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1. 发明专利

JP2012149653A Fuel injector equipped with metering servo valve for internal combustion engine 有权
标题翻译：燃油喷射器配备内置燃油发动机的伺服阀
公开(公告)号：JP2012149653A
公开(公告)日：2012-08-09
申请号：JP2012112675
申请日：2012-05-16
申请人： Crf Soc Consortile Per Azioni , シー・アール・エフ・ソチエタ・コンソルティーレ・ペル・アツィオニC.R.F. Societa‘Consortile Per Azioni
发明人： RICCO MARIO , RICCO RAFFAELE , STUCCHI SERGIO , DE MICHELE ONOFRIO
IPC分类号： F02M47/00
CPC分类号： F02M63/004 , F02M47/027 , F02M63/0042 , F02M63/007 , F02M63/008 , F02M2200/16 , F02M2200/27 , F02M2200/28 , F02M2547/003
摘要： PROBLEM TO BE SOLVED: To prevent vapor from existing around a sealing zone between a shutter and an axial stem in a fuel injector.SOLUTION: In a metering servo valve 5 of an injector body 2, a shutter 47 is provided which slides axially on an axial guide 38, and opens and closes a discharge channel 42. The discharge channel 42 has at least three restrictions 53, 44, which are arranged in series with each other to divide pressure drop along the discharge channel 42. The three constricted parts (53, 44, and 79) are each defined by individual bodies (33b, 54b and 78) different from each other, and one (54b) of the bodies is housed in another body (78) of the bodies. Two (53 and 79) of the three constricted parts are arranged coaxially along the direction of an axis (3).
摘要翻译：要解决的问题：为了防止在燃料喷射器中的闸门和轴杆之间的密封区周围存在蒸气。解决方案：在喷射器主体2的计量伺服阀5中，设置有在轴向引导件38上轴向滑动并且打开和关闭排出通道42的闸门47.排出通道42具有至少三个限制53 ，44，它们彼此串联布置以沿着排出通道42分压压降。三个收缩部分（53,44和79）各自由彼此不同的各个体（33b，54b和78）限定，并且一个（54b）的身体容纳在身体的另一身体（78）中。三个收缩部分中的两个（53和79）沿轴线（3）的方向同轴布置。版权所有（C）2012，JPO＆INPIT

2. 发明专利

JP2012007611A Internal combustion engine with cylinders that can be deactivated, with exhaust gas recirculation performed by variable control of intake valves, and method for controlling internal combustion engine 有权
标题翻译：具有能够停止的气缸的内燃机，具有通过可变控制进气阀执行的排气再循环，以及用于控制内燃机的方法
公开(公告)号：JP2012007611A
公开(公告)日：2012-01-12
申请号：JP2011133146
申请日：2011-06-15
申请人： Crf Soc Consortile Per Azioni , チ・エレ・エッフェ・ソシエタ・コンソルティーレ・ペル・アチオニC.R.F. Societa Consortile per Azioni
发明人： LUCATELLO MARCO , BOREAN FABIO
IPC分类号： F02M25/07 , F01L1/08 , F01L9/02 , F01L13/00 , F02D13/02
CPC分类号： F02D13/0261 , F02D13/0269 , F02D17/02 , F02M26/01 , Y02T10/121 , Y02T10/142
摘要： PROBLEM TO BE SOLVED: To provide an internal combustion engine with cylinders that can be deactivated, with exhaust gas recirculation performed by variable control of intake valves, and a method for controlling the internal combustion engine.SOLUTION: Under operating conditions that do not require the maximum power of the engine and in which the fuel consumption is to be reduced, at least one part of engine cylinders are deactivated, and the fuel supply to the cylinders is interrupted. The intake valves (5) of the deactivated cylinders are kept open during at least one part of the discharge stages, and as a result, a part of the burnt gases generated in the deactivated cylinders flows into the respective intake conduits during the discharge stage of each cylinder. The intake valves (5) are closed simultaneously when the burnt gas remaining in each intake conduit returns to the cylinders in the successive intake stage, and before any substantial amount of fresh air starts getting into the cylinder. While the deactivated state is continued, the intake valves of the deactivated cylinders are further kept closed while the deactivated state is continued, and during the compression stage and the expansion stage in each deactivated cylinder.
摘要翻译：要解决的问题：提供具有可以停用的气缸的内燃机，以及通过进气门的可变控制执行的废气再循环以及用于控制内燃机的方法。解决方案：在不需要发动机最大功率并降低燃料消耗的运行条件下，发动机气缸的至少一部分被停用，并且气缸的燃料供应中断。在排放阶段的至少一部分期间，停用的气缸的进气门（5）保持打开，结果，在停用的气缸中产生的一部分燃烧气体在排出阶段期间流入相应的进气管道每个气缸。当各个进气管道中残留的燃烧气体在连续进气阶段中返回到气缸，并且在任何大量新鲜空气开始进入气缸之前，进气门（5）同时关闭。当停用停止状态时，停用气缸的进气门在停用状态持续时进一步保持关闭，并且在每个停用气缸中的压缩阶段和膨胀阶段期间进一步保持关闭。版权所有（C）2012，JPO＆INPIT

3. 发明专利

JP2011165198A System for monitoring quality of industrial process and method therefrom 审中-公开
标题翻译：监控工业过程质量的系统及其方法
公开(公告)号：JP2011165198A
公开(公告)日：2011-08-25
申请号：JP2011042403
申请日：2011-02-28
申请人： Crf Soc Consortile Per Azioni , チ・エレ・エッフェ・ソシエタ・コンソルティーレ・ペル・アチオニC.R.F. Societa Consortile per Azioni
发明人： D ANGELO GIUSEPPE , PASQUETTAZ GIORGIO , TERRENO ANDREA
IPC分类号： G05B19/418 , B23K26/03 , G05B23/02 , G06Q50/00
CPC分类号： B23K26/032
摘要： PROBLEM TO BE SOLVED: To provide a system for monitoring industrial processes, comprising sensor means for detecting one or more process quantities in at least one process station, acquisition and processing means operating on signals generated by the sensor means for obtaining information on process quality and means for managing the manufacturing flow operating on the basis of the information on process quality. SOLUTION: The acquisition and processing means 32 are arranged locally in at least the one process station 20. The means for managing the manufacturing flow 19 is arranged in remote position with respect to acquisition and processing means 32. Wireless transceiver means 42, 43 are provided for exchanging the information Q on process quality between the acquisition and processing means 32 and the means for managing the manufacturing flow 19. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于监测工业过程的系统，包括用于检测至少一个处理站中的一个或多个处理量的传感器装置，对由传感器装置产生的信号进行操作的采集和处理装置，以获得关于流程质量和管理基于过程质量信息运行的制造流程的方法。解决方案：采集和处理装置32在至少一个处理站20中本地布置。用于管理制造流程19的装置相对于采集和处理装置32布置在远程位置。无线收发器装置42， 43被提供用于交换采集和处理装置32之间的处理质量的信息Q和用于管理制造流程19的装置。版权所有：（C）2011，JPO＆INPIT

4. 发明专利

JP2010180886A Adjustable metering servovalve for fuel injector 审中-公开
标题翻译：燃油喷射器的可调式计量服务器
公开(公告)号：JP2010180886A
公开(公告)日：2010-08-19
申请号：JP2010046523
申请日：2010-03-03
申请人： Crf Soc Consortile Per Azioni , シー・アール・エフ・ソチエタ・コンソルティーレ・ペル・アツィオニC.R.F. Societa‘Consortile Per Azioni
发明人： RICCO MARIO , GORGOGLIONE ADRIANO , DE MATTHAEIS SISTO L
IPC分类号： F02M61/16 , F02M47/00
CPC分类号： F02M63/0015 , F02M47/027 , F02M63/0031 , F02M63/0073 , F02M63/008
摘要： PROBLEM TO BE SOLVED: To provide a servovalve not deforming the surface of a core by a hard adjustment shim brought into contact with the surface of the core including an electromagnet formed by soft iron.
SOLUTION: This metering servovalve 7 includes a valve body 8, 30, an open/close element 45 and the electromagnet 15. The electromagnet 15 actuates a mobile armature 16 for a travel defined by the polar surface 19 of the core 18 of the electromagnet 15. The electromagnet is fixed in a casing 2 by means of a ring nut 40, with the interposition of at least one deformable adjustment shim 48. The ring nut 40 is screwed with a pre-set tightening torque on the thread 46 of the casing 2 so as to bring about the elastic deformation of the adjustment shim 48 and to prevent accidental unscrewing of the ring nut 40. The adjustment shim 48 is made of a metal ring with a cross section having a shape chosen between L, C, S, Z, and Σ.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种伺服阀，其不会通过与包括由软铁形成的电磁体的芯的表面接触的硬调节垫片使芯的表面变形。解决方案：该计量伺服阀7包括阀体8,30，开/关元件45和电磁体15.电磁体15致动可移动衔铁16，以便由芯18的极性表面19限定的行程电磁铁15.电磁铁通过环形螺母40固定在壳体2中，插入至少一个可变形的调节垫片48.环形螺母40以预定的紧固扭矩拧在螺纹46的螺纹46上壳体2，以便引起调节垫片48的弹性变形，并且防止环形螺母40的意外脱开。调节垫片48由金属环制成，其截面具有选择在L，C， S，Z和Σ。版权所有（C）2010，JPO＆INPIT

5. 发明专利

JP2010031854A Fuel injector provided with balanced type metering servovalve for internal combustion engine 有权
标题翻译：燃油喷射器为内燃机提供平衡式计量服务器
公开(公告)号：JP2010031854A
公开(公告)日：2010-02-12
申请号：JP2009151409
申请日：2009-06-25
申请人： Crf Soc Consortile Per Azioni , シー・アール・エフ・ソチエタ・コンソルティーレ・ペル・アツィオニC.R.F. Societa‘Consortile Per Azioni
发明人： RICCO MARIO , RICCO RAFFAELE , STUCCHI SERGIO , DE MICHELE ONOFRIO
IPC分类号： F02M47/00 , F02M47/02 , F02M51/06
CPC分类号： F02M47/027 , F02M63/004 , F02M63/0042 , F02M63/007 , F02M63/008 , F02M2200/16 , F02M2200/28 , F02M2547/003
摘要： PROBLEM TO BE SOLVED: To provide an inexpensive fuel injector provided with a balanced type metering servovalve for an internal combustion engine without requiring complicated processes and strict geometric tolerance.
SOLUTION: This injector 1 includes an injector body 2 and a control rod 10, which is movable in the injector body 2 along an axis 3 for controlling opening/closing of a nozzle that injects fuel in an engine cylinder. The injector body 2 houses a metering servovalve 5 provided with a control chamber 26 and a balanced type opening/closing member 47. Axial sliding of the opening/closing member 47 causes a variation in pressure in the control chamber 26. The metering servovalve 5 includes a valve body formed of two pieces 76 and 80 coaxially coupled to each other through a deformable ring, which defines also a gasket for guaranteeing fluid-tightness between the two pieces 80 and 76, and maintains in a fixed position a disk, on which a calibrated restriction is formed.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种廉价的燃料喷射器，其设置有用于内燃机的平衡式计量伺服阀，而不需要复杂的过程和严格的几何公差。解决方案：该喷射器1包括喷射器主体2和控制杆10，其可以在喷射器主体2中沿着轴线3移动，用于控制在发动机气缸中喷射燃料的喷嘴的打开/关闭。喷射器主体2容纳设置有控制室26和平衡型打开/关闭部件47的计量伺服阀5.打开/关闭部件47的轴向滑动导致控制室26中的压力变化。计量伺服阀5包括阀体由两个彼此同轴连接的可变形环形件76和80构成，该可变形环还限定了用于保证两个件80和76之间的流体密封性的衬垫，并且将固定位置保持在其上，形成校准限制。版权所有（C）2010，JPO＆INPIT

6. 发明专利

JP2010007667A Fuel injection device having high operation stability for internal combustion engine 有权
标题翻译：具有内燃机运行稳定性的燃油喷射装置
公开(公告)号：JP2010007667A
公开(公告)日：2010-01-14
申请号：JP2009152792
申请日：2009-06-26
申请人： Crf Soc Consortile Per Azioni , シー・アール・エフ・ソチエタ・コンソルティーレ・ペル・アツィオニC.R.F. Societa‘Consortile Per Azioni
发明人： RICCO MARIO , STUCCHI SERGIO , RICCO RAFFAELE , DE MICHELE ONOFRIO , GARGANO MARCELLO , GRAVINA ANTONIO
IPC分类号： F02M47/00 , F02M51/00 , F16K31/06
CPC分类号： F02M63/0024 , F02M47/027 , F02M63/0075 , F02M63/008 , F02M2200/07 , F02M2200/306 , F02M2200/9069
摘要： PROBLEM TO BE SOLVED: To provide a fuel injection device for an internal combustion engine in which a servo valve exhibits high operation stability, a defect due to the rebounds of an opening/closing element is eliminated and the wear of a component is reduced.
SOLUTION: The injection device (1) comprises a supply servo valve (5) for controlling a rod (10) for opening/closing a nebulizer. The servo valve (5) has a valve element (7) which includes a control chamber (26) provided with an outlet passage (42a) opened/closed by an axially mobile opening/closing element (47). The opening/closing element (47) is separated from an anchor (17) of an electromagnet (16), is axially slidable on a guide element (41) for closing the outlet passage (42a) and is held in the closing position by a spring (23) acting through an intermediate body (12a). The anchor (17) can be displaced in an axial direction with respect to the guide element (41) between a flange (24) of the intermediate body (12a) and a projection element (62) of the guide member (41) so as to eliminate the rebounds of the opening/closing element (47) when the servo valve (5) is closed.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：为了提供一种用于内燃机的燃料喷射装置，其中伺服阀具有较高的运行稳定性，消除了由于打开/关闭元件的反弹引起的缺陷，并且部件的磨损为降低。解决方案：注射装置（1）包括用于控制用于打开/关闭雾化器的杆（10）的供应伺服阀（5）。伺服阀（5）具有阀元件（7），其包括设置有由轴向移动的开闭元件（47）打开/关闭的出口通道（42a）的控制室（26）。打开/关闭元件（47）与电磁体（16）的锚固件（17）分离，在用于封闭出口通道（42a）的导向元件（41）上可轴向滑动并且通过一个通过中间体（12a）作用的弹簧（23）。锚定件（17）可以在中间体（12a）的凸缘（24）和引导构件（41）的突出元件（62）之间相对于引导元件（41）沿轴向方向移位，以便以消除伺服阀（5）关闭时打开/关闭元件（47）的反弹。版权所有（C）2010，JPO＆INPIT

7. 发明专利

JP2009138746A Multi-cylinder internal combustion engine with independent cylinders 有权
标题翻译：具有独立气缸的多缸内燃机
公开(公告)号：JP2009138746A
公开(公告)日：2009-06-25
申请号：JP2008309835
申请日：2008-12-04
申请人： Crf Soc Consortile Per Azioni , チ・エレ・エッフェ・ソシエタ・コンソルティーレ・ペル・アチオニC.R.F. Societa Consortile per Azioni
发明人： BOREAN FABIO , CERES PASQUALE
IPC分类号： F02D13/02
CPC分类号： F02D41/345 , F01L9/021 , F02D13/0226 , F02D41/10 , F02D2041/001 , F02D2250/12 , Y02T10/18 , Y02T10/44
摘要： PROBLEM TO BE SOLVED: To assure quick response to a remarkable change of torque.
SOLUTION: The multi-cylinder internal combustion engine includes a valve variable driving mechanism. New operating conditions are allocated to cylinders with the delay of start of the cylinders taken into consideration. The new operating conditions can be effectively satisfied according to an engine operation change request. When an engine is requested to change from a first operation mode to a second operation mode, in a control sequence, the amounts of air and fuel corresponding to the second operation mode are estimated. Based on the speed of the engine and the pre-estimated amounts of air and fuel, drive times requested for the engine in the second operation mode are estimated by a jetting means and the drive means, respectively. According to the drive times, the operating conditions corresponding to the second operation mode of the engine are generated in the cylinder. The cylinders are operated under the second operating conditions by receiving the request of change independently of such a fact that the cylinder first enters an ignition stage the instant the calculation of the drive time is performed.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：确保快速响应扭矩的显着变化。解决方案：多气缸内燃机包括阀可变驱动机构。新的运行条件分配给气缸，考虑到气缸的启动延迟。根据发动机运行变更要求可以有效地满足新的运行条件。当要求发动机从第一操作模式改变到第二操作模式时，在控制顺序中，估计对应于第二操作模式的空气和燃料的量。基于发动机的速度和空气和燃料的预估量，分别通过喷射装置和驱动装置来估计在第二操作模式中对发动机所要求的驱动时间。根据驱动时间，在气缸中产生与发动机的第二操作模式对应的操作条件。气缸在第二操作条件下通过接收变更请求来操作，独立于在执行驱动时间的计算之后气缸首先进入点火阶段的事实。版权所有（C）2009，JPO＆INPIT

8. 发明专利

JP2009030590A Fuel injector with balanced metering servovalve, for internal combustion engine 有权
标题翻译：燃油喷射器，配有平衡计量伺服阀，用于内燃机
公开(公告)号：JP2009030590A
公开(公告)日：2009-02-12
申请号：JP2008021220
申请日：2008-01-31
申请人： Crf Soc Consortile Per Azioni , シー・アール・エフ・ソチエタ・コンソルティーレ・ペル・アツィオニC.R.F. Societa‘Consortile Per Azioni
发明人： RICCO MARIO , RICCO RAFFAELE , STUCCHI SERGIO , LEPORE DOMENICO , MAZZARELLA CARLO
IPC分类号： F02M47/00 , F02M45/08 , F02M51/00
CPC分类号： F02M47/027 , F02M63/004 , F02M63/008 , F02M2200/07 , F02M2200/9069 , F02M2547/003 , Y10S239/19
摘要： PROBLEM TO BE SOLVED: To provide a fuel injector with a balanced metering servovalve, for an internal combustion engine.
SOLUTION: The injector 1 comprises a balanced metering servovalve 5 for controlling a rod 10 for opening/closing a nozzle. The servovalve has a valve body 7 with a control chamber 26 fitted with an outlet passage 42a that is opened/closed by an axially mobile shutter 47. The shutter is integral with a sleeve 41 separated from the armature 17 and is made of a harder material, machined with extreme precision. The shutter 47 has a sharp edge 45 capable of closing an annular chamber in communication with the outlet passage, so as to keep the sleeve in contact with the armature when the armature is operated by the electro-actuator 15.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：为燃料喷射器提供用于内燃机的平衡计量伺服阀。解决方案：喷射器1包括用于控制用于打开/关闭喷嘴的杆10的平衡计量伺服阀5。伺服阀具有阀体7，其具有控制室26，该控制室26装配有由轴向移动的快门47打开/关闭的出口通道42a。闸门与从电枢17分离的套筒41是一体的，并且由更硬的材料制成，加工精度极高。闸门47具有能够闭合与出口通道连通的环形室的锋利边缘45，以便当电动机由电致动器15操作时保持套筒与电枢接触。 C）2009年，JPO＆INPIT

9. 发明专利

JP2008157223A Internal combustion engine with intake valve having variable actuation and lift profile including constant lift boot portion 有权
标题翻译：具有可变启动和提升轮廓的入口阀的内燃机，包括恒压起动器部分
公开(公告)号：JP2008157223A
公开(公告)日：2008-07-10
申请号：JP2007306095
申请日：2007-11-27
申请人： Crf Soc Consortile Per Azioni , チ・エレ・エッフェ・ソシエタ・コンソルティーレ・ペル・アチオニC.R.F. Societa Consortile per Azioni
发明人： CANINO GIANLUCA , GENTILE LUCA , GIANOLIO LAURA , LISBONA MARIA GRAZIA , VATTANEO FRANCESCO
IPC分类号： F01L1/08 , F01L9/02
CPC分类号： F01L9/025 , F01L1/08 , F01L1/143 , F01L9/021 , F01L13/0015 , F01L2001/0535 , F01L2001/34446 , F01L2800/10 , F01L2820/01 , F02D13/0219 , F02D13/023 , F02D13/0261 , F02D13/0269 , Y02T10/142
摘要： PROBLEM TO BE SOLVED: To achieve favorable performance, low fuel consumption and the reduction of a contaminant in exhaust gas in an internal combustion engine. SOLUTION: An internal combustion engine is equipped with a variable actuation system for intake valves 7 including a chamber C of fluid under pressure interposed between the intake valve 7 and the respective controlling cam, and a solenoid valve 24 whose opening causes the pressure chamber C to discharge such as to determine the rapid closure of the intake valve 7 by an effect of a respective biasing spring means 9, even if a cam may tend to keep the valve open. The variable valve operation system is used in combination by the use of cams controlling the intake valves shaped in such a manner as to give a rise to an intake valve lift profile including a boot C2 at substantially constant lift. Such a boot is provided in the initial part of an intake valve opening cycle in advance with regard to the TDC in the case of a supercharged direct-injection gasoline engine. In the case of a diesel engine, on the contrary, the boot C2 is provided in the final part of the intake valve opening cycle after the BDC. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：为了实现良好的性能，低燃料消耗和减少内燃机废气中的污染物。解决方案：内燃机配备有用于进气门7的可变致动系统，所述进气门7包括夹在进气门7和相应控制凸轮之间的压力下的流体室C，以及一个电磁阀24，其开口导致压力室C排出，以便通过相应的偏置弹簧装置9的作用来确定进气门7的快速关闭，即使凸轮可能倾向于保持阀打开。可变气门操作系统通过使用控制进气阀的凸轮组合使用，该进气门的形状使得在基本上恒定的升程下使包括轿厢C2的进气门升程曲线上升。在增压直喷式汽油发动机的情况下，相对于TDC，预先在进气门开启循环的初始部分设置这样的靴子。在柴油发动机的情况下，相反，在BDC之后的进气门打开循环的最后部分中设置有柴油机C2。版权所有（C）2008，JPO＆INPIT

10. 发明专利

JP2007127624A Method and system of recognizing sign of velocity of vehicle to estimate slope of road 有权
标题翻译：车辆速度识别方法和系统估算路面倾斜度
公开(公告)号：JP2007127624A
公开(公告)日：2007-05-24
申请号：JP2006249120
申请日：2006-09-14
申请人： Crf Soc Consortile Per Azioni , チ・エレ・エッフェ・ソシエタ・コンソルティーレ・ペル・アチオニC.R.F. Societa Consortile per Azioni
发明人： CORIGLIANO EMANUEL , BORODANI PANDELI
IPC分类号： G01C9/08 , B60R16/02 , B60W40/06
CPC分类号： G01C9/00 , B60W40/076 , B60W2520/10 , B60W2520/105 , B60W2550/142 , G01P13/04
摘要： PROBLEM TO BE SOLVED: To provide a method and system of recognizing the sign of velocity of a vehicle to estimate the slope of a road. SOLUTION: A method of estimating the slope of a road is as follows: (a) providing a signal indicating the measurement of the velocity of the vehicle by a velocity sensor means; (b) providing a signal indicating the measurement of the acceleration in the longitudinal direction of the vehicle by an acceleration measurement means; (c) processing the velocity measurement signal and the acceleration measurement signal by means of a prescribed mathematical model, thereby determining an estimated value of the slope of the road; (d) processing the velocity measurement signal, the acceleration measurement signal and the estimated value of the slope, thereby determining the sign of the velocity of the vehicle; and (e) repeating operations (a) to (d) recursively according to a predetermined rule, in which the sign of the velocity determined in operation (d) of a specific recursive step is used as an additional input for operation (c) of the successive recursive step to renew the estimated value of the slope of the road. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种识别车辆速度的符号以估计道路的坡度的方法和系统。解决方案：一种估计道路坡度的方法如下：（a）通过速度传感器装置提供指示测量车辆速度的信号; （b）通过加速度测量装置提供指示车辆纵向加速度测量的信号; （c）通过规定的数学模型处理速度测量信号和加速度测量信号，由此确定道路的坡度的估计值; （d）处理速度测量信号，加速度测量信号和斜率的估计值，从而确定车辆速度的符号; 和（e）根据预定规则递归地重复操作（a）至（d），其中在特定递归步骤的操作（d）中确定的速度的符号被用作操作（c）的附加输入连续循环的步骤来更新道路坡度的估计值。版权所有（C）2007，JPO＆INPIT

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