| 摘要 |
<p>A constant speed maintaining apparatus for use in a vehicle includes a vehicle speed detector (20) for detecting a present speed V(t) of the vehicle, a cruise control device (4) for producing a control value U(t), a target speed setting device (2) for setting a target speed Vd(t), and an actuator (10) 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 (4) includes a differentiation device (38) for calculating a differentiated present speed V/<.>(t), a parameter estimation device (40) 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 (24, 26, 28, 30, 32, 34, 36, 42) 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. <IMAGE></p> |
