Abstract: An apparatus and method for controlling the speed of a vehicle, the apparatus manipulates a cable having one end secured to a throttle and the other secured to a motor for applying a force to the cable. A motor controller provides commands to the motor and the motor controller receives an input in the form of a vehicle velocity setting and in response to the value of the setting setting the motor controller instructs the motor to pull the cable a predetermined distance corresponding to a predetermined throttle position, the predetermined distance is stored in a lookup table and the predetermined throttle position corresponds to a vehicle velocity that is similar to the vehicle velocity setting.

Abstract: Mechanical lash in a cruise control system including a cruise control actuator linked to an engine intake air valve through a cruise cable assembly is automatically measured and stored for use in cruise control operations. The cruise control actuator is driven from a base position along a position schedule while an engine parameter responsive to change in intake air valve position is monitored for any significant parameter change indicating movement of the intake air valve in response to the actuator movement. The amount of actuator movement required before any significant change occurs in the engine parameter is stored as representing the mechanical lash. Cruise control commands are augmented by the learned mechanical lash before being applied to the cruise control actuator.

Abstract: A vehicle speed control system provides adaptive compensation for compliance in a linking mechanism between a throttle control member and a throttle which creates hysteresis in throttle movement. The system has a vehicle speed sensor, an actuator having an output linked to the throttle control member, an actuator position signal generator and a control responsive to the vehicle speed sensor and the actuator position signal generator for positioning the actuator in closed loop control with a major loop in response to vehicle speed and a minor loop in response to actuator position.