{19} Japan Patent Office
`(JP)
`
`(12) Gfficial Gazette for Kokat Patent Apptlcations {A}
`
`(11) Japanese Patent Application Kokai
`Publication No. H07482598
`
`(51) int. at}?
`G 08 (3 mass;
`B 60 K 31:00
`G 01 c was
`G 09 B 29200
`
`to Code
`
`JPO File No.
`7740—3H
`
`Fl
`
`2
`N
`
`(43; Kokai Publication Date:
`Jul}: 2? i 1995
`
`Tech. lndic.
`
`Request for Examination; Not yet made
`Number of claims: 13 CL
`Total
`:5 es: 9
`
`{21) Application No.: HOS-38423
`
`(22) Application Fiting Date: March 91 1994
`
`(31} Priority Application No. HOB-282501
`(31) Priority Date: November 11, 1993
`(33} Priority Country: Japan (JP)
`
`{71}Apgolieant:f)00006013
`Mitsubishi Electric Cow Ltd.
`224% Mamnouehti Chlyoda—ku, Tokyo
`(72) inventor: Yuklhim Hamamura
`
`I
`
`Himeji Business Office Mitsubishi Electric Control Software Corporation
`888 Chiyoda-choi Himejl-shi
`(72} lnventor: Kazuyori Katayama
`Himeji Factory, Mitsubishi Electric: 00., Ltd
`888 Chiyoda-choi Himejl«sh¥
`(74} Agent: Mammu Takada. Patent Attorney
`
`
`ehicie speed aces not exceed
`
`(54} [Title of the invention] NAVIGATiON DEVICE. FIXED SPEED RUNNING CONTROL UNET lNCLUDtNG THIS DEVICE AND MAP
`lNFORMATtON STORAGE DEVlCE
`
`{57) [Abstract]
`
`{PURPOSE} To make fixed speed running possible at a sate speed
`at the time of carrying out fixed running control by using a navigation
`device,
`
`iCONSTiTUTiON] to a navigatiofi o‘eviCe i using a map informatiort
`storage device 6 in which safe speeds are stored in accordance with
`
`speed limits and road shapes! a safe speed centering around a
`vehicle position is displayed on a disptey means 8 and information
`
`about the safe speed is transmitted to a vehicle speed control means
`
`at, wheretn the vehicle speed controt means compares the current
`
`vehicie speed with the safe speed arid arlves a moafis ”:4 feiatlfig to
`vehicte Spééd change such i'rr’t he '2:
`
`the safety speed.
`
`Sarmin International, Inc.
`
`Exhibit 1007 .. 1
`
`

`

`{We claim]
`
`{Claim 1] A navigation device. the navigation device comprising a
`vehicle position detection means of detecting the current position of a
`vehicle, a map information storage means of storing map information
`and a processing means of retrieving the vehicle position detected by
`the vehicle position detection means as a position on the map
`information, wherein the map lnton‘nation storage means stores a sale
`speed for each road within the map information, wherein the sale
`speed is a speed decided by relerring to a speed limit and a road
`shape.
`{Claim 2} A navigation device, the navigation device comprising a
`vehicle position detection means of detecting the current position of a
`vehicle. a map information storage means of storing map information
`and a processing means of retrieving the vehicle position detected by
`the vehicle position detection means as a position on the map
`information and assuming a sale speed at the vehicle position or a.
`position located ahead of the vehicle position at least leased on the
`map information.
`{Claim 3} The navigation device according to Claim 1 or 2, wherein a
`safe speed at the vehicle position is retrieved by the processing means,
`the navigation device further comprising a display means of displaying
`map information including the safe speed retrieved by the processing
`means.
`
`iCialm 41 The navigation device according to Claim 1 or 2, wherein a
`safe speed at a position located ahead of the vehicle position by a
`prescribed distance is retrieved by the processing means, the
`navigation device further comprising a display means of displaying
`map information including the sate speed retrieved by the processing
`means.
`
`{Claim 5] A fixed speed running control device, the device comprising a
`navigation device according to Claim 1 or 2. a vehicle speed detection
`means of detecting a vehicle speed and a vehicle speed control
`means oi setting a sale speed obtained by the navigation device as a
`set speed, comparing the set speed with a vehicle speed detected by
`the vehicle speed detection means and than driving a means relating
`to vehicle speed change in such a manner as to make the vehicle
`speed equal to the set speed.
`
`{Claim 6] A fixed speed mnning control device, the device comprising a
`navigation device according to Claim 1 or 2, a vehicle speed detection
`means of detecting a vehicle speed and a vehicle speed control
`means of setting any vehicle speed. comparing the set speed with a
`vehicle speed detected by the vehicle speed detection means and
`than driving a means relating to vehicle speed change in such a
`manner as to make the vehicle speed equal to the set speed, wherein
`the vehicle speed control means compares a safe speed obtained by
`the processing means of the navigation device with the set speed and
`deceierates the vehicle speed to the safe speed it the set speed
`exceeds the safe speed regardless of the set speed.
`{Claim 7] The fixed speed running control device according to Claim 5
`or 6. the device comprising a navigation device awarding to Claim 4,
`wherein the vehicle speed control means compares a safe speed
`obtained by the processing means of the navigation device with a set
`speed and lithe set speed exceeds the safe speed. executes
`deceleration control at a prescribed deceleration speed from a
`prescribed deceleration starting position regardless of the set speed in
`
`(2)
`
`Japanese Patent Application Kokai Publication No. H07~182598
`order to set the vehicle speed to the safe speed at a position where the
`set speed actually starts to exceed the safe speed.
`{Claim 8} The fixed speed running control device according to Claim 5
`or 6, the device comprising a navigation device according to Claim 4,
`wherein the vehicle speed control means compares a sate speed
`retrieved by the processing means of the navigation device with a set
`speed and it the set speed exceeds the sate speed, decelerates the
`vehicle speed to the sate speed regardless of the set speed and when
`the sate speed is increased, executes acceleration control in the
`vicinity of a position where the safe speed starts to increase.
`{Claim 9] The fixed speed running control device according to Claim 5:
`wherein the vehicle control means comprises a storage means of
`storing a set vehicle speed before deceleration in the event that the
`vehicle speed is decelerated to a safe speed and then controls in such
`a manner as to return the vehicle speed to the set speed after finishing
`the section in which the set speed exceeds the sale speed.
`{Claim 10] The fixed speed mnning control device according to Claim 5
`or 6, the device comprising an alarm means of giving an alarm when
`the set speed exceeds the sale speed.
`[Claim 3 i] The fixed speed running control device according to any
`one of Claims 5, 8 and a, the device comprising an alarm means at
`giving an alarm at the time of acceleration.
`
`{Claim 12] The fixed speed running control device according to Claim 5
`or 6. the device comprising an alarm means of giving an alarm at the
`time of deceleration and acceleration, wherein the alarm given by this
`alarm device is different between when the vehicle speed is
`decelerated and when it is accelerated.
`
`{Claim 13] A map information storage device, the device storing a sale
`speed, wherein the sale speed is decided by retening to a speed limit,
`road shape and the like of each road.
`{Detailed Explanation of the invention}
`{0001]
`iindustrial Field of Application] The present invention relates to an
`automotive fixed speed running device and particularly to an
`automotive fixed speed running device for finding a sate mnning speed
`by using a navigation system and running the vehicle at a fixed speed
`in such a manner that the sate running speed is not exceeded.
`£0002]
`{Prior Art] japanese Patent Application Kokai Publication No. Hmw
`
`225500 discloses a device for detecting a legal speed of a running
`vehicle by using a navigation system and than driving the vehicle at a
`fixed speed in the neighborhood of this speed. This official gazette
`discloses a device comprising a navigation system, a vehicle speed
`sensor and a vehicle speed controller for controlling a fuel control
`system based on infonnation about the abovementioned navigation
`system and vehicle speed sensor in order to control the vehicle speed
`within speed limits. The abovementioned navigation system is
`provided with a CD-ROM that stores map information, a (ED-ROM
`driver for retrieving map information from this ROM, an operation unit
`for carrying out operation such as a change in destination. etc. a
`vehicle position recognition device with a GPS system for detecting the '
`current position of a vehicle, a main controller for processing images in
`order to display the abovementloned map information, vehicle position,
`destination, etc. in accordance with the operation of the
`abovementioned operation unit, a display part for displaying image
`signals outputted from the main controller and what not on the screen.
`
`Garmin international, Inc.
`
`Exhibit 1007 - 2
`
`

`

`{0003] it is described in the gazette that the vehicle speed controller is
`inputted with information about a vehicle position and a speed limit at
`the vehicle position transmitted from the abovementioned navigation
`system as well as with a vehicle speed transmitted from the vehicle
`speed sensor, compares this vehicle speed with the abovementioned
`speed limit and it the vehicle speed exceeds by a prescribed speed or
`more, applies an engine brake to tower the vehicle speed to the speed
`limit and gives an alarm to a driver by means of sounds or display with
`an alarm means. Hence, the stable vehicle running status within a
`legal speed limit can be maintained, and thereby collisions and speed
`violations can be prevented.
`{0004]
`{Prdbiems that the invention is to Solve] However, the
`abovementioned conventional device has the problems as described
`below. in other words, while an alarm is given by an alarm means
`when a speed limit is exceeded by a prescribed level or more in the
`conventional device, a driver may be ignorant of not only the level of
`the difference between the vehicle speed and the speed limit but even
`the fact that the vehicle speed has exceeded the speed limit by a
`prescribed level or more as well until an alann is given, and in such a
`case the problem is that the driver feels uneasy unnecessarily simply
`by giving an alarm Moreover. while the vehicle speed is maintained in
`the neighborhood of a speed limit at the vehicle position in the
`abovementioned device, the legal speed limit of a road on which the
`vehicle is currently running may not agree with a speed at which the
`vehicle can actually run safely. in other words, it occurs between a
`straight road and a curved road each having the same speed limit,
`wherein it may be better to lower the vehicle speed on a curved road
`further than the speed limit in order to run the vehicle safely.
`{0005] However, the conventional vehicle speed control does not
`automatically lower the vehicle speed to a speed limit or below, and
`therefore a driver may decelerate the vehicle speed at the time of
`approaching a curved road by putting on the brake even when the
`
`vehicle is running within a speed limit in order to secure sate running.
`in this case, a fixed running device is usually released when the brake
`is applied, and therefore it it is necessary to continue fixed speed
`running at the curved road, the driver needs to set fixed speed running
`again at the weed. Moreover, since the driver puts on the accelerator
`pedal to increase the vehicle speed at the time of moving into a straight
`road at the end of the mrved road, fixed speed running is temporarily
`released again, and therefore fixed speed running must be set again at
`a speed (provided that the speed is within a speed limit by a prescribed
`level or more) after acceleration in order to continue fixed speed
`running. Thus, it is extremely complicated.
`{0006] Furthermore, in the conventional examples, the vehicle speed is
`maintained in the neighborhood of the speed limit of a road on which
`the vehicle is currently running, and therefore when the speed limit is
`suddenly changed by changing the running road, it takes some time to
`change the vehicle speed to the speed limit or thereabout by means oi
`the vehicle speed controller. Particularly when the speed limit drops.
`the driver must run the vehicle at a speed that considerably exceeds
`the speed limit for a while until the vehicle speed is automatically
`lowered to the speed limit; therefore the problem is that it is hardly
`possible to adjust the speed to changes in speed limits immediately
`{0007] The present invention was made in order to solve the
`abovementioned problems. The purpose of the present invention is to
`provide a navigation device that enables a driver to know the
`
`Japanese Patent Application Kokai Publication No. H07—182598
`{3)
`relationship between the current running speed and a sale speed at all
`times as well as a safe and comfortable fixed speed whiting device
`that does not cause the driver to feel uneasy even when the vemcle is
`automatically deoelerated all of a sudden but executes speed control
`automatically and smoothly in such a manner as to make the vehicle
`speed equal to the actual sate running speed of a road on which the
`
`vehicle is running based on the navigation system, thereby eliminating
`the need for applying a brake or an accelerator by the driver.
`Furthermore, another purpose of the present invention is to provide a
`device that enables a driver to assume a safe speed by determining
`the road states by using information available conventionally without
`newly setting sate speeds in the map information storage means at the
`time of deciding the safe spwds.
`£0008]
`ill/leans of Solving the Problems} The present invention solves the
`abovementioned problems basically by using a navigation clevlce
`comprising a map information storage device that stores a safe speed
`decided by referring to a speed limit, a road shape and the like of each
`road or a navigation device comprising a processing means of
`assuming a safe speed based on a conventional map information
`storage device in which speed limits, etc. are stored, wherein a device
`is provided for executing fixed speed running control in such a manner
`that the vehicle speed does not exceed a sale speed retrieved by the
`abovementioned device, and a means oi displaying the safe speed on
`the abovementioned navigation device.
`{0009]
`
`{Operation oi the invention] in the invention according to Claim t, a
`sale speed at a vehicle position is retrieved. in the invention according
`to Claim 2, a safe speed at a vehicle position is assumed based on
`existing map information. In the invention according to Claim 8, a safe
`speed at the retrieved vehicle position is displayed. in the invention
`according to Claim 4, a safe speed at a position located ahead of the
`vehicle position by a prescribed distance is displayed. in the invention
`according to Claim 5, an obtained sate speed is compared with the
`vehicle speed and then fixed speed running control is executed in
`order to make the vehicle speed equal to the sale speed. lo the
`invention according to Claim 6, an obtained sate speed is compared
`with a set speed that was optionally set, and then the vehicle speed is
`decelerated to the sate speed it the set speed exceeds the safe speed.
`{0010] in the invention according to Claim 7, the vehicle is controlled
`when the set speed is to be lowered to the sale speed in such a
`manner that the vehicle is deoelerated in advance of its moving into an
`area whose sale speed is lower so that the vehicle speed matches the
`sale speed around the time when it enters the area. in the invention
`
`according to Claim 8, the vehicle is controlled when the vehicle speed
`is accelerated such that it starts accelerating after completely finishing
`the lower sate speed area. in the invention according to Claim 9. in the
`event that the vehicle speed is lowered to a safe speed in a lower safe
`speed area and then the safe speed is increased, the vehicle is
`
`controlled in such a manner as to run at the set speed it the original set
`speed is lower than the sale speed. in the invention according to Claim
`10, an alarm is given at the time of deceleration. tn the invention
`according to Claim it, an alarm is given at the time oi acceleration. In
`the invention according to Claim 12, an alarm at the time of
`acceleration is different from an alarm at the time of deceleration. in the
`invention according to Claim 13, a specific sate speed or each road is
`stored as one piece of map information.
`
`Sarmin international, Inc.
`
`Exhibit 1007 - 3
`
`

`

`{001 1]
`
`{Embodiments} A description of embodiments according to the present
`invention is given below with reference to drawings.
`Embodiment 1
`
`Fig. 1 is a block diagram showing a state where a navigation device
`according to the present invention and a fixed speed running control
`device according to the present invention are combined. in Fig. 1,
`reference numerals I, 2 and 3 are respectively a navigation device 1, a
`vehicle speed sensor as a vehicle speed detection means and a
`vehicle speed control means 3 tor controlling the vehicle speed based
`on signals from the navigation device 1 and the vehicle speed sensor 2.
`The navigation device 1 is provided with: a vehicle position detection
`means 5 consisting of a receiver for receiving electric waves from an
`artificial navigation satellite (GPS satellite) 4 and a GPS computer for
`detecting the vehicle position based on the abovemeniicned electric
`waves; an external storage device 6 as a map information storage
`means of storing map information about roads and provided with a
`(SD-ROM driver for reading out the map information; a sale speed
`decision means 7 as a processing means of retrieving the vehicle
`position detected by the abovemenlioned vehicle position detection
`means 5 on the map read from the external storage device 6 and
`deciding a sale running speed at the position on the map; a CRT unit
`such as a color CRT and a liquid crystal display device as a display
`means of displaying. on the screen, map data read from the external
`storage device 6, the vehicle position on the map data and the sate
`speed decided by the safe speed decision means; an alarm device 9,
`a sound synthesis device 10 or an LED display device (not shown
`here) as an alarming means of giving an alarm to a driver by means of
`sounds. voices, vibration or the like at a time when the vehicle speed
`exceeds the abovementioned sate speed.
`{0012] The abovemenlioned sale speed is stored in the {JD-ROM of
`the abovementioned external storage device 6 beforehand, wherein
`the safe running speed is stored in detail in accordance with not only
`the speed limit of each road but also the shape of the road (6.9.. a
`straight road, a corner, a curved road and a slope). it is not necessary
`to provide all of the abovementioned alarm device 9. sound synthesis
`device 10 and LED display device. Any one of them may be enough.
`Since the conventionally wellwknown configurations may be employed
`for the artificial navigation satellite 4, the vehicle position detection
`means 5, the external storage device 6, etc. except that the external
`storage device 6 stores the abovementioned information about sate
`speeds: therefore nodelaiied explanation is given here about those
`configurations. Next, the abovementioned vehicle speed sensor 2 may
`be any conventionally well-known sensor (e.g., a sensor that consists
`of a rotator rotated by a flexible shall 01‘ a transmission and a reed
`
`snatch and outputs pulse string signals having frequencies in
`proportion to winning speeds).
`
`{0013} The vehicle speed control means 3 constituting the fixed speed
`running control device compares a safe speed decided by the
`abovementioned navigation device 1 with the current vehicle speed
`detected by the abovementioned vehicle speed sensor and comprises:
`a processing device 1 l as a means of calculating the control level
`necessary for maintaining, decelerating or accelerating the current
`vehicle speed in order to achieve a sale speed for the vehicle; a
`memory 12 as a storage means of storing information about the
`vehicle speed before deceleration at a time when the vehicle speed is
`temporarily reduced at a curved road or the like; and an actuator 13 as
`
`Japanese Patent Application Kokai Publication No. H07~182598
`(4)
`a means relating to vehicle speed change for moving a throttle valve
`14 within the air intake pipe of an engine in accordance with the control
`level calculated by the abovemeniloned processing device it.
`100M] We have described the configuration of the fixed speed running-
`device above. Next, a description of detecting the vehicle position by
`the fixed speed running device is given below with reference to Fig. 2.
`First, at 8101. the initial setting including initial reset is performed when
`the poorer source of the GPS computer is turned on. Next, at 8102, the
`receiver of the position detection means 5 receives electric waves of
`
`position detection information transmitted from a plurality of receivable
`GPS satellites 4. At 8103. latitude and longitude are calculated by the
`ahovementioned GPS computer. At Sim, the current vehicle position
`is detected. At 8105, various pieces oi intonnation such as the vehicle
`position on map information, road attributes {information about national
`roads, prefectural roads. etc.) at the position and sale speeds are
`retrieved from the abovementioned Ctr—ROM at the abovementioned
`
`(JD-ROM driver. These pieces of information are displayed on the
`screen of the abovementioned CRT unit 8 at 8106, After deciding a
`sale speed, the procedure is returned to 8102 to detect the vehicle
`
`position, and thereby a processing for deciding a sale speed is carried
`out at all times while the vehicle is running.
`{0015} A driver can confirm a safe speed by looking at the screen by
`virtue of the abovementioned display and thereby find the relationship
`beMeen the current vehicle speed displayed on a speed meter and
`the abovementioned sale speed, which is useful information for a
`
`driver to take some actions to matte the vehicle speed equal to the
`sale speed by putting on the brake if the vehicle speed exceeds the
`sale speed, for example. Moreover, a driver’s attention may be called
`by giving an alarm by means of the abovementioned alarm device 9 or
`sound synthesis device 10 it the vehicle speed exceeds the safe
`speed so that the driver can take some actions for safe driving.
`{nor 6} Embodiment 2
`
`Although the sale speed of a road on which the vehicle is currently
`running may be displayed, the .abovementloned safe speed could be a
`sale speed at a position located ahead of the current vehicle position
`leg. at position 500m ahead at the currently running vehicle position)
`instead. in this case, after finding the vehicle position, a position 500m
`ahead of the vehicle position may be found. and then a safe speed at
`the position is retrieved item the abovementloned extemal storage
`device 6 and then displayed on the CRT unit 8. Although we use an in'
`car CRT unit as a display means in this embodiment, information can
`be displayed more clearly if a sale speed display panel or the like is
`provided separately. in this manner. a driver can find a sale speed at a
`comer or the like beforehand and thereby have extra time to operate
`an accelerator, a brake and the like: thereiore this method can help
`relax the driver and enhance hisfher feelings about driving, thereby
`contributing to safe driving. Moreover, the driver can find dangers such
`as the fact that there is a curve ahead beforehand by looking at the
`safe speed even it the driver has never been to the road before, and
`thereby any collision possibly caused by driving into the opposing lane
`can be avoided and any rotating error prevented. Furthermore, the
`degree of a danger can be estimated by a value of the sale speed.
`Although 500m ahead of the driver is exemplified in this embodiment,
`the distance ahead of the driver may be changed for displaying a sale
`speed depending on the landform of a road without fixing the distant to
`a specific meter. Although a GPS satellite is used in the
`
`abovementioned embodiments to detect the vehicle position,
`
`Garmin international, Inc.
`
`Exhibit 1007 - 4
`
`

`

`the present invention is not particularly limited to this method but
`includes a method for using a gas gyrocator described in the
`abovementioned official gazette as the prior art. a method tor detecting
`geomagnetism, a seltcontalning navigation system and a radio
`navigation system.
`{0817] Embodiment 3
`Next. a description of control with a fixed speed running control device
`by using the abovementioned navigation device is given below with
`reference to Fig. 3. first, at 5201 g the initial setting including initial reset
`is executed for the abovementioned processing device 11 at a time
`when a driver turns on the switch of the fixed speed running control
`device. At 8202, the abovementioned vehicle speed sensor 2
`calculates pulses inputted into the processing device it with a reed
`switch. for example. in order to calculate the speed of a currently
`running vehicle. At 8203, the navigation device 1 retrieves the vehicle
`position detected by the abovemeniioned position detection means 5
`on the map stored in the external storage device 6, and then a sate
`speed at the position is read and transmitted to the processing device
`1 i of the fixed speed running control device from the abovementioned
`navigation device 1. The safe speed thus read is preferably a safe
`speed at a position located ahead of the wrrent position by a certain
`distance (e.g., 500m ahead)
`{0018] At 8204, the sale speed thus read is displayed on the CRT unit
`of the navigation device 3 as described above. The vehicle speed
`control means 8 defines the abovementioned sate speed as a set
`speed for fixed speed running; and it there is any discrepancy between
`a set speed at the time or starting fixed speed running control and the
`above-mentioned sate speed. the fixed speed running control device
`automatically replaces the set speed with the sale speed.
`Subsequently, fixed speed running is executed at this safe speed. At
`8205, the safe speed detected this time is compared with a sale speed
`one cycle ago (which is stored in the memory 12), and it is determined
`it there is any change between them. A description of 8205 is given
`below with reference to Fig. 4 (a) showing an example oi the actual
`running status of a vehicle. A road from point A to point E is a straight
`road, a road from point E to point F a curved road and a road from
`point F to point G a straight road again. The sale speed of the
`abovementioned straight road is 70kmih and the safe speed of the
`abovementioned curved road some. The vehicle is running at a sale
`speed up to point C (is, YOitml‘h}, and a sale speed at the starting
`position of the curved road which is 500m ahead of the vehicle, has
`already been retrieved. Accordingly. at 8205, it is determined that there
`will be a change in the sale speed, Alter it is determined that there will
`be a change in the sale speed, a set speed is defined as the sate
`speed after the change, Lea, SOkrn/h that is the sale speed of the
`curved road at 8208.
`
`{0019] On the other hand, at 8207', the current set speed tie, a sale
`speed one cycle ago) is compared with the current sate speed, and it
`the set speed one cycle ago exceeds the current sale speed (Le,
`when it is detected that the safe speed was changed from ’70th to
`501(th at point C according to the example in Fig. 4), an alarm is
`given to the driver by the alarm device 9 such as an alarm buzzer. The
`alarming means was exemplified by an alarming buzzer above. yet the
`present invention is not limited to this example. lt may be sounds from
`the sound synthesis device 10. in this case, the driver can specifically
`recognize the content of an alarm more easily. Moreover, it it is
`displayed on a CRT unit the driver can recognize it visually as well. At
`
`Japanese Patent Application Kokai Publication No. H07v182598
`(5)
`8210, the vehicle speed is automatically decelerated in such a manner
`' as to tilt the gap between the abovementioned current target speed
`and the sate speed. in the example oi Fig. 4: a deceleration starting
`position and a deceleration speed are found based on the gap
`between the target vehicle speed and the safe vehicle speed so that
`the vehicle speed can be changed from 70km‘h to 50krnl’h somewhere
`between point C and point E; deceleration is started at point D; and the
`vehicle is controlled to a prescribed deceleration speed so that the
`vehicle speed can be 50km at point E. The vehicle speed betore
`deceleration (Le, 70kmrh) may be stored during the deceleration. Thus,
`since deceleration is started before the vehicle enters a curved road, a
`driver can relax and feel less tired even when heishe must drive a long
`distance on the road having many curves.
`{0020] if there is no difference in the safe speed between the previous
`point and the present point as in the case of point B, the target vehicle
`speed is not changed. in this case, the current target speed is
`maintained at 8209. Next, when the vehicle approaches the end of the
`cunxed road, point F is detected, and it is retrieved that the sale speed
`is inoreased to Yolmvh from some at 8205, an alarm is given by the
`alarm device 9, and the vehicle speed is accelerated to a new sale
`speed by a prescribed acceleration speed at a prescribed acceleration
`starting point before point F so that the vehicle speed can reach
`70km/h at the time of passing through point F. The reason why an
`alarm is given by the alarm device 9 is to give the driver a sign that
`automatic acceleration will start in order to avoid some possibility that
`the driver feels uneasy if acceleration is started suddenly. An alarm for
`acceleration may be differentiated from an alarm for deceleration by
`sound tones so that a drive can find the content of an alarm easily.
`{0021] Embodiment 4
`Although acceleration is started at or about the and of the curved road
`in the abovementioned example. it could be desirable to control the
`vehicle speed carefully in view of safety in the event that the vehicle
`speed is automatically accelerated. Accordingly, as shown in the time
`chart of Fig. 4 (b). acceleration is started at F point where the curved
`road is completely ended, and the vehicle speed may be accelerated
`to a prescribed acceleration speed somewhere before point (3 on a
`straight road. in this case, the running speed is not compared with a
`sale speed at a position located ahead of the vehicle by a prescribed
`distance on the curved road unlike the abovementioned example, and
`the program content is changed at the processing device 11 in order to
`execute fixed speed running control such that the vehicle runs at a
`safe speed required for the current running position.
`{0022} Embodiment 5
`
`Next. a description of another example oi the fixed speed running
`control according to the present invention is given below. in the
`previous example. after decelerating the vehicle speed on the curved
`road, the vehicle speed is changed to the safe speed of a straight road
`at the time of coming to the straight road. However, the safe speed
`before deceleration may be stored in the memory 12, and it a safe
`speed after coming to the straight road is higher than the sate speed
`before deceleration, the vehicle speed may be returned to the sale
`
`speed beiore deceleration at 8206 in Fig, 3. By way of example, given
`that the speed before deceleration is ammo, decelerated speed on
`the curved road 50km and the sale speed of a straight road after the
`curved road 70mm, fixed speed running on the straight road is
`executed at 50kmfh, which is the safe speed betore the deceleration,
`even it the sale speed on the straight road is Yoknvh.
`
`Sarmin international, inc.
`
`Exhibit 1007 - 5
`
`

`

`{0023} Embodiment 6
`in the abovementioned Embodiments 3-5 except for a specific case
`(is. a case where it a safe speed is higher than the speed betore
`deceleration, fixed speed running is executed at the speed before
`deceleration in Example 5), the vehicle speed is programed at the
`vehicle speed control means 3 such that it always matches the sale
`speed of the road. However, a driver may set any speed at the
`beginning affixed speed running and execute fixed speed running at
`the set speed thus set by the driver within the range that does not
`exceed sate speeds. in this case. it the set speed exceeds a sale
`speed, the actuator 13 is controlled such that the vehicle speed is
`decelerated to the safe speed without regard to the set speed. it the
`sale speed increases subsequently, the vehicle speed may be
`accelerated to the increased safe speed, or it the abovementioned set
`speed does not exceeds the sale speed. it maybe accelerated to the
`abovementioned set speed