| 摘要 |
A system and method for automatically running a vehicle at a desired cruising speed in which in order to properly control an opening angle of a throttle valve of a vehicular engine, the opening angle of the throttle valve is feedforward controlled. In the feedforward control, a wheel force of the vehicle is derived by storing an instantaneous angular displacement of the throttle valve for each period of controlling the angular displacement of the throttle valve, weighting transient characteristics of a transmission torque in a power train of the vehicle including dead times and first order lag to the stored instantaneous angular displacement of the throttle valve to derive each wheel force for the period of controlling the angular displacement of the throttle valve, and averaging each wheel force for each period of deriving a change rate of the vehicle speed to derive the wheel force. The wheel force is used to derive a running resistance of the vehicle based on deriving a target angular displacement of the throttle valve to maintain the vehicle speed at the cruising speed.
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