silencers, or induction systems specially adapted for, or arranged on, internal-combustion engines
- F02M35/16—Combustion-air cleaners, air intakes, intake silencers, or induction systems specially adapted for, or arranged on, internal-combustion engines characterised by use in vehicles
- F02M35/162—Motorcycles; All-terrain vehicles, e.g. quads, snowmobiles; Small vehicles, e.g. forklifts
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- 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
- B60K2031/0091—Speed limiters or speed cutters
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
- B60W2050/0009—Proportional differential [PD] controller
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- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0605—Throttle position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/10—Road Vehicles
- B60Y2200/12—Motorcycles, Trikes; Quads; Scooters
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D9/00—Controlling engines by throttling air or fuel-and-air induction conduits or exhaust conduits
- F02D9/02—Controlling engines by throttling air or fuel-and-air induction conduits or exhaust conduits concerning induction conduits
- F02D2009/0201—Arrangements; Control features; Details thereof
- F02D2009/023—Engine speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
- F02D2041/1409—Introducing closed-loop corrections characterised by the control or regulation method using at least a proportional, integral or derivative controller
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
- F02D2041/1413—Controller structures or design
- F02D2041/1422—Variable gain or coefficients
Description
Claims (11)
- スロットルバルブ(28)をモータ(30)で駆動するスロットルバイワイヤ機構を有する車両速度制限装置(40)において、
変速機(60)のギヤ段毎に設けられ、スロットルグリップ開度(θA)およびエンジン回転数に基づいて、前記スロットルバルブ(28)の目標スロットルバルブ開度(θB)を導出する三次元マップ(46a)と、
前記目標スロットルバルブ開度に応じて前記モータ(30)を駆動するスロットルバルブ駆動部(47)とを具備し、
前記スロットルバルブ駆動部(47)は、車両(1)の速度が予め定められた最高速度を超えそうな場合には、前記三次元マップ(46a)によって導出された目標スロットルバルブ開度(θB)にかかわらず、車両(1)の速度が予め定められた最高速度を超えないように前記モータ(30)を駆動し、
さらに、車両(1)の現在の速度と、予め設定された最高速度との偏差を算出する速度偏差算出手段と、
車両(1)の加速度を算出する加速度算出手段と、
予め定められたP項係数を前記速度偏差に乗じて算出される第1の所定開度と、予め定められたD項係数を前記加速度に乗じて算出される第2の所定開度と、現在のスロットルバルブ開度とを加算することで第1の最高速度リミッタ開度を算出する最高速度リミッタ開度算出手段(43)とを具備し、
前記スロットルバルブ駆動部(47)は、前記三次元マップ(46a)に基づいて導出された目標スロットルバルブ開度(θB)より、前記算出された第1の最高速度リミッタ開度の方が小さくなると、前記モータ(30)を前記第1の最高速度リミッタ開度に基づいて駆動するように構成されていることを特徴とする車両速度制限装置。 - 前記第1の最高速度リミッタ開度を用いた最高速度制限の実行中に、前記スロットルグリップ開度(θA)が小さくなった場合には、スロットルグリップ開度(θA)の変化率に応じて、前記第1の最高速度リミッタ開度を、該第1の最高速度リミッタ開度より小さい第2の最高速度リミッタ開度に切り換えるローセレクト手段(45)を具備することを特徴とする請求項1に記載の車両速度制限装置。
- スロットルバルブ(28)をモータ(30)で駆動するスロットルバイワイヤ機構を有する車両速度制限装置(40)において、
変速機(60)のギヤ段毎に設けられ、スロットルグリップ開度(θA)およびエンジン回転数に基づいて、前記スロットルバルブ(28)の目標スロットルバルブ開度(θB)を導出する三次元マップ(46a)と、
前記目標スロットルバルブ開度に応じて前記モータ(30)を駆動するスロットルバルブ駆動部(47)とを具備し、
前記スロットルバルブ駆動部(47)は、車両(1)の速度が予め定められた最高速度を超えそうな場合には、前記三次元マップ(46a)によって導出された目標スロットルバルブ開度(θB)にかかわらず、車両(1)の速度が予め定められた最高速度を超えないように前記モータ(30)を駆動し、
前記車両速度制限装置(40)は、複数気筒を有するエンジン(54)に適用され、
前記エンジン(54)は、前記車両(1)の運転状態に応じて前記複数の気筒のうちの少なくとも1つを休止させてその稼働気筒数(S)を変更できるように構成されており、
前記スロットルバルブ(67)を駆動する複数のモータ(63A,63B,63CD)が、前記稼働気筒数(S)の変化段数に相当する数だけ設けられており、
前記車両速度制限装置(40)は、前記現在車速(Vs)が予め設定された設定最高車速(Vm)に到達した時点での前記稼働気筒数(S)に応じて目標スロットルバルブ開度(THVm)を設定し、該目標スロットルバルブ開度(THVm)を用いて前記複数のモータ(63A,63B,63CD)を制御することを特徴とする車両速度制限装置。 - 前記目標スロットルバルブ開度(THVm)は、前記現在車速(Vs)が前記設定最高車速(Vm)となる最高速度制限用目標トルク(Qm)を演算した後、該最高速度制限用目標トルク(Qm)を目標スロットルグリップ開度(THGm)に換算した上で、該目標スロットルグリップ開度(THGm)によって決定される前記稼働気筒数(S)に振り分けた値として算出されることを特徴とする請求項3に記載の車両速度制限装置。
- 前記車両速度制限装置(40)は、前記設定最高車速(Vm)と前記現在車速(Vs)との車速偏差(P)と、該車速偏差の変化量(D)とに基づいてフィードバック操作量(FB)を算出し、前回の処理時に前記目標スロットルグリップ開度(THGm)に換算された目標トルク現在値(Qn)と前記フィードバック操作量(FB)とを加算することで前記最高速度制限用目標トルク(Qm)を算出することを特徴とする請求項4に記載の車両速度制限装置。
- 前記車両速度制限装置(40)は、スロットルグリップ開度センサ(27)で検知されるスロットルグリップ開度(THG)、エンジン回転数センサ(34)で検知されるエンジン回転数(NE)およびギヤポジションセンサ(33)で検知されるギヤポジション(GP)をパラメータとする3次元マップを用いて、前記エンジン(54)の要求トルク(Qy)を算出し、
最高速度制限に用いられる目標トルク現在値(Qn)は、前記要求トルク(Qy)および前記最高速度制限用目標トルク(Qm)のうちの小さい方を選択するローセレクト処理によって決定されることを特徴とする請求項5に記載の車両速度制限装置。 - 前記要求トルク(Qy)を算出する3次元マップは、前記現在車速(Vs)が前記設定最高車速(Vm)を超えることとなる所定のスロットルグリップ開度領域および所定のエンジン回転数領域に、前記車速(Vs)が前記設定最高車速(Vm)を超えないようにする要求トルクデータを備えていることを特徴とする請求項6に記載の車両速度制限装置。
- 前記フィードバック操作量(FB)は、前記車速偏差(P)に乗算されるP項係数(Kp)と、前記車速偏差の変化量(D)に乗算されるD項係数(Kd)とを用いて算出され、
前記P項係数(Kp)およびD項係数(Kd)は、前記現在車速(Vs)が前記設定最高車速(Vm)より大きい場合に適用される値(Kpt,Kdt)と、前記現在車速(Vs)が前記設定最高車速(Vm)より小さい場合に適用される値(Kpb,Kdb)とからなることを特徴とする請求項5に記載の車両速度制限装置。 - 前記P項係数(Kp)およびD項係数(Kd)は、前記現在車速(Vs)が前記設定最高車速(Vm)を超える場合には大きく、前記現在車速(Vs)が前記設定最高車速(Vm)より小さい場合には小さくなるように設定されると共に、前記稼働気筒数(S)が少ないほど大きくなるように設定されることを特徴とする請求項8に記載の車両速度制限装置。
- 前記複数気筒のうち稼働している気筒のスロットルバルブ実開度(THVj)は、エンジン(54)のアイドリング回転数を維持するためのアイドル開度に、前記目標スロットルバルブ開度(THVm)を加算することで算出されることを特徴とする請求項4に記載の車両速度制限装置。
- 前記気筒の休止時には、休止気筒の前記スロットルバルブ(64)の開度が前記アイドル開度に切り換えられることを特徴とする請求項10に記載の車両速度制限装置。
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JP2011507261A JP5116877B2 (ja) | 2009-03-31 | 2010-03-31 | 車両速度制限装置 |
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PCT/JP2010/055874 WO2010114025A1 (ja) | 2009-03-31 | 2010-03-31 | 車両速度制限装置 |
JP2011507261A JP5116877B2 (ja) | 2009-03-31 | 2010-03-31 | 車両速度制限装置 |
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JP5116877B2 true JP5116877B2 (ja) | 2013-01-09 |
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Families Citing this family (16)
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JP2010261385A (ja) * | 2009-05-08 | 2010-11-18 | Suzuki Motor Corp | 電子制御スロットルバルブ制御装置 |
US9085237B2 (en) * | 2011-10-03 | 2015-07-21 | Fuji Jukogyo Kabushiki Kaisha | Speed limiter |
US20150006032A1 (en) * | 2012-09-20 | 2015-01-01 | Tremaine Jackson | Vehicle Generating System |
JP6020338B2 (ja) * | 2013-04-26 | 2016-11-02 | マツダ株式会社 | 車両の制御装置 |
JP6286965B2 (ja) * | 2013-09-18 | 2018-03-07 | 株式会社豊田自動織機 | 産業車両の車速制御装置 |
DE112014006719T9 (de) * | 2014-06-04 | 2017-07-06 | Kabushiki Kaisha F.C.C. | Fahrzeug mit Sattel |
US9746070B2 (en) | 2014-11-26 | 2017-08-29 | Polaris Industries Inc. | Electronic control of a transmission |
US9759313B2 (en) | 2014-11-26 | 2017-09-12 | Polaris Industries Inc. | Electronic shifting of a transmission |
JP6191644B2 (ja) * | 2015-03-26 | 2017-09-06 | トヨタ自動車株式会社 | 車速制限装置 |
JP6137228B2 (ja) * | 2015-03-26 | 2017-05-31 | トヨタ自動車株式会社 | 車速制限装置 |
JP6913465B2 (ja) | 2017-01-13 | 2021-08-04 | 本田技研工業株式会社 | 内燃機関の制御装置 |
FR3069511B1 (fr) * | 2017-07-25 | 2019-08-02 | Continental Automotive France | Procede de limitation de la vitesse d’un motocycle |
US10809741B2 (en) | 2017-11-17 | 2020-10-20 | Polaris Industries Inc. | Method and system for controlling the speed of a vehicle |
CN112389196B (zh) * | 2019-08-19 | 2022-03-01 | 北京新能源汽车股份有限公司 | 一种踏板信号的修正方法、装置及汽车 |
CN110949385B (zh) * | 2019-11-19 | 2022-04-05 | 中极氢能汽车(长治)有限公司 | 自适应巡航控制方法、控制装置、氢能汽车及存储介质 |
CN111516897B (zh) * | 2020-04-29 | 2022-05-10 | 湖南双达机电有限责任公司 | 除冰车的行驶控制方法、控制系统以及除冰车 |
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JP5362660B2 (ja) * | 2010-07-14 | 2013-12-11 | 本田技研工業株式会社 | 燃料噴射制御装置 |
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- 2010-03-31 JP JP2011507261A patent/JP5116877B2/ja active Active
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JPH01110849A (ja) * | 1987-10-22 | 1989-04-27 | Nippon Denso Co Ltd | スロットル駆動装置 |
JPH02196146A (ja) * | 1989-01-26 | 1990-08-02 | Yamaha Motor Co Ltd | 車輌の速度制限装置 |
JP2004116760A (ja) * | 2002-09-30 | 2004-04-15 | Mazda Motor Corp | パワートレインの制御装置 |
JP2006104953A (ja) * | 2004-09-30 | 2006-04-20 | Honda Motor Co Ltd | 車両のエンジン出力制限装置 |
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EP2415994B1 (en) | 2016-10-05 |
US8296034B2 (en) | 2012-10-23 |
WO2010114025A1 (ja) | 2010-10-07 |
US20120016562A1 (en) | 2012-01-19 |
JPWO2010114025A1 (ja) | 2012-10-11 |
EP2415994A1 (en) | 2012-02-08 |
EP2415994A4 (en) | 2014-04-30 |
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