Nippondenso Co., Ltd.

Toyota Jidosha Kabushiki Kaisha

Masahiro Ohba

Hideaki Namba

Eiichi Kamei

Hiroaki Kuraoka

Katsumasa Matsui

Naoto Ohoka

Satoshi Hirano

Masao Tsujii

Hitoshi Takeuchi

Susumu Akiyama

Kenzo Ito

Kyoji Oda

Naoto Ooka

Naoki Matsumoto

Yuuji Hirabayashi

Tohru Kakehi

Takayoshi Kawai

Keiji Aoki

Mitsunori Takao

Kazutoshi Nishizawa

Toru Yamazaki

Katsunori Ito

Nobuhiko Makino

Masao Yonekawa

Shinichiro Tanaka

Hisamitsu Yamazoe

Masashi Kiyono

Hideki Matsuura

Yutaka Ninoyu

Tsutomu Natsume

Hidemichi Tanabe

Hiroshi Sugimoto

Hisahiro Miura

Toru Kamiya

Tuguyasu Sakai

Toru Kakehi

Toshinori Mizuno

A method of and system for controlling the speed of a motor vehicle based on a control characteristic so that the speed of the vehicle follows a target speed. The system estimates a dynamic characteristic of the motor vehicle to adjust the control characteristic when the motor vehicle is under a cruising control. The system includes a sensor for detecting a speed of the motor vehicle and a sensor for detecting an operating position of an actuator which adjusts a travelling speed of the motor vehicle. In the system, the detected vehicle speed and actuator operating position are converted into data in terms of an imaginary operating point. The imaginary operating point remains constant because it is not affected by variations of a static characteristic of the motor vehicle. The dynamic characteristic of the motor vehicle is estimated on the basis of the conversion data. This arrangement can accurately estimate the dynamic characteristic of the motor vehicle.

Method of and system for controlling the speed of a motor vehicle based

An automotive cruise control system equipped with an actuator to regulate the state of an automobile in accordance with a control signal indicative of an actuator control amount so that the vehicle maintains a target speed, the actuator control amount being determined on the basis of the speed of the vehicle and the operation state of the actuator. The automotive cruise control system is arranged so as to divide the vehicle into first and second systems: the first system on-line-identifies a model corresponding to the state of the vehicle; the second system on-line-identifies a model corresponding to the actuator used in the vehicle. The actuator control amount is calculated on the basis of the first and second system models to produce the actuator control signal in correspondence with these models. By identifying two models, the time lag normally associated with this type of automotive cruise control system is reduced because this arrangement allows simplifying the identification of the model relating to the vehicle concurrently with realizing accurate control of the vehicle.

Automotive cruise control system for controlling vehicle to run at

A servo control system includes an actuator controlling a controlled quantity. A device detects the controlled quantity and generates a detection signal representative thereof. The actuator is controlled in response to a target value and the detection signal so that the detected controlled quantity can follow the target value. A device generates a signal representative of an input variable relating only to the target value. The target value is corrected in accordance with the input variable through fuzzy reasoning using predetermined rules.

Servo control system

A throttle control apparatus for engines comprises two throttle actuators for driving two corresponding main and sub throttle valves mounted in series in an intake pipe of an engine. An observer, to which the modern control theory is applied, presumes an opening degree of the main throttle valve in a normal condition, which occurs a predetermined time later, from an accelerator depression amount, which represents a throttle opening command, and an opening degree (angular position) of the main throttle valve. A failure detector quickly finds, from a deviation between the presumed opening degree of the throttle valve at the predetermined later time and an actual opening degree of the main throttle valve, that the main throttle valve has failed. When a failure occurs, the control of the sub throttle valve is started, making it possible to effect the throttle opening control with improved reliability.

Throttle control apparatus for engines

A refrigeration cycle or an air conditioner including a refrigeration cycle is subjected to feedback control based on modern control theory. An apparatus controlling a controlled object, that is, the refrigeration cycle of the air conditioner including the refrigeration cycle, is formed as an optimal regulator. A controlled input to the controlled object includes a capacity of a compressor or a degree of opening of an expansion valve. A control output from the controlled object includes a temperature of air at a point downstream of the evaporator or a superheat of refrigerant. Feedback gains are predetermined by use of dynamic models constructed for respective steady operation states of the controlled object.

Refrigeration cycle control apparatus

Disclosed a brake control system for stably performing the brake control of a motor vehicle. The brake control system is arranged so as to control a braking pressure applied to a vehicle wheel so that the wheel speed becomes equal to a target wheel speed. The target wheel speed is determined on the basis of a predetermined slip ratio of the wheel and the vehicle speed of the wheel portion. The vehicle speed of the wheel portion is derived as a function of the turning radius determined in the steering amount of the vehicle and the vehicle speed. The brake control system is preferably constructed as an integral-added optimal regulator which controls the braking pressure on the basis of an optimal feedback gain predetermined in accordance with a dynamic model of a system performing the brake of the vehicle.

Brake control system on turning of motor vehicle

Disclosed is a vehicle speed control system for controlling the intake air amount introduced into an engine of a vehicle in order to allow the vehicle to travel at a target speed. The intake air amount is controlled in accordance with the integration value of deviation of the vehicle speed from the target speed. The integration value is rest when the vehicle acceleration is terminated and the reset integration value is derived on the basis of the vehicle speed and throttle valve opening degree. The vehicle speed control system includes an integral-added optimal regulator which determines the feedback amount on the basis of an optimal feedback gain predetermined in accordance with a dynamic model of the system relating to the constant travelling speed of the vehicle.

Vehicle speed control system

An anti-skid control system for a vehicle with at least one wheel. The anti-skid control system includes a wheel sensor for sensing a rotational speed of the wheel and for generating a signal indicative of the sensed wheel speed and a brake sensor for sensing a braking force of a braking device which brakes the wheel and for generating a signal indicative of the sensed braking force. The wheel sensor and the brake sensor are respectively coupled to a control unit for receiving the wheel speed signal and the braking force signal to control the braking force of the braking device to a target braking force so that a slip ratio of the wheel assumes a predetermined value. The control unit determines the target braking force at the time of start of the anti-skid control to be equal to a braking force corresponding to the resultant of torques developed in the wheel at the control start time.

Anti-skid control system for braking of vehicle

Disclosed is a brake control system for a motor vehicle comprising a wheel braking device (M5) for providing the braking of a wheel of the vehicle in accordance with pressure, a braking pressure adjusting device (M6) for adjusting the braking pressure applied to the wheel braking device (M5), a detector (M4) for detecting a rotational state of the wheel, a rotational state setting device (M8) for setting an optimally rotational state of the wheel in according with an operating condition of the vehicle, and a control unit (M9) for feedback-controlling the braking pressure adjusting device (M6) so that the detected rotational state is equal to the set rotational state. The control unit (M9) is constructed as an integral-added optimal regulator which controls the braking pressure adjusting device (M6) on the basis of an optimal feedback gain predetermined in accordance with a dynamic model of a system relating to the brake of the vehicle. The brake control system with such an arrangement makes possible to provide quick response and high stability on the braking operation of the vehicle.

Brake control system for vehicle

The required rate of acceleration of a vehicle is detected. The speed of the vehicle is detected. The rotational speed of a vehicle driving wheel is detected. An air adjusting device adjusts the rate of air flow into a vehicle powering engine in accordance with an adjustable controlled quantity. A target rotational speed is determined on the basis of the detected required acceleration rate. The controlled quantity of the air adjusting device is feedback-controlled so that the detected rotational speed of the driving wheel essentially equals the target rotational speed. The output torque of the engine is estimated in accordance with the detected rotational speed of the driving wheel and the controlled quantity of the air adjusting device. Specifically, an integral-added optimal regulator determines the controlled quantity of the air adjusting device in accordance with an optimal feedback gain the estimated engine output torque, the detected rotational speed of the driving wheel, and the target rotational speed. The integral-added optimal regulator performs the feedback control based on this information. The optimal feedback gains are predetermined according to a dynamic model of a system powering the driving wheel.

Vehicle acceleration control system

Disclosed is an air conditioner for automobiles comprising an air conditioning unit for adjusting at least temperature of blow-off air discharged into a vehicle compartment, a decision device for determining whether the air conditioning unit is in an initial state that the air conditioning unit is started, and an air conditioning control unit for feedback controlling the air conditioning unit so that the detected internal temperature becomes equal to the set target temperature. The air conditioning control unit is formed as an integral-added optimal regulator which performs the feedback control on the basis of optimal feedback gain predetermined in accordance with a dynamic model of an air conditioning system. The air conditioning control unit outputs to the air conditioning unit controlled variables decided in accordance with the results of the determination made by the decision device.

Air conditioner for automobiles

In an air conditioner for automobiles, control unit for performing feedback control of blow off air is constructed in the form of an integral-added optimal regulator (M4) which performs the feedback control on the basis of optimal feedback gain predetermined according to dynamic model(s) of an air conditioning system including the vehicle compartment (M1) and the used air conditioning unit (M2). According to another feature of the present invention, an environmental condition, such as solar radiation to the vehicle compartment (M1), is detected to further accurately control the internal air temperature. In one embodiment, the internal variables including optimal feedback gain of the integral-added optimal regulator (M4) are changed in accordance with the variation in the dynamic model depending on the detected environmental condition. In another embodiment, in addition to the above-mentioned feedback gain, feedforward gain is used so as to finally determine controlled variables of blow off air control unit (M2). Furthermore, according to another feature of the present invention, temperature control may be performed at a plurality of different positions within a vehicle compartment using a plurality of air conditioning units without suffering from interference between a plurality of airflows.

The vehicle height control apparatus according to the present invention comprises, vehicle height detecting unit (M3) provided at an appropriate position of a vehicle (M1) for detecting the distance between a body (M2) of the vehicle (M1) and the surface of road; vehicle height adjusting members (M5) provided between the body (M2) of the vehicle (M1) and wheels (M4) of the vehicle (M1) for adjusting the height of the a vehicle (M1); vehicle height control unit (M6) for obtaining controlled variable of the vehicle height adjusting members (M5) so that the actual vehicle height detected by the vehicle height detecting unit (M3) equals the predetermined target height and for driving the vehicle height adjusting members (M5), the vehicle height control unit (M6) being formed as an integral-added optimal regulator which determines the controlled variable of the vehicle height adjusting members (M5) on the basis of an optimal feedback gain predetermined in accordance with dynamic model of the system relating to the height of the vehicle (M1 ).

Vehicle height control apparatus

A case for accommodating an electronic circuit for an electronic control system mounted on a vehicle is formed of an electric conductor and is electrically isolated from the grounding terminal of the electronic circuit which is provided on a printed substrate. Further, the outer boundary of a signal line for signal transmission between the electronic circuit and external circuits or sensors of the case is connected to the case through capacitors, thus preventing the faulty actuation of the electronic control system which otherwise might be caused by the electromagnetic wave.

Vehicle-mounted electronic apparatus

Apparatus for controlling the operating state of an internal combustion engine (M1), has a demand amount detecting an unit (M2) for detecting amount of demand to the engine, an operating condition varying unit (M3) for varying a condition of operation of the engine, an operating state detecting an unit (M4) for detecting operating state of the engine, a target value setting unit (M5) for determining target values of variables of the operating condition, a control unit (M6) for controlling the operating condition varying unit (M3) by determining feedback amount of the operating condition variables so that detected values equal to the target values. In such apparatus, the target value setting unit (M5) is constructed to determine a target intake air quantity as a value with which fuel supply amount becomes minimum on the basis of the correlation between intake air quantity and fuel supply amount when output torque is made constant, and the control unit (M6) is constructed as an integral-added optimal regulator which determines the feedback amount on the basis of an optimal feedback gain predetermined in accordance with dynamic model of a system relating to the operation of the internal combustion engine.

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Okazaki, Japan

Masahiro Ohba