| 摘要 |
A constant speed maintaining apparatus for use in a vehicle includes a vehicle speed detector for detecting a present speed V(t) of the vehicle, a cruise control device for producing a control value U(t), a target speed setting device for setting a target speed Vd(t), and an actuator for changing the opening degree of a throttle valve of a vehicle engine based on the control value U(t) to maintain the present speed V(t) substantially equal to the target speed Vd(t). The cruise control device includes a differentiation device for calculating a differentiated present speed V(t), a parameter estimation device for calculating an estimated parameter best based on the present speed V(t), differentiated present speed V(t), and control value U(t), and a control value calculation device for calculating the control value based on the target speed Vd(t), present speed V(t), differentiated present speed V(t), and estimated parameter best.
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