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131. 发明授权

US6009370A Control unit for vehicle and total control system therefor 失效
标题翻译：车辆控制单元及总控制系统
公开(公告)号：US6009370A
公开(公告)日：1999-12-28
申请号：US71802
申请日：1998-05-04
申请人： Toshimichi Minowa , Yoshiyuki Yoshida , Junichi Ishii , Shigeki Morinaga , Hiroshi Katayama , Mitsuo Kayano , Kenichiro Kurata
发明人： Toshimichi Minowa , Yoshiyuki Yoshida , Junichi Ishii , Shigeki Morinaga , Hiroshi Katayama , Mitsuo Kayano , Kenichiro Kurata
IPC分类号： B60W50/00 , F01N11/00 , F02D37/02 , F02D41/26 , G01R31/28 , G05B19/00 , G05B19/042 , G05D1/00 , G06F3/00 , G06F7/00 , G06F7/70 , G06F9/445 , G06F12/08 , G06F19/00 , G06G7/70
CPC分类号： G06F8/66 , F01N11/007 , F02D37/02 , F02D41/263 , F02D41/266 , G05B19/00 , G05B19/0423 , G06F8/70 , B60W2050/0005 , F01N2550/02 , F02D2041/285 , F02D2200/0404 , F02D2200/0406 , F02D2200/501 , F02D41/1454 , F02D41/187 , G05B2219/21015 , G05B2219/21021 , G05B2219/21127 , G05B2219/21137 , G05B2219/21138 , G05B2219/23277 , G05B2219/23371 , G05B2219/24125 , G05B2219/25243 , G05B2219/25301 , G05B2219/25341 , G05B2219/25435 , G05B2219/25451 , G05B2219/2637 , G06F12/0802 , Y02T10/47
摘要： A vehicle control unit comprises an interface software memory for storing an interface software program for connecting an application software program with an operating system in an internal ROM, a central processing unit for performing computation of the application software program and the interface software program, an erasable memory for storing data such as the result of computation, an I/O unit for extending the control unit, and extending means for communicating memory data through a bus or a LAN. A single-chip micro-computer is used in vehicle control.
摘要翻译：车辆控制单元包括用于存储用于将应用软件程序与内部ROM中的操作系统连接的接口软件程序的接口软件存储器，用于执行应用软件程序和接口软件程序的计算的中央处理单元，可擦除用于存储诸如计算结果的数据的存储器，用于扩展控制单元的I / O单元，以及用于通过总线或LAN传送存储器数据的扩展装置。单片微型计算机用于车辆控制。

132. 发明授权

US6000378A Change gear control device using acceleration and gear ratio as parameters for automatic transmission in a motor vehicle and the method therefor 失效
公开(公告)号：US6000378A
公开(公告)日：1999-12-14
申请号：US144257
申请日：1998-08-31
申请人： Toshimichi Minowa , Hiroshi Kimura , Yoshiyuki Yoshida , Yoshishige Ohyama , Yutaka Nishimura
发明人： Toshimichi Minowa , Hiroshi Kimura , Yoshiyuki Yoshida , Yoshishige Ohyama , Yutaka Nishimura
IPC分类号： B60W10/06 , B60W30/18 , F02D41/02 , F16H59/14 , F16H59/74 , F16H61/02 , F02D41/00
CPC分类号： B60W10/06 , B60W10/04 , B60W10/11 , B60W10/115 , B60W30/18 , B60W30/1819 , F02D41/023 , F16H61/0213 , B60W2510/1005 , B60W2520/10 , B60W2540/16 , B60W2710/0622 , F02D41/0225 , F16H2059/147
摘要： A change gear control device is provided for an automatic transmission in a motor vehicle propelled by an internal combustion engine which is operated with an air/fuel mixture having air/fuel ratios ranging from a fuel rich air/fuel ratio to a fuel lean air/fuel ratio depending on driving conditions of the motor vehicle. In this device a first detector detects an engine torque of the internal combustion engine and a second detector detects a vehicle speed of the motor vehicle. A processor processes transmission gear ratios for the automatic transmission. In particular, the processor reads the detected engine torque from the first detector and the detected vehicle speed from the second detector, determines a new transmission gear ratio based upon the engine torque and the vehicle speed, and outputs a signal representing the new transmission gear ratio to the automatic transmission, whereby a gear shifting operation is effected at a timing based on an engine torque variation due to an operating air/fuel ratio change.

133. 发明授权

US5818178A Valve control apparatus for an automobile 失效
标题翻译：汽车用阀门控制装置
公开(公告)号：US5818178A
公开(公告)日：1998-10-06
申请号：US611774
申请日：1996-03-06
申请人： Katsuji Marumoto , Toshimichi Minowa , Mineo Kashiwaya , Matsuo Amano
发明人： Katsuji Marumoto , Toshimichi Minowa , Mineo Kashiwaya , Matsuo Amano
IPC分类号： F02D11/10 , H02P7/00 , H02K23/00
CPC分类号： H02P7/0094 , H02P7/04 , F02D11/10
摘要： In a valve control apparatus for an automobile, an H-bridge type chopper main circuit 4 is operated by a control signal PWM from a microcomputer 1 to thereby drive a motor 9 for controlling a throttle valve 10. The power element current from the chopper main circuit 4 is detected by a shunt resistor 5 in the form of a voltage, and the detected voltage is amplified by an amplifier 6 and then taken into the microcomputer 1 through a sample hold circuit 12 and an A/D converter. The sample hold circuit 12 is operated in synchronism with the control signal PWM from the microcomputer 1. Further, the A/D converter is also operated in synchronism with the control signal PWM from the microcomputer 1. The motor 9 is controlled by a throttle valve opening angle command and a throttle valve opening angle signal, and further the motor 9 is controlled by a detected motor current.
摘要翻译：在汽车的气门控制装置中，通过来自微型计算机1的控制信号PWM来操作H桥式斩波器主电路4，由此驱动用于控制节气门10的电动机9.来自斩波器主体的功率元件电流电路4由分流电阻器5以电压形式检测，检测电压由放大器6放大，然后通过采样保持电路12和A / D转换器进入微计算机1。采样保持电路12与来自微型计算机1的控制信号PWM同步操作。此外，A / D转换器也与来自微型计算机1的控制信号PWM同步操作。电动机9由节流阀打开角度指令和节气门打开角度信号，并且还通过检测到的电动机电流来控制电动机9。

134. 发明授权

US5608626A Drive shaft torque controlling apparatus for use in a vehicle having a power transmission mechanism and method therefor 失效
标题翻译：一种用于具有动力传递机构的车辆的驱动轴扭矩控制装置及其方法
公开(公告)号：US5608626A
公开(公告)日：1997-03-04
申请号：US217861
申请日：1994-03-25
申请人： Masahiko Ibamoto , Kazuhiko Sato , Mitsuyoshi Okada , Hiroshi Kuroiwa , Toshimichi Minowa , Kazuhiko Yamaguchi , Naoyuki Ozaki
发明人： Masahiko Ibamoto , Kazuhiko Sato , Mitsuyoshi Okada , Hiroshi Kuroiwa , Toshimichi Minowa , Kazuhiko Yamaguchi , Naoyuki Ozaki
IPC分类号： B60W10/06 , B60W10/30 , B60W30/18 , B60W50/00 , F16H59/38 , F16H59/40 , F16H59/42 , F16H59/46 , F16H61/00 , F16H61/04 , F16H61/06 , G06G7/70
CPC分类号： B60W30/18 , B60W10/04 , B60W10/06 , B60W10/11 , B60W30/1819 , B60W30/188 , B60W10/30 , B60W2050/0045 , B60W2710/0666 , B60W2710/105 , F16H2059/385 , F16H2059/467 , F16H2061/0078 , F16H2061/0096 , F16H59/40 , F16H59/42 , F16H61/061 , F16H63/502 , Y10T477/40 , Y10T477/6407 , Y10T477/676 , Y10T477/6934
摘要： At a torque converter characteristic assuming unit, during non gear shift, gear ratio and an input shaft torque are assumed and also during gear shift, accessory torque is assumed. So as to correct the accessory torque a deviation between pump torque and engine torque is learned and this value is given to the accessory torque, thereby the input shaft torque can be executed and assumed. A drive shaft torque is obtained from a drive shaft torque calculating unit, a control period of the drive shaft torque is determined, a reference drive shaft torque is determined during torque control period from a reference drive shaft torque setting unit. A deviation between the reference drive shaft torque and the drive shaft torque is obtained from a torque deviation executing unit. An engine controlling unit varies the engine torque by controlling an ignition period so as to decrease substantially zero the deviation.
摘要翻译：在变矩器特性假设单元中，在非变速期间，假设传动比和输入轴转矩，并且在变速期间，假定附加扭矩。为了校正附件扭矩，学习了泵转矩和发动机扭矩之间的偏差，并且该值被赋予附件扭矩，由此可以执行和假定输入轴转矩。从驱动轴转矩计算单元获得驱动轴扭矩，确定驱动轴转矩的控制周期，在基准驱动轴转矩设定单元的转矩控制期间确定基准驱动轴转矩。从转矩偏差执行单元获得参考驱动轴转矩和驱动轴扭矩之间的偏差。发动机控制单元通过控制点火周期来改变发动机扭矩，从而使偏差大致为零。

135. 发明授权

US5603673A Change gear control device using acceleration and gear ratio as parameters for automatic transmission in a motor vehicle and the method therefor 失效
标题翻译：使用加速度和齿轮比作为汽车自动变速器的参数来改变齿轮控制装置及其方法
公开(公告)号：US5603673A
公开(公告)日：1997-02-18
申请号：US554804
申请日：1995-11-07
申请人： Toshimichi Minowa , Hiroshi Kimura , Yoshiyuki Yoshida , Yoshishige Ohyama , Yutaka Nishimura
发明人： Toshimichi Minowa , Hiroshi Kimura , Yoshiyuki Yoshida , Yoshishige Ohyama , Yutaka Nishimura
IPC分类号： B60W10/06 , B60W30/18 , F02D41/02 , F02D43/00 , F16H59/14 , F16H59/34 , F16H59/44 , F16H59/48 , F16H61/00 , F16H61/02 , F16H61/04 , F16H61/16 , B60K41/04
CPC分类号： B60W10/06 , B60W10/04 , B60W10/11 , B60W10/115 , B60W30/18 , B60W30/1819 , F02D41/023 , F16H59/48 , F16H61/0213 , B60W2710/0622 , F02D2200/501 , F02D41/0225 , F16H2061/0018 , F16H2306/42 , F16H59/14 , F16H59/44 , F16H61/16 , F16H63/502 , Y10S477/904 , Y10T477/679 , Y10T477/688 , Y10T477/692 , Y10T477/693
摘要： A change gear control device is provided for an automatic transmission in a motor vehicle propelled by an internal combustion engine which is operated with an air/fuel mixture having air/fuel ratios ranging from a fuel rich air/fuel ratio to a fuel lean air/fuel ratio depending on driving conditions of the motor vehicle. In this device a first detector detects an engine torque of the internal combustion engine and a second detector detects a vehicle speed of the motor vehicle. A processor processes transmission gear ratios for the automatic transmission. In particular, the processor reads the detected engine torque from the first detector and the detected vehicle speed from the second detector, determines a new transmission gear ratio based upon the engine torque and the vehicle speed, and outputs a signal representing the new transmission gear ratio to the automatic transmission, whereby a gear shifting operation is effected at a timing based on an engine torque variation due to an operating air/fuel ratio change.
摘要翻译：本发明提供一种变速齿轮控制装置，用于由内燃机驱动的机动车辆中的自动变速器，所述内燃机由空燃比混合物操作，所述空气/燃料混合物具有从富燃料空气/燃料比到稀燃空气/ 燃料比取决于机动车辆的行驶条件。在该装置中，第一检测器检测内燃机的发动机扭矩，第二检测器检测机动车辆的车速。处理器处理用于自动变速器的变速传动比。特别地，处理器从第一检测器读取检测到的发动机转矩和从第二检测器检测到的车速，基于发动机转矩和车速确定新的变速比，并输出表示新的变速比涉及自动变速器，由此根据由于运转的空气/燃料比变化引起的发动机转矩变化的定时进行变速操作。

136. 发明授权

US07136736B2 Vehicular travel control device 有权
标题翻译：车辆行驶控制装置
公开(公告)号：US07136736B2
公开(公告)日：2006-11-14
申请号：US10419878
申请日：2003-04-22
申请人： Satoru Kuragaki , Tokuji Yoshikawa , Shiho Izumi , Hiroshi Kuroda , Takao Kojima , Toshimichi Minowa , Toshio Manaka , Nobuyuki Ueki , Kazuaki Takano
发明人： Satoru Kuragaki , Tokuji Yoshikawa , Shiho Izumi , Hiroshi Kuroda , Takao Kojima , Toshimichi Minowa , Toshio Manaka , Nobuyuki Ueki , Kazuaki Takano
IPC分类号： G01S3/00 , G01S13/36
CPC分类号： B60G17/0195 , B60G17/016 , B60G17/019 , B60G2400/0511 , B60G2400/0512 , B60G2400/0513 , B60G2400/204 , B60G2400/2042 , B60G2400/252 , B60G2401/174 , B60G2800/702 , B60T8/172 , B60T2250/04 , B60W2420/00 , B60W2420/52 , G01S13/36 , G01S13/60 , G01S13/874 , G01S2013/9346
摘要： In a vehicular control device, it is necessary to measure or calculate six physical quantities-forward-reverse speed, left-right speed, vertical speed, pitch angle, roll angle, and angle of sideslip-representing vehicular movement and to control the braking force of each wheel and/or the damping coefficient of each suspension shock absorber in order to further shorten braking distance particularly at the time of braking and to prevent spin at that time. In this case, it is necessary to furnish sensors to measure speed and angle directly. In the present invention, four radar sensors are used in order to directly measure the forward-reverse speed and the left-right speed. Also, the vertical speed, the pitch angle, the roll angle, and the angle of sideslip are indirectly measured from the output of the radar sensors. By using three or four radar sensors, six physical quantities—the forward speed, the left-right direction speed, the vertical speed, the angle of sideslip, the pitch angle, and the roll angle—can be measured. Also, by using two radar sensors, three physical quantities—the forward speed, the left-right speed, and the angle of sideslip—can be measured.
摘要翻译：在车辆控制装置中，需要测量或计算六个物理量 - 前进 - 倒退速度，左右速度，垂直速度，俯仰角，侧倾角以及侧滑表示车辆运动的角度并且控制制动力以及每个悬架减震器的阻尼系数，以进一步缩短制动距离，特别是在制动时，并防止此时的旋转。在这种情况下，需要提供传感器直接测量速度和角度。在本发明中，为了直接测量前进后退速度和左右速度，使用四个雷达传感器。此外，从雷达传感器的输出间接测量垂直速度，俯仰角，侧倾角和侧滑角。通过使用三个或四个雷达传感器，可以测量六个物理量 - 前进速度，左右方向速度，垂直速度，侧滑角，俯仰角和滚动角度。此外，通过使用两个雷达传感器，可以测量三个物理量 - 前进速度，左右速度和侧滑角。

137. 发明授权

US07130723B2 Control unit for vehicle and total control system therefor 失效
标题翻译：车辆控制单元及总控制系统
公开(公告)号：US07130723B2
公开(公告)日：2006-10-31
申请号：US10408288
申请日：2003-04-08
申请人： Toshimichi Minowa , Yoshiyuki Yoshida , Junichi Ishii , Shigeki Morinaga , Hiroshi Katayama , Mitsuo Kayano , Kenichiro Kurata
发明人： Toshimichi Minowa , Yoshiyuki Yoshida , Junichi Ishii , Shigeki Morinaga , Hiroshi Katayama , Mitsuo Kayano , Kenichiro Kurata
IPC分类号： G06F7/00 , G06G7/70
CPC分类号： G06F8/66 , B60W2050/0005 , F01N11/007 , F01N2550/02 , F02D37/02 , F02D41/1454 , F02D41/187 , F02D41/263 , F02D41/266 , F02D2041/285 , F02D2200/0404 , F02D2200/0406 , F02D2200/501 , G05B19/00 , G05B19/0423 , G05B2219/21015 , G05B2219/21021 , G05B2219/21127 , G05B2219/21137 , G05B2219/21138 , G05B2219/23277 , G05B2219/23371 , G05B2219/24125 , G05B2219/25243 , G05B2219/25301 , G05B2219/25341 , G05B2219/25435 , G05B2219/25451 , G05B2219/2637 , G06F8/70 , G06F12/0802 , Y02T10/47
摘要： An object of the present invention is to provide a control unit for vehicle where increase in number of input/output and upgrading of function can easily be performed and, in addition to this, changing of a program in a control unit can easily be performed even when a single-chip micro-computer is used.In order to cope with an increase in input/output points and addition of function, a control unit is constructed such as to comprise interface software memory means storing an interface software program for connecting an application software program with an OS (operating system) in an internal ROM, a CPU (central processing unity for performing computation of the application software program and the interface software program, a RAM (erasable memory) storing data such as the result of computation, an I/O unit for extending the control unit, and extending means for communicating memory data through a bus or a LAN.A single-chip micro-computer used in vehicle control can easily cope with increase in input/output points or addition of function, and an application software program can continuously be used only by rewriting an interface software program, and further re-manufacturing of a core unit is unnecessary. Therefore, development of a control unit including programs becomes easy.
摘要翻译：本发明的目的是提供一种用于车辆的控制单元，其中输入/输出数量的增加和功能的升级可以容易地执行，并且除此之外，甚至可以容易地执行控制单元中的程序的改变当使用单片微型计算机时。为了应对输入/输出点的增加和功能的增加，构建控制单元，以便包括存储用于将应用软件程序与OS（操作系统）连接的接口软件程序的接口软件存储装置内部ROM，CPU（用于执行应用软件程序和接口软件程序的计算的中央处理单位，存储诸如计算结果的数据的RAM（可擦除存储器），用于扩展控制单元的I / O单元，以及用于通过总线或LAN传送存储器数据的扩展装置，用于车辆控制的单片微型计算机可以容易地应对输入/输出点的增加或功能的增加，并且应用软件程序可以连续地仅由重写接口软件程序，并且不需要进一步重新制造核心单元，因此，包括程序的控制单元的开发变得容易。

138. 发明申请

US20060015231A1 Vehicle control system 有权
公开(公告)号：US20060015231A1
公开(公告)日：2006-01-19
申请号：US11094660
申请日：2005-03-31
申请人： Kentaro Yoshimura , Kohei Sakurai , Nobuyasu Kanekawa , Yuichiro Morita , Yoshiaki Takahashi , Kenichi Kurosawa , Toshimichi Minowa , Masatoshi Hoshino , Yasuhiro Nakatsuka , Kotaro Shimamura , Kunihiko Tsunedomi , Shoji Sasaki
发明人： Kentaro Yoshimura , Kohei Sakurai , Nobuyasu Kanekawa , Yuichiro Morita , Yoshiaki Takahashi , Kenichi Kurosawa , Toshimichi Minowa , Masatoshi Hoshino , Yasuhiro Nakatsuka , Kotaro Shimamura , Kunihiko Tsunedomi , Shoji Sasaki
IPC分类号： G06F19/00
CPC分类号： B60W30/00 , B60K6/46 , B60K6/52 , B60L3/0023 , B60L3/003 , B60L3/0076 , B60L3/0092 , B60L15/2009 , B60L2240/12 , B60L2240/20 , B60L2240/24 , B60L2240/423 , B60L2250/26 , B60T7/12 , B60W10/04 , B60W10/06 , B60W10/08 , B60W10/10 , B60W10/18 , B60W10/20 , B60W20/00 , B60W40/08 , B60W40/10 , B60W50/02 , B60W50/0225 , B60W50/04 , B60W2510/20 , B60W2510/202 , B60W2520/14 , B60W2540/10 , B60W2540/12 , B60W2550/20 , B62D5/046 , B62D5/0481 , B62D6/00 , G06F11/0796 , Y02T10/6217 , Y02T10/6265 , Y02T10/6286 , Y02T10/645 , Y02T10/72 , Y02T10/7275 , Y02T90/16
摘要： A vehicle control system which can ensure high reliability, real-time processing, and expandability with a simplified ECU configuration and a low cost by backing up an error through coordination in the entire system without increasing a degree of redundancy of individual controllers beyond the least necessary level. The vehicle control system comprises a sensor controller for taking in sensor signals indicating a status variable of a vehicle and an operation amount applied from a driver, a command controller for generating a control target value based on the sensor signals taken in by the sensor controller, and an actuator controller for receiving the control target value from the command controller and operating an actuator to control the vehicle, those three controller being interconnected via a network. The actuator controller includes a control target value generating unit for generating a control target value based on the sensor signals taken in by the sensor controller and received by the actuator controller via the network when the control target value generated by the command controller is abnormal, and controls the actuator in accordance with the control target value generated by the control target value generating unit.

139. 发明申请

US20050004743A1 Vehicle running control apparatus and map information data recording medium 有权
标题翻译：车辆行驶控制装置和地图信息数据记录介质
公开(公告)号：US20050004743A1
公开(公告)日：2005-01-06
申请号：US10845137
申请日：2004-05-14
申请人： Takao Kojima , Tokuji Yoshikawa , Kazuhiko Satou , Satoru Kuragaki , Shiho Izumi , Toshimichi Minowa
发明人： Takao Kojima , Tokuji Yoshikawa , Kazuhiko Satou , Satoru Kuragaki , Shiho Izumi , Toshimichi Minowa
IPC分类号： G01C21/00 , B60K31/00 , B60R21/00 , B60T7/12 , F02D29/02 , G01C21/26 , G08G1/16 , G05D1/00
CPC分类号： B60W30/16 , B60K31/0058 , B60W30/14 , B60W50/038 , B60W2520/10 , B60W2550/12 , B60W2550/14 , B60W2550/142 , B60W2550/143 , B60W2550/20 , B60W2550/30 , B60W2550/402 , B60W2750/30 , G08G1/165 , G08G1/166
摘要： The present invention can realize a vehicle running control apparatus including ACC function and map information data recording medium to obtain effective information for safety driving capable for running control meeting a driver's feeling. The first running speed is decided on the basis of the distance between the vehicles and the relative speed. The position detecting means detects the position of own vehicle on a map. The map information getting means gets road information, the width of the road, the radius of curvature, and slope on the basis of the map information. The visible distance estimating means estimates the visible distance on the basis of the map information, deciding the second running safety speed with the estimated visible distance. The running control means decides the object running speed of smallest one of the set speed, the first running speed, and the second running speed.
摘要翻译：本发明可以实现包括ACC功能的车辆行驶控制装置和地图信息数据记录介质，以获得满足驾驶员感觉的用于行驶控制的安全驾驶的有效信息。第一运行速度是根据车辆之间的距离和相对速度来决定的。位置检测装置在地图上检测自身车辆的位置。地图信息获取装置基于地图信息获取道路信息，道路宽度，曲率半径和坡度。可见距离估计装置基于地图信息估计可见距离，用估计的可见距离确定第二行驶安全速度。运行控制装置决定设定速度，第一运行速度和第二运行速度中最小的一个的对象运行速度。

140. 发明授权

US06738705B2 Vehicle running control apparatus and map information data recording medium 有权
标题翻译：车辆行驶控制装置和地图信息数据记录介质
公开(公告)号：US06738705B2
公开(公告)日：2004-05-18
申请号：US10084472
申请日：2002-02-28
申请人： Takao Kojima , Tokuji Yoshikawa , Kazuhiko Satou , Satoru Kuragaki , Shiho Izumi , Toshimichi Minowa
发明人： Takao Kojima , Tokuji Yoshikawa , Kazuhiko Satou , Satoru Kuragaki , Shiho Izumi , Toshimichi Minowa
IPC分类号： G06F700
CPC分类号： B60W30/16 , B60K31/0058 , B60W30/14 , B60W50/038 , B60W2520/10 , B60W2550/12 , B60W2550/14 , B60W2550/142 , B60W2550/143 , B60W2550/20 , B60W2550/30 , B60W2550/402 , B60W2750/30 , G08G1/165 , G08G1/166
摘要： The present invention can realize a vehicle running control apparatus including ACC function and map information data recording medium to obtain effective information for safety driving capable for running control meeting a driver's feeling. The first running speed is decided on the basis of the distance between the vehicles and the relative speed. The position detecting means detects the position of own vehicle on a map. The map information getting means gets road information, the width of the road, the radius of curvature, and slope on the basis of the map information. The visible distance estimating means estimates the visible distance on the basis of the map information, deciding the second running safety speed with the estimated visible distance. The running control means decides the object running speed of smallest one of the set speed, the first running speed, and the second running speed.
摘要翻译：本发明可以实现包括ACC功能的车辆行驶控制装置和地图信息数据记录介质，以获得满足驾驶员感觉的用于行驶控制的安全驾驶的有效信息。第一运行速度是根据车辆之间的距离和相对速度来决定的。位置检测装置在地图上检测自身车辆的位置。地图信息获取装置基于地图信息获取道路信息，道路宽度，曲率半径和坡度。可见距离估计装置基于地图信息估计可见距离，用估计的可见距离确定第二行驶安全速度。运行控制装置决定设定速度，第一运行速度和第二运行速度中最小的一个的对象运行速度。

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