PURPOSE: To smooth the change in a running speed and an acceleration by a method wherein the actual speed and acceleration of a vehicle at the time when restarting is commenced are given as the initial value of a running speed pattern and the initial value of the acceleration when the vehicle is transferred out of the state of coasting into that of restarting.
CONSTITUTION: A running speed pattern B in accordance with a reference speed A is prepared by an acceleration limitter 12, an acceleration change rate limitter 14 and integrators 15 and 16. A frequency pattern generating element 2 delivers a frequency pattern G in accordance with the running speed pattern B. A follow- up control element 3 gives an effective-value control output J and a sine-wave pattern K to a power transformer 5 via a multiplier 4 according to the frequency pattern G and a signal H of the position of a vehicle 8. When a restarting instruction RST is delivered at the time when the vehicle 8 is in the state of coasting, an output M of the speed of the vehicle and an output N of the acceleration thereof at that time are given as the initial values of the running speed pattern B and a running acceleration pattern D.
UCHIYAMA TOYOHARU
NAKAMURA KIYOSHI
KOIKE SHIGEKI
HITACHI LTD
| JPS561788A | 1981-01-09 |