| 摘要 |
<p>PURPOSE:To improve the riding comfortability of vehicles by providing an instruction speed profile forming section which produces a pattern such that a changing rate in time of accerelation or decerelation increases from zero, keeps a constant level and then decreases to zero successively, at the starting up or termination of accerelation or decerelation. CONSTITUTION:A speed difference computing section 3 outputs the difference Valpha between the present instruction speed value VM and the present speed instruction value VC from the ground and the difference Vbeta between the former and the preceding speed instruction value VC' from the ground. Speed difference comparators 41, 42 make a comparison between Valpha, Vbeta and the set value VE, while an accerelation or decerelation section discriminator 5 makes a discrimination on conditions such as constant speed traveling, constant accerelation or decerelation traveling, and accerelation or decerelation increasing/decreasing traveling. A speed increment determining section 6 makes a determination of a value DELTAV of speed increment or decrement using the result discriminated by the accerelation or decerelation section discriminator 5 and the values of Valpha, Vbeta. The speed increment or decrement value DELTAV is added to the instruction speed value VM and the resulted value is transmitted to a main circuit control unit as a new instruction speed value VMN.</p> |
