USRE32474E - Variable time delay apparatus for controlling the start of a vehicle - Google Patents
Variable time delay apparatus for controlling the start of a vehicle Download PDFInfo
- Publication number
- USRE32474E USRE32474E US06/898,312 US89831286A USRE32474E US RE32474 E USRE32474 E US RE32474E US 89831286 A US89831286 A US 89831286A US RE32474 E USRE32474 E US RE32474E
- Authority
- US
- United States
- Prior art keywords
- delay
- relay
- period
- vehicle
- switch
- 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 - Lifetime
Links
- 230000004913 activation Effects 0.000 claims abstract description 6
- 239000003990 capacitor Substances 0.000 claims description 26
- 238000001914 filtration Methods 0.000 claims 4
- 230000001276 controlling effect Effects 0.000 claims 2
- 238000001514 detection method Methods 0.000 claims 2
- 230000001105 regulatory effect Effects 0.000 claims 2
- 230000005540 biological transmission Effects 0.000 description 10
- 230000035484 reaction time Effects 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 3
- 241000191291 Abies alba Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004353 relayed correlation spectroscopy Methods 0.000 description 2
- 238000006563 Carroll rearrangement reaction Methods 0.000 description 1
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 230000000881 depressing effect Effects 0.000 description 1
- 230000036039 immunity Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H43/00—Time or time-programme switches providing a choice of time-intervals for executing one or more switching actions and automatically terminating their operations after the programme is completed
- H01H43/02—Details
- H01H43/04—Means for time setting
Definitions
- the present invention relates to a variable time delay apparatus for controlling the start of a vehicle and, more particularly, for controlling the start of a racing vehicle after a preset period of delay.
- the race is begun by a starting system consisting of a series of lights of various numbers, commonly called "Christmas tree" lights. Typically, there are one to five warning lights of amber color, one green colored light to indicate the start of the race and one red light to indicate a foul start. Vehicles are aligned in a row, and when the green light appears, the vehicles start the race. To attempt to obtain the best start, vehicles are placed in low gear with the reverse gear, simultaneously applied thereto, thereby "jamming" the transmission. To apply the reverse gear to jam the transmission, a solenoid is activated holding the reverse gear in place. The transmission is jammed because both forward and reverse gears are applied at the same time.
- the engine is run at high speed, i.e., at high horse power.
- the solenoid When the solenoid is released, the reverse gear is released thereby unjamming the transmission. The power is then instantly transmitted to the wheels through the low gear. This results in extremely quick acceleration of the race vehicle.
- some vehicles are provided with a "roll control" solenoid that locks the brakes on the car, acting in much the same manner as applying the reverse gear of the transmission. The release of the solenoid to the brake of the vehicle also releases the car for quick acceleration.
- the vehicle should leave the starting line at exactly the time when the green light turns on. To accomplish this, however, the driver must anticipate the green light and release the solenoid before the green light comes on. This is because the driver has his reaction time and the car also has its reaction time, before the car actually starts moving.
- Delay circuits are well known in the art. See, for example, U.S. Pat. Nos. 3,814,948; 4,276,483; 4,051,915; 4,204,128; 4,206,613; 3,376,429. None of the references, however, teaches an adjustable time delay apparatus for controlling the start of a racing vehicle after a preset period of delay.
- a variable time delay apparatus controls the start of a racing vehicle after a preset period of delay, wherein the vehicle is started by engaging the engine of the vehicle and simultaneously engaging a braking means. The braking means is then disengaged after the period of delay.
- the apparatus comprises a relay means for selectively engaging and disengaging the braking means.
- a variable time delay means sets the period of delay.
- a switch means selectively causes the relay means to engage the brake means and to disengage the brake means after the period of delay.
- safety activation means prevents the relay means from engaging the brake means in the absence of the switch means selected to cause the relay means to engage the brake means.
- FIG. 1 is a schematic diagram of an analog version of the variable time delay circuit of the present invention.
- FIG. 2 is a schematic diagram of a digital version of the variable time delay circuit of the present invention.
- FIG. 1 there is shown a schematic circuit of an analog time delay apparatus 10 of the present invention.
- a source 12 supplies twelve volts D.C. power to the apparatus 10 of the present invention.
- the source 12 is supplied to the apparatus 10 through a first diode CR1.
- the diode CR1 prevents damage to the apparatus 10 in case the ground and power leads are mistakenly reversed during installation.
- a second diode CR2, a Zener diode protects the apparatus 10 from over voltage or electrical noise spikes which are prevalent in automobile electrical systems and, in particular, in race car ignition systems.
- Capacitors C1, C2, and C3 in parallel electrically with second diode CR2 help to absorb electrical noise spikes and to filter the source 12 and to provide a stable voltage supply to the rest of the apparatus 10.
- the twelve volt D.C. power from the source 12 is supplied to a first voltage regulator VR1, and a second voltage regulator VR2.
- the first voltage regulator VR1 converts the twelve volts D.C. to six-volts D.C.
- the second voltage regulator VR2 converts the twelve volts D.C. to 8-volts D.C.
- Switch S1 has two positions, a first position and a second position.
- the eight-volt D.C. power from the second voltage regulator VR2 passes through a resistive network comprising of resistors R3 and R4.
- Capacitor C4 is in series electrically with the resistors R3 and the series combination of C4 and R3 is in parallel with R4.
- a variable potentiometer P is also connected electrically in parallel with the capacitor C4. From the variable potentiometer P, the power is supplied to a timing integrated circuit U1.
- the output of integrated circuit U1 drives a transistor Q1.
- the transistor Q1 turns on and off power to the first coil 14a of a first relay 14.
- Third diode CR3 prevents the high voltage inductive spike caused by shutting off the first coil 14a from damaging the transistor Q1.
- the contact arm 14b of the first relay 14 is interposed between the twelve volt power supply 12 of the car to the solenoid that locks the brakes ("roll control” solenoid) and the solenoid that locks the reverse gear of the transmission “transmission brake” solenoid (hereinafter collectively referred to as the "braking solenoids").
- Six volt D.C. power from the first voltage regulator VR1 is supplied to the first coil 14a after passing through a second contact arm 16b of a second relay 16.
- the eight-volt D.C. power from the second voltage regulator VR2 is supplied to a capacitor C6 and a second coil 16a of a second relay 16 which are connected electrically in parallel.
- the shield of the wire to switch S1 is grounded thereby shielding the wires from electrical noise. Normally, switch S1 is in the first position.
- the capacitor C4 increases immunity to the high frequency noise so that timing errors would not occur.
- Resistor R3, capacitor C5 and the potentiometer P determine the amount of time delay. The higher the resistance of the potentiometer P, the longer the delay.
- the slider arm of the potentiometer P is also connected to the unused terminal of the potentiometer P to minimize noise pickup.
- Resistor R3 provides a minimum amount of resistance so that even when the potentiometer P's resistance is zero, the apparatus 10 will still function.
- Resistor R4 provides an electrical path to ground so that timing capacitor C5 will discharge and cause the integrated circuit U1 to turn on.
- Resistor R2 provides a positive voltage to the collector of transistor Q1 so that the collector does not electrically "float" when the second contact arm 16b is released.
- the driver of the racing vehicle will have adjusted the potentiometer P to suit his reaction time and the reaction time of his vehicle.
- the switch S1 is normally in the first position. The car rolls slowly towards the starting line and when the car reaches the starting line, switch S1 is pressed into the second position. Pressing the switch S1 into the second position activates the first relay 14 and the second relay 16, which turns on the braking solenoids. This stops the car at the starting line. Switch S1 is released, typically when the Christmas tree amber lights start counting down or when the last amber light before the green light turns on, returning it to the first position. The period of time delay commences.
- the timing capacitor C5 discharges and turns on the output of the integrated circuit U1. This causes the transistor Q1 to turn on.
- the second coil 16a is energized, which closes off the second contact arm 16b. This connects the first coil 14a to the six-volt power from the first voltage regulator VR1. Power then flows from the first voltage regulator VR1 to the first coil 14a, because transistor Q1 is turned on. The energization of the first coil 14a causes the first contact arms 14b to close, permitting power from the twelve volt supply 12 to be applied to the braking solenoids. This then locks the vehicle in place.
- the transistor Q1 When the timing capacitor C5 has charged sufficiently to turn off the integrated circuit U1, the transistor Q1 is then turned off. This then shuts off the power from VR1 to the first coil 14a.
- the amount of time of delay to release the braking solenoids is determined by the amount of time the capacitor C5 takes to charge to the point of turning off integrated circuit U1.
- Integrated circuit U1 has a voltage level, such that when the voltage of C5 exceeds that level, integrated circuit U1 will turn off the transistor Q1.
- the time period for charging capacitor C5 is determined by resistors R3 and potentiomater P.
- the apparatus 10 of the present invention is designed to be "fail safe" in the event of a component failure.
- the second coil 16a must be energized in order to close the second contact arm 16b in order to suppy power to the first coil 14a to permit it to turn on.
- the second coil 16a of the second relay 16 can only be energized by pushing the switch S1. If capacitor C6 should fail in the "shorting mode", it merely drags the voltage supply from the second voltage regulator VR2 down and blows a fuse in the vehicle. If the capacitor C6 fails in the "open mode", the second coil 16a will release when the switch S1 is released returning it to the first position. This will cause the first coil 14a to be released instantly.
- the six-volt D.C. power from the first voltage regulator VR1, which is a constant voltage source for the first coil 14a, and the eight volt D.C. power from the second voltage regulator VR2 for the timing portion of the apparatus 10 ensure that the apparatus 10 will always function correctly. This is because in a racing vehicle, the electrical source is a twelve-volt battery. As the battery begins to run down, variation in the voltage supply can occur. By stepping down the voltage through voltage regulators VR1 and VR2, this assures that the apparatus 10 will not fail due to low voltage from the battery and will produce a constant time delay regardless of the voltage.
- the input of the integrated circuit U1 is a Schmitt trigger, it requires a large voltage change to switch on the integrated circuit U1. Thus, not many negative voltage spikes can cause problems. Those that do pose potential problems are quick in comparison to the reaction time of the first relay 14. Thus, the relay 14 is immuned to electrical noise. Finally, when the second relay 16 is de-energized, no voltage spike can pose any problem to the first relay 14 because there is no power to the relay 14. It is, therefore, seen that the apparatus 10 of the present invention is immuned to electrical noise and voltage fluctuation that are inherent in an electrically dirty environment, such as a racing vehicle.
- the apparatus 10 will have the following component values:
- This digital apparatus 20 comprises an oscillator 22.
- the oscillator 22 oscillates at a stable frequency providing a train of pulses.
- the pulses enter into a counter 24.
- the output of the counter 24 is supplied to a comparator 26.
- a time setting switch 28 supplies a digital number corresponding to the amount of delay desired and is also supplied to the comparator 26.
- the output of the comparator 26 is connected to the base of the transistor 30.
- the first coil 14a of a first relay 14 is connected to the collector of the transistor 30. Power from a constant D.C. voltage source is supplied to the first coil 14a through a second contact arm 16b of a second relay.
- a switch S1 is selectable between first position and a second position. In a first position, switch S1 enables the counter 24. The output of the comparator 26 disables the counter 24 when the digital number from the time setting switch 28 equals the digital number from the counter 24. In a second position, switch S1 is connected to the second coil 16b of the second relay 16 and resets the counter 24. A capacitor C6 is connected electrically in parallel with the second coil 16b of the second relay 16.
- the driver selects the amount of time delay by setting the time-setting switches 28.
- Switch S1 is then pressed into the second position. This resets the counter 24.
- power is supplied to the second coil 16a of the second relay 16, closing the second contact arm 16b. This closes the circuit providing power to the first relay 14.
- the switch S1 is released, it returns to the first position and the counter 24 counts the pulses from the oscillator 22.
- the comparator 26 receives the output from the counter 24 and from the time-setting switch 28. When the two are equal, indicating that the prequisite period of time delay has passed, the comparator 26 sends a signal to the base of the transistor 30 thus turning the transistor 30 off.
- the first coil 14a of the first relay 14 is then de-energized releasing the braking solenoids. A short while later, the capacitor C6 will have discharged sufficiently to cause the second coil 16a to release the contact arm 16b thereto. This opens the circuit to the first coil 14a of the first relay 14.
- the digital number in the time setting switch 28 sets a count down counter 24.
- the switch S1 is released returning it to the first position, the counter 24 counts down from the number set by the time setting switches 28.
- the counter 24 reaches the value of "0"
- a signal is sent to the transistor 30 turning the transistor 30 off.
- the second relay 16 can be replaced by any other type of switch.
- the switch can be connected based upon the throttle position or based upon the pressure of the transmission or brake lines.
- an acceleration switch which locks out transmission under any condition except standing still can also be used.
- the safety relay 16 can be simply a second switch.
- the first relay 14 can also be any other type of electronic device for switching high power levels, such as an electronic relay, a power transistor or a silicon controlled rectifier (SCR).
- a mechanical relay is shown only for the purpose of illustration and is believed at present to be more reliable than the other afore-mentioned devices.
- the apparatus 10 of the present invention can also be used on vehicles having manual transmission.
- a hydraulic clutch linkage can be used.
- a "roll control" valve will be installed in the hydraulic line and it will be operated by the apparatus 10 of the present invention. The driver would push in the clutch, activate the apparatus 10 by pushing the switch S1, removing the foot from the clutch, and then releasing the switch S1 when the last amber light comes on. After the requisite delay period has passed, the apparatus will then de-energize the "roll control" coil which would de-energize the "roll control” valve. The hydraulic line pressure would drop and the clutch would be released, thereby moving the car.
Landscapes
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
Description
______________________________________
Parts List
______________________________________
R2 2.2k RESISTORS
VR1 LM340T-6 Voltage
Regulator
R3 1.0k
VR2 LM340T-8
R4 1.0k
RELAY 14 Potter Brumfield
R5 1.0k KuP11D15 6v
R6 100k RELAY 16 Aromat HA1-DC9v
C1 10 μf 25v POT OHMITE CLU
CAPACITORS 1041.1MEG
C2 .1 μf 35v Q1 2N2222A
C3 .1 μf U1 CD4584 BC
C4 .0047 μf
C5 1.0 μf
C6 470 μf
CR1 IN4001 DIODES
CR2 IN967B
CR3 IN4148
______________________________________
Claims (12)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US06/898,312 USRE32474E (en) | 1982-06-07 | 1986-08-20 | Variable time delay apparatus for controlling the start of a vehicle |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US06/385,542 US4467219A (en) | 1982-06-07 | 1982-06-07 | Variable time delay apparatus for controlling the start of a vehicle |
| US06/898,312 USRE32474E (en) | 1982-06-07 | 1986-08-20 | Variable time delay apparatus for controlling the start of a vehicle |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| US06/385,542 Reissue US4467219A (en) | 1982-06-07 | 1982-06-07 | Variable time delay apparatus for controlling the start of a vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| USRE32474E true USRE32474E (en) | 1987-08-11 |
Family
ID=27011054
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| US06/898,312 Expired - Lifetime USRE32474E (en) | 1982-06-07 | 1986-08-20 | Variable time delay apparatus for controlling the start of a vehicle |
Country Status (1)
| Country | Link |
|---|---|
| US (1) | USRE32474E (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4812671A (en) | 1988-07-26 | 1989-03-14 | B. F. Electronics, Inc. | Transmission brake disengagement circuit for a racing automobile |
| WO1994012998A1 (en) * | 1992-11-24 | 1994-06-09 | Hubbell Incorporated | Method and apparatus for staggered activation of electrical loads |
| US5600185A (en) * | 1991-07-31 | 1997-02-04 | Hamma; Nolen L. | Cross over delay apparatus |
| US5642712A (en) * | 1996-03-12 | 1997-07-01 | Biondo Racing Products, Inc. | Adjustable time operated throttle based on actual race conditions |
| US5652468A (en) | 1995-09-08 | 1997-07-29 | Reid; Dennis | Cross-over compensation circuit |
| US5675191A (en) * | 1996-04-17 | 1997-10-07 | Hamilton; William H. | Transmission brake disengagement apparatus for improving the starting consistency of a drag race car |
| US5675190A (en) * | 1994-08-29 | 1997-10-07 | Hitachi Construction Machinery Co., Ltd. | Operating apparatus for parking brake and method for releasing parking brake |
| US5757085A (en) * | 1994-10-19 | 1998-05-26 | Robert Bosch Gmbh | Maintenance-friendly immobilization system |
| US5804885A (en) * | 1994-07-08 | 1998-09-08 | Reid; Dennis | Automotive racing simulation apparatus |
| US5839419A (en) * | 1996-06-27 | 1998-11-24 | Curtis E. Rodden | Adjustable automatic throttle actuation controller |
| US5892294A (en) * | 1994-07-08 | 1999-04-06 | Reid; Dennis | Modular automotive racing simulation apparatus |
| US6166629A (en) | 1999-12-03 | 2000-12-26 | Hamma; Nolen L. | Combination delay box with driver reaction time tester and tachometer and playback |
| US6189505B1 (en) | 1998-09-09 | 2001-02-20 | Dennis Reid | Disc type throttle stop |
| US6406103B1 (en) * | 2000-09-06 | 2002-06-18 | John M. Elliott | Variable burn out timer |
| US20080309165A1 (en) * | 2005-01-17 | 2008-12-18 | Toyota Jidosha Kabushiki Kaisha | Drive System and Control Method of the Same |
| US20110270501A1 (en) * | 2010-04-30 | 2011-11-03 | Toyota Jidosha Kabushiki Kaisha | Vehicle controlling system |
| US8958970B2 (en) | 2010-05-13 | 2015-02-17 | Toyota Jidosha Kabushiki Kaisha | Vehicle control device and vehicle control system |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3376429A (en) * | 1965-06-04 | 1968-04-02 | Wagner Electric Corp | Time delay circuit |
| US3814948A (en) * | 1972-10-10 | 1974-06-04 | Cutler Hammer Inc | Universal on-delay timer |
| US4051915A (en) * | 1976-11-05 | 1977-10-04 | Deere & Company | Neutral start and park brake safety interlock circuitry for a tractor |
| US4204128A (en) * | 1978-03-13 | 1980-05-20 | Westinghouse Electric Corp. | Adjustable time delay relay |
| US4206613A (en) * | 1978-10-25 | 1980-06-10 | Shockley Norman E | Air conditioner control system |
| US4276483A (en) * | 1978-04-21 | 1981-06-30 | Trw Inc. | Timed electric switch |
| US4286683A (en) * | 1979-08-20 | 1981-09-01 | Zemco, Inc. | Stop/start control system for engine |
| US4436176A (en) * | 1981-12-14 | 1984-03-13 | Cota Albert O | Delayed vehicle starter |
| US4596215A (en) * | 1985-07-16 | 1986-06-24 | Palesotti Anthony L | Drag racer competition control system |
-
1986
- 1986-08-20 US US06/898,312 patent/USRE32474E/en not_active Expired - Lifetime
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3376429A (en) * | 1965-06-04 | 1968-04-02 | Wagner Electric Corp | Time delay circuit |
| US3814948A (en) * | 1972-10-10 | 1974-06-04 | Cutler Hammer Inc | Universal on-delay timer |
| US4051915A (en) * | 1976-11-05 | 1977-10-04 | Deere & Company | Neutral start and park brake safety interlock circuitry for a tractor |
| US4204128A (en) * | 1978-03-13 | 1980-05-20 | Westinghouse Electric Corp. | Adjustable time delay relay |
| US4276483A (en) * | 1978-04-21 | 1981-06-30 | Trw Inc. | Timed electric switch |
| US4206613A (en) * | 1978-10-25 | 1980-06-10 | Shockley Norman E | Air conditioner control system |
| US4286683A (en) * | 1979-08-20 | 1981-09-01 | Zemco, Inc. | Stop/start control system for engine |
| US4436176A (en) * | 1981-12-14 | 1984-03-13 | Cota Albert O | Delayed vehicle starter |
| US4596215A (en) * | 1985-07-16 | 1986-06-24 | Palesotti Anthony L | Drag racer competition control system |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4812671A (en) | 1988-07-26 | 1989-03-14 | B. F. Electronics, Inc. | Transmission brake disengagement circuit for a racing automobile |
| US5600185A (en) * | 1991-07-31 | 1997-02-04 | Hamma; Nolen L. | Cross over delay apparatus |
| WO1994012998A1 (en) * | 1992-11-24 | 1994-06-09 | Hubbell Incorporated | Method and apparatus for staggered activation of electrical loads |
| US5459358A (en) * | 1992-11-24 | 1995-10-17 | Hubbell Incorporated | Method and apparatus for randomly delayed activation of electrical loads |
| US5892294A (en) * | 1994-07-08 | 1999-04-06 | Reid; Dennis | Modular automotive racing simulation apparatus |
| US5804885A (en) * | 1994-07-08 | 1998-09-08 | Reid; Dennis | Automotive racing simulation apparatus |
| US5675190A (en) * | 1994-08-29 | 1997-10-07 | Hitachi Construction Machinery Co., Ltd. | Operating apparatus for parking brake and method for releasing parking brake |
| US5757085A (en) * | 1994-10-19 | 1998-05-26 | Robert Bosch Gmbh | Maintenance-friendly immobilization system |
| US5652468A (en) | 1995-09-08 | 1997-07-29 | Reid; Dennis | Cross-over compensation circuit |
| US5642712A (en) * | 1996-03-12 | 1997-07-01 | Biondo Racing Products, Inc. | Adjustable time operated throttle based on actual race conditions |
| US5675191A (en) * | 1996-04-17 | 1997-10-07 | Hamilton; William H. | Transmission brake disengagement apparatus for improving the starting consistency of a drag race car |
| US5839419A (en) * | 1996-06-27 | 1998-11-24 | Curtis E. Rodden | Adjustable automatic throttle actuation controller |
| US6189505B1 (en) | 1998-09-09 | 2001-02-20 | Dennis Reid | Disc type throttle stop |
| US6166629A (en) | 1999-12-03 | 2000-12-26 | Hamma; Nolen L. | Combination delay box with driver reaction time tester and tachometer and playback |
| US6406103B1 (en) * | 2000-09-06 | 2002-06-18 | John M. Elliott | Variable burn out timer |
| US20080309165A1 (en) * | 2005-01-17 | 2008-12-18 | Toyota Jidosha Kabushiki Kaisha | Drive System and Control Method of the Same |
| US7638961B2 (en) * | 2005-01-17 | 2009-12-29 | Toyota Jidosha Kabushiki Kaisha | Drive system and control method of the same |
| US20110270501A1 (en) * | 2010-04-30 | 2011-11-03 | Toyota Jidosha Kabushiki Kaisha | Vehicle controlling system |
| US8880318B2 (en) * | 2010-04-30 | 2014-11-04 | Toyota Jidosha Kabushiki Kaisha | Vehicle controlling system |
| US8958970B2 (en) | 2010-05-13 | 2015-02-17 | Toyota Jidosha Kabushiki Kaisha | Vehicle control device and vehicle control system |
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