1. A running control device for a vehicle, comprising:
a vehicle speed sensor which detects an actual vehicle speed of the vehicle;
a target vehicle speed setting section which sets a target vehicle speed;
a target driving force calculation section which calculates a target driving force based on a vehicle speed deviation of the actual vehicle speed detected by the vehicle speed sensor from the target vehicle speed set by the target vehicle speed setting section;
a driving force control section which performs driving force control based on the target driving force calculated in the target driving force calculation section;
a vehicle speed allowed lowering value setting section which sets an allowed lowering value of the actual vehicle speed with respect to the target vehicle speed; and
a target driving force upper limit value calculation section which calculates a target driving force upper limit value based on the actual vehicle speed,
wherein in a case where an amount by which the actual vehicle speed is lowered with respect to the target vehicle speed is within the allowed lowering value,
the target driving force calculation section restricts the target driving force to be less than or equal to the target driving force upper limit value calculated by the target driving force upper limit value calculation section, and
the driving force control section performs driving force control based on the restricted target driving force.
2. The running control device for a vehicle according to claim 1, wherein:
the target driving force upper limit value calculation section calculates a plurality of different target driving force upper limit values; and
in a case where the actual vehicle speed has been lowered lower than the target vehicle speed by a value more than or equal to the allowed lowering value, the target driving force calculation section switches the target driving force upper limit value to a larger target driving force upper limit value than a target driving force upper limit value set at this time, thereby performing restriction of the target driving force.
3. The running control device for a vehicle according to claim 2, wherein the allowed lowering value setting section sets allowed lowering values corresponding to magnitudes of the plurality of target driving force upper limit values calculated by the target driving force upper limit value calculation section and sets the allowed lowering value such that the larger the target driving force upper limit value in the plurality of target driving force upper limit values, the larger the allowed lowering value.
4. The running control device for a vehicle according to claim 2, wherein when performing switching of the target driving force upper limit value, the target driving force calculation section calculates the target driving force by using a provisional target vehicle speed obtained based on the current actual vehicle speed or the target vehicle speed, in place of an original target vehicle speed set by the target vehicle speed setting section and gradually approximates the provisional target vehicle speed to the original target vehicle speed.
5. The running control device for a vehicle according to claim 4, wherein the target driving force calculation section
gradually approximates the provisional target vehicle speed to the original target vehicle speed by restricting a variation per unit time of the provisional target vehicle speed and
calculates a variation restriction value per unit time of the provisional target vehicle speed based on the actual vehicle speed or a deviation of the actual vehicle speed from the original target vehicle speed.
6. The running control device for a vehicle according to claim 4, wherein
in a case where the actual vehicle speed has become greater than or equal to the original target vehicle speed while the provisional target vehicle speed is made to gradually approximate the original target vehicle speed,
the target driving force calculation section stops calculation of the target driving force using the provisional target vehicle speed and starts calculation of the target driving force using the original target vehicle speed.
7. The running control device for a vehicle according to claim 5, wherein
in a case where the actual vehicle speed has become greater than the provisional target vehicle speed by a value more than or equal to a predetermined value while the provisional target vehicle speed is made to gradually approximate the original target vehicle speed,
the target driving force calculation section sets the value of the current actual vehicle speed as the provisional target vehicle speed or increases the provisional target vehicle speed to be more than or equal to the variation restriction value.
8. The running control device for a vehicle according to claim 1, further comprising a gradient amount acquisition section which acquires an amount of gradient of a subject vehicle running path,
wherein the target driving force upper limit value calculation section calculates the target driving force upper limit value based on the amount of gradient acquired by the gradient amount acquisition section.
9. The running control device for a vehicle according to claim 2, further comprising a gradient amount acquisition section which acquires an amount of gradient of a subject vehicle running path,
wherein the target driving force upper limit value calculation section calculates the target driving force upper limit value based on the amount of gradient acquired by the gradient amount acquisition section, and
wherein in a case where the amount by which the actual vehicle speed is lowered with respect to the target vehicle speed is larger than the allowed lowering value and the amount of gradient acquired by the gradient amount acquisition section becomes more than or equal to a predetermined determination threshold value, the target driving force calculation section performs restriction of the target driving force by using a larger target driving force upper limit value than a target driving force upper limit value set at this time.
10. The running control device for a vehicle according to claim 8, wherein the allowed lowering value setting section increases the allowed lowering value of the actual vehicle speed with respect to the target vehicle speed in accordance with an increase in the amount of gradient acquired by the gradient amount acquisition section.
11. The running control device for a vehicle according to claim 8, wherein the target driving force calculation section gradually approximates a provisional target vehicle speed to the original target vehicle speed by restricting a variation per unit time of the provisional target vehicle speed and calculates a variation restriction value per unit time of the provisional target vehicle speed based on the amount of gradient acquired by the gradient amount acquisition section.
12. The running control device for a vehicle according to claim 1, further comprising a mode switching section which switches a driving force control content between a normal mode that restricts the target driving force and a fuel-efficient mode that further restricts the target driving force than in the normal mode,
wherein the target driving force upper limit value in the normal mode is made to be different from the target driving force upper limit value in the fuel-efficient mode.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A method for strengthening a spinous process, comprising:
positioning a framework over an outer surface of the spinous process, the framework comprising a mesh connected to a frame;
distributing bone filler over the mesh so that the bone filler contacts the mesh and contacts the spinous process;
allowing the bone filler to cure along the outer surface;
positioning a jig at the spinous process over the mesh and bone filler so that a slot through the jig is exposed to a side of the spinous process;
orienting a cannula so that the cannula is receivable in the slot;
inserting the cannula into the spinous process through the slot;
injecting bone filler into the spinous process by way of the cannula;
terminating the injection when a desired amount of bone filler has been injected into the spinous process;
removing the cannula from the spinous process; and
allowing the bone filler to cure within the spinous process.
2. The method of claim 1, wherein the step of distributing bone filler over the mesh is performed simultaneously with injecting bone filler into the spinous process.
3. The method of claim 1, wherein the step of distributing bone filler over the mesh is performed subsequent to injecting bone filler into the spinous process.
4. The method of claim 3, wherein the cannula includes one or more side openings associated with a stop that limits the depth of insertion, the one or more side openings directing bone filler over the mesh.
5. The method of claim 1, wherein the slot is non-circular in shape; and wherein orienting a cannula further includes aligning the cannula having a complementary non-circular shape with the slot.
6. The method of claim 1, further comprising the step of positioning the cannula within the vertebra at a desired location, wherein the desired location is superficial to the vertebral foramen and spinal canal.
7. The method of claim 1, wherein the cannula comprises a stop that limits the depth of insertion.
8. The method of claim 1 wherein the one or more side openings are delivery tubes.
9. The method of claim 1, wherein the jig comprises a brace to contact a supraspinous ligament of the spinous process so that the slot is positioned to direct the cannula to a target location of the spinous process.
10. The method of claim 1 wherein the jig comprises:
a first arm contacting the mesh and bone filler on one side of the spinous process so as to resist slippage, and
a second arm contacting the mesh and bone filler on an opposite side of the spinous process, the second arm providing the slot to guide a cannula to a target location.
11. The method of claim 1, further comprising inserting an awl into the slot to create a path for inserting the cannula.
12. The method of claim 1, wherein the step of positioning the jig is performed simultaneously with the step of positioning the framework.
13. The method of claim 1, wherein the framework includes:
a first support contacting one side of the spinous process, the first support including a mesh and a frame; and
a second support contacting an opposite side of the spinous process, the second support including a mesh and a frame;
wherein the first support is connected to the second support by a connecting structure.
14. The method of claim 13,
wherein the frame of the first support, the frame of the second support, and the connecting structure are fabricated from a shape memory material; and
wherein when positioned over the spinous process, the framework assumes a shape that generally conforms to the outer surface of the spinous process.
15. The method of claim 13,
wherein the framework includes anchors extending from the first support and the second support; and
wherein the anchors are inserted into the spinous process to grip the spinous process.
16. The method of claim 15, wherein positioning a framework over an outer surface of the spinous process further includes:
closing a pair of pincers mated with the anchors over the spinous process so that the anchors are rigidly directed into the spinous process; and
disassociating the pair of pincers from the anchors.
17. The method of claim 1, wherein the step of injecting bone filler into the spinous process causes bone filler to contact the mesh.
18. A kit for reinforcing a spinous process, comprising:
a framework positionable over the spinous process, the framework including:
a first support having a frame and a mesh connected with the frame,
a second support having a frame and a mesh connected with the frame, and
a connecting structure connecting the first support to the second support,
wherein when the framework is positioned over the spinous process, the framework sheaths the spinous process;
a jig including a slot extending through the jig so that when the jig is positioned at a spinous process over the first support and the second support, the slot is exposed to a side of the spinous process; and
a cannula receivable in the slot.
19. The kit of claim 18,
wherein the frame of the first support, the frame of the second support, and the connecting structure are fabricated from a shape memory material; and
wherein when positioned over the spinous process, the framework assumes a shape that generally conforms to the outer surface of the spinous process.
20. The kit of claim 18, wherein the cannula comprises a stop that limits the depth of insertion.
21. The kit of claim 18, wherein the cannula includes one or more side openings.
22. The kit of claim 21, wherein the one or more side openings are delivery tubes.
23. The kit of claim 18, wherein the jig comprises a brace to contact a supraspinous ligament of the spinous process so that the slot is positioned to direct the cannula to a target location of the spinous process.
24. The kit of claim 18, wherein the jig further includes:
a brace contacting a supraspinous ligament of the spinous process,
a first arm contacting one side of the spinous process so as to resist slippage, and
a second arm contacting an opposite side of the spinous process, the second arm providing the slot to guide a cannula to a target location.
25. The kit of claim 18, further comprising inserting an awl into the slot to create a path for inserting the cannula.
26. A method for strengthening a spinous process, comprising:
positioning a framework over an outer surface of the spinous process, the framework comprising a mesh connected to a frame;
distributing bone filler over the mesh so that the bone filler contacts the mesh and contacts the spinous process;
allowing the bone filler to cure over the outer surface;
positioning a jig over the framework so that a brace of the jig is positioned at the supraspinous ligament of the spinous process;
actuating the jig so that a first arm contacts the framework on one side of the spinous process to resist slippage and a second arm contacts the framework on an opposite side of the spinous process;
penetrating the opposite side of the spinous process with an awl extending from the second arm;
retracting the awl from the opposite side without moving the second arm so that an injection port of the second arm is exposed to the penetrated spinous process;
injecting bone filler into the spinous process by way of the injection port;
terminating the injection when a desired amount of bone filler has been injected into the spinous process;
removing the jig from the spinous process; and
allowing the bone filler to cure within the spinous process.
27. The method of claim 26, wherein the step of distributing bone filler over the mesh is performed simultaneously with injecting bone filler into the spinous process.
28. The method of claim 26, wherein the step of distributing bone filler over the mesh is performed subsequent to injecting bone filler into the spinous process.