JP5999047B2 - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
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- JP5999047B2 JP5999047B2 JP2013159459A JP2013159459A JP5999047B2 JP 5999047 B2 JP5999047 B2 JP 5999047B2 JP 2013159459 A JP2013159459 A JP 2013159459A JP 2013159459 A JP2013159459 A JP 2013159459A JP 5999047 B2 JP5999047 B2 JP 5999047B2
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- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/175—Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control
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- 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
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
- B60W10/188—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes hydraulic brakes
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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
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18063—Creeping
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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
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18172—Preventing, or responsive to skidding of wheels
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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
- 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
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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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
- 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
- B60W30/18—Propelling the vehicle
- B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
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- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/3205—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration 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
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/18—Four-wheel drive vehicles
- B60W2300/185—Off-road vehicles
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
- B60W2540/106—Rate of change
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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
- B60W2540/215—Selection or confirmation of options
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope
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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
- B60W2710/18—Braking system
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
Description
図1は、本発明の第1実施形態にかかる車両制御装置が適用される車両の制駆動系のシステム構成を示した図である。ここでは、前輪側を主駆動輪、後輪側を従駆動輪とする駆動形態のフロント駆動ベースの4輪駆動車に対して本発明の一実施形態となる車両姿勢制御装置を適用した場合について説明するが、後輪側を主駆動輪、前輪側を従駆動輪とする駆動形態のリア駆動ベースの4輪駆動車に対しても適用可能である。
本発明は上記した実施形態に限定されるものではなく、特許請求の範囲に記載した範囲内において適宜変更が可能である。
Claims (3)
- ブレーキ操作に基づいてホイールシリンダ圧を発生させることで各車輪に制動力を発生させると共に、前記ホイールシリンダ圧を自動的に加圧することで前記各車輪それぞれの制動力を自動的に制御するサービスブレーキが備えられる車両に適用され、
車両における車体速度の目標速度を設定する目標速度設定手段と、
前記車体速度を前記目標速度に近づけるべく、駆動力の制御を行うオフロードサポートコントロールを実行する制御手段と、を有し、
前記目標速度設定手段により前記目標速度としてブレーキ目標閾値速度を設定し、前記車体速度が前記目標速度を超えたときに前記制御手段にて前記制動力を発生させることで、前記車体速度を前記目標速度に近づける車両制御装置であって、
前記目標速度設定手段は、前記オフロードサポートコントロール制御が実行されているときに、前記ブレーキ操作に基づいて制動力が発生させられたことにより前記車体速度が低下して前記ブレーキ目標閾値速度を下回ると、前記車体速度に追従して前記ブレーキ目標閾値速度を低下させ、
さらに、前記目標速度設定手段では、前記ブレーキ目標閾値速度をアクセル開度に基づいて設定しており、前記アクセル操作に対応して前記車体速度が増加しているときには、アクセル開度に基づいて設定され、かつ所定の上限値を超えないように設定される増加勾配であるアクセル加速度に基づいて、予め設定される速度上限値を上限ガードとした前記ブレーキ目標閾値速度が設定され、該ブレーキ目標閾値速度を超えないように前記車体速度を増加させられることを特徴とする車両制御装置。 - 前記目標速度設定手段では、アクセル戻し操作が行われたときに、所定の減速度大期間は、通常時の目標減速度よりも大きな目標減速度に基づいて、前記ブレーキ目標閾値速度を設定し、単位時間当たりのアクセル戻し量であるアクセル閉じ勾配速度が大きい程、前記減速度大期間が長くなるように前記減速度大期間を設定することを特徴とする請求項1に記載の車両制御装置。
- 前記目標速度設定手段では、前記ブレーキ操作があった場合に、該ブレーキ操作がない場合と比較して、前記車体速度の減速度を大きくして前記ブレーキ目標閾値速度を設定することを特徴とする請求項1または2に記載の車両制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013159459A JP5999047B2 (ja) | 2013-07-31 | 2013-07-31 | 車両制御装置 |
US14/909,330 US9694794B2 (en) | 2013-07-31 | 2014-07-31 | Vehicle control device |
CN201480042716.6A CN105431337B (zh) | 2013-07-31 | 2014-07-31 | 车辆控制装置 |
PCT/JP2014/070263 WO2015016326A1 (ja) | 2013-07-31 | 2014-07-31 | 車両制御装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013159459A JP5999047B2 (ja) | 2013-07-31 | 2013-07-31 | 車両制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2015030313A JP2015030313A (ja) | 2015-02-16 |
JP5999047B2 true JP5999047B2 (ja) | 2016-09-28 |
Family
ID=52431853
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013159459A Active JP5999047B2 (ja) | 2013-07-31 | 2013-07-31 | 車両制御装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US9694794B2 (ja) |
JP (1) | JP5999047B2 (ja) |
CN (1) | CN105431337B (ja) |
WO (1) | WO2015016326A1 (ja) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6164141B2 (ja) * | 2014-03-31 | 2017-07-19 | 株式会社アドヴィックス | 車両の運転支援装置 |
GB2529627B (en) * | 2014-08-26 | 2019-05-01 | Jaguar Land Rover Ltd | Controlling the deceleration of a vehicle to a stop using drive torque and brake pressure |
JP6443250B2 (ja) * | 2015-07-17 | 2018-12-26 | トヨタ自動車株式会社 | 車両の制御装置 |
CN105955850A (zh) * | 2016-05-18 | 2016-09-21 | 安徽江淮汽车股份有限公司 | 一种车辆用控制单元异常复位处理方法及系统 |
JP6686751B2 (ja) * | 2016-07-08 | 2020-04-22 | トヨタ自動車株式会社 | 制動力制御装置 |
JP7003500B2 (ja) * | 2016-12-21 | 2022-01-20 | トヨタ自動車株式会社 | 運転支援装置 |
DE102017006031A1 (de) * | 2017-06-26 | 2018-12-27 | Wabco Gmbh | Verfahren zum Einlernen von Bremsstufen-Schwellwerten einer in Bremsstufen geschalteten Dauerbremse sowie Bremssystem |
JP2019206206A (ja) * | 2018-05-28 | 2019-12-05 | トヨタ自動車株式会社 | 駆動力制御装置 |
JP7298434B2 (ja) * | 2019-10-11 | 2023-06-27 | トヨタ自動車株式会社 | 運転支援装置 |
KR20210057251A (ko) * | 2019-11-11 | 2021-05-21 | 현대자동차주식회사 | 가변형 flex brake 시스템 |
KR20210145036A (ko) * | 2020-05-22 | 2021-12-01 | 현대자동차주식회사 | 급가속 제한 방법 및 이를 적용한 차량 |
US11305773B1 (en) * | 2020-09-28 | 2022-04-19 | Ford Global Technologies, Llc | Powertrain to friction brake standstill handoff for one pedal drive |
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Publication number | Priority date | Publication date | Assignee | Title |
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DE3612170A1 (de) * | 1986-04-11 | 1987-10-15 | Daimler Benz Ag | Einrichtung zur vortriebs-regelung fuer ein kraftfahrzeug mit allradantrieb |
DE4032506A1 (de) * | 1990-10-12 | 1992-04-16 | Lucas Ind Plc | Verfahren zum regeln des bremsdruckes in einer blockiergeschuetzten fahrzeugbremsanlage |
JPH10297451A (ja) * | 1997-04-23 | 1998-11-10 | Mitsubishi Motors Corp | 減速度付加制御装置 |
KR100286516B1 (ko) * | 1997-04-23 | 2001-04-16 | 나까무라히로까즈 | 감속도 부가 제어장치 |
JP3653192B2 (ja) | 1999-06-07 | 2005-05-25 | トヨタ自動車株式会社 | 車両用トラクション制御装置 |
JP3995134B2 (ja) * | 2000-06-20 | 2007-10-24 | 株式会社三井ハイテック | 太陽電池の製造方法および太陽電池 |
JP4742451B2 (ja) * | 2000-07-11 | 2011-08-10 | トヨタ自動車株式会社 | 走行制御装置 |
JP4151883B2 (ja) * | 2002-06-03 | 2008-09-17 | ヤマハ発動機株式会社 | 車速制御装置 |
JP2004142689A (ja) * | 2002-10-28 | 2004-05-20 | Hitachi Constr Mach Co Ltd | 降坂速度制御装置 |
US7134985B2 (en) * | 2002-10-28 | 2006-11-14 | Hitachi Construction Machinery Co., Ltd. | Downhill speed controller |
JP3915774B2 (ja) * | 2003-12-05 | 2007-05-16 | トヨタ自動車株式会社 | 車両の減速制御装置 |
JP4335116B2 (ja) * | 2004-10-26 | 2009-09-30 | 本田技研工業株式会社 | 車両の走行安全装置 |
GB2505027B (en) * | 2012-08-16 | 2015-03-04 | Jaguar Land Rover Ltd | Vehicle speed control system |
WO2014069429A1 (ja) * | 2012-11-02 | 2014-05-08 | 本田技研工業株式会社 | 車両のパーキング制御装置 |
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2013
- 2013-07-31 JP JP2013159459A patent/JP5999047B2/ja active Active
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2014
- 2014-07-31 WO PCT/JP2014/070263 patent/WO2015016326A1/ja active Application Filing
- 2014-07-31 CN CN201480042716.6A patent/CN105431337B/zh active Active
- 2014-07-31 US US14/909,330 patent/US9694794B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
WO2015016326A1 (ja) | 2015-02-05 |
US9694794B2 (en) | 2017-07-04 |
US20160185327A1 (en) | 2016-06-30 |
JP2015030313A (ja) | 2015-02-16 |
CN105431337B (zh) | 2018-08-28 |
CN105431337A (zh) | 2016-03-23 |
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