Model referenced speed control for automobiles

Claim 2

A speed control system for self-powered vehicle, comprising: a source of a speed control signal; means for measuring variables relating to the operation of the vehicle; a controller operative to receive said speed control signal and the outputs of said means for measuring variables associated with the operation of the vehicle; means for controlling the driving system of the vehicle as a function of the output of the controller; a model system for receiving the control signal; means under control of the output of the model and the variables for modifying the operation of the controller in such a manner as to cause the variables asSociated with the operation of the vehicle to more closely resemble the output of the model.

Claim 3

The speed control system of claim 1 wherein the variables relating to operation of the vehicle include the speed of the vehicle.

Claim 4

The speed control system of claim 1 wherein the model produces a plurality of outputs each related to one of the measured variables relating to the operation of the vehicle and the modification of the operation of the controller is performed as a function of the difference between the measured variables and the outputs of the model.

Claim 5

The speed control system of claim 3 wherein the means under control of the output of the model for modifying the operation of the controller includes a plurality of sensitivity adjustment circuits, one related to each of the measured variables and the controller includes a plurality of adjustable circuits, one associated with each of the variables, and the adjustable circuits of the controller are respectively adjusted as a function of the output of one of the sensitivity circuits and the difference between the outputs of the model system and the measured variables.

Claim 6

The speed control system of claim 4 wherein the controller includes one adjustable circuit which receives a measured variable relating to the difference between the speed of the vehicle and the commanded control speed, and a second adjustable circuit which receives the measured acceleration of the vehicle, and the means under control of the output of the model and the variables for modifying the operation of the controller include a velocity sensitivity adjustment circuit and an acceleration sensitivity adjustment circuit.

Claim 7

The speed control system of claim 1 further including means for measuring the range from the vehicle to a preceding vehicle moving in the same direction as the vehicle and wherein the speed control signal is modified as a function of the measured range.

Claim 8

The speed control system of claim 1 wherein said means under control of the output of the model and the variables for modifying the operation of the controller includes means for determining the difference between the variables and corresponding parts of the output of the model and the degree of modification of operation of the controller which is achieved is a function of such difference.

Claim 9

A control system for a vehicle having a propulsion system and a braking system, comprising: a source of a speed control signal; means for measuring the range between the vehicle and a preceding vehicle moving in the same direction as the vehicle; means for modifying the speed control signal as a function of the range; means or measuring variables relating to the operation of the vehicle; a controller operative to receive said range function modified speed control signal and the outputs of said means for measuring variables associated with the operation of the vehicle; means for controlling the propulsion and braking system of the vehicle as a function of the output of the controller; a model system for receiving the range function modified speed control signal and for providing a plurality of outputs each representing the ideal value of one of said variables relating to the operation of the vehicle; and means under control of the outputs of the model and the measured variables for modifying the operation of the controller in such a manner as to cause the variables associated with the operation of the vehicle to more closely resemble the outputs of the model independent of variations in parameters relating to the vehicle system.

Claim 10

A control system for a vehicle having a propulsion system and a braking system, comprising: a source of a speed control signal; means for measuring the range between the vehicle and a preceding vehicle moving in the same direction as the vehicle; means for modifying the speed control signal as a function of the range; means or measuring variables relating to the operation of the vehicle; a controller operative to receive said range function modified speed control signal and the outputs of said means for measuring variables associated with the operation of the vehicle; means for controlling the propulsion and braking system of the vehicle as a function of the output of the controller; a model system for receiving the range function modified speed control signal and for providing a plurality of outputs each representing the ideal value of one of said variables relating to the operation of the vehicle; and means under control of the outputs of the model and the measured variables for modifying the operation of the controller in such a manner as to cause the variables associated with the operation of the vehicle to more closely resemble the outputs of the model independent of variations in parameters relating to the vehicle system.

Claim 11

The speed control system of claim 8 wherein the means under control of the outputs of the model and the variables for modifying the operating of the controller includes means for generating signals proportional to the difference between each of the outputs of the model and its related measured variable.

Claim 12

The speed control system of claim 9 wherein the means are under control of the outputs of the model and the variables for modifying the operatIon of the controller include a plurality of sensitivity circuits, each relating to one of the measured variables of the vehicle and each providing an output which is a function of the sensitivity to the vehicle response to a change in such vehicle parameter.

Claim 13

A speed control system for a self-powered vehicle, comprising: a source of an ideal speed control signal; means for measuring the range between a vehicle and a preceding vehicle moving in traffic in the same direction as the vehicle; means for computing a safe separation distance between the vehicle and the preceding vehicle as a function of the ideal speed control signal; means for generating a modified speed control signal which consists of a function of said ideal speed control signal at such time as the measured range to the preceding vehicle exceeds the computer safe separation distance and constitutes an emergency signal at such time as the measured range is less than the computer safe separation distance; means for measuring variables relating to the operation of the vehicle; a controller operative to receive said modified speed control signal and the outputs of said means for measuring variables associated with the operation of the vehicle; means for controlling the driving system of the vehicle as a function of the output of the controller; a model system for receiving the modified speed control signal; and means under control of the output of the model and the variables for modifying the operation of the controller in such a manner as to cause the variables associated with the operation of the vehicle to more closely resemble the outputs of the model.

Claim 14

A speed control system for a self-powered vehicle, comprising: a source of an ideal speed control signal; means for measuring the range between a vehicle and a preceding vehicle moving in traffic in the same direction as the vehicle; means for computing a safe separation distance between the vehicle and the preceding vehicle as a function of the ideal speed control signal; means for generating a modified speed control signal which consists of a function of said ideal speed control signal at such time as the measured range to the preceding vehicle exceeds the computer safe separation distance and constitutes an emergency signal at such time as the measured range is less than the computer safe separation distance; means for measuring variables relating to the operation of the vehicle; a controller operative to receive said modified speed control signal and the outputs of said means for measuring variables associated with the operation of the vehicle; means for controlling the driving system of the vehicle as a function of the output of the controller; a model system for receiving the modified speed control signal; and means under control of the output of the model and the variables for modifying the operation of the controller in such a manner as to cause the variables associated with the operation of the vehicle to more closely resemble the outputs of the model.

Claim 15

The speed control system of claim 11 further including means for altering the modified speed control signal as a function of the length of time that the rate of change of the range signal has exceeded a predetermined limit.

Claim 16

The speed control system of claim 12 wherein said means for altering the modified speed control signal as a function of the length of time that the rate of change or range signal has exceeded a predetermined limit is disabled at such time as the range exceeds a predetermined limit.

Claim 17

The speed control system of claim 12 wherein the modified speed control signal is altered as a function of the perturbation in position of the preceding vehicles as derived from the range signal.