Method and device for stopping vehicle at predetermined position

Claim 1

A device for stopping a vehicle in an optimum condition when the vehicle is desired to be stopped at a predetermined target position comprising: first means for detecting a velocity and an acceleration of the vehicle which is in its running state; second means for determining a distance between a current location of the vehicle and said target position; third means for estimating, based on the velocity V T and acceleration α detected by said first means and the distance L l detected by said second means, a first stop gap accuracy L=L l -V T 2 /(k·α T ) which would be obtained as a result of control operations under a first command of a brake setting in the vehicle where the brake setting is maintained at its current state and at least one second stop gap accuracy L'=L l -V T 2 /k·(α T ±Δα)) which would be obtained under a second control command of the brake setting where the brake setting is changed by a predetermined value, and for determining values indicative of a degree of satisfaction of said first and second stop gap accuracies, respectively, with respect to at least one of preselected performances indices relating to the optimum condition in stopping the vehicle wherein k is a constant and Δα represents an estimated variation of acceleration when the brake setting is changed by the predetermined value; fourth means for selecting one of said first and second control commands by judging said satisfaction degree indicative values according to a predetermined rule; and fifth means for applying to the vehicle said selected one control command of the brake setting.

Claim 2

A device for stopping a vehicle in an optimum condition when the vehicle is desired to be stopped at a predetermined target position comprising: first means for detecting a velocity and an acceleration of the vehicle which is in its running state; second means for determining a distance between a current location of the vehicle and said target position; third means for estimating, based on the velocity V T and acceleration α detected by said first means and the distance L l detected by said second means, a first stop gap accuracy L=L l -V T 2 /(k·α T ) which would be obtained as a result of control operations under a first command of a brake setting in the vehicle where the brake setting is maintained at its current state and at least one second stop gap accuracy L'=L l -V T 2 /k·(α T ±Δα)) which would be obtained under a second control command of the brake setting where the brake setting is changed by a predetermined value, and for determining values indicative of a degree of satisfaction of said first and second stop gap accuracies, respectively, with respect to at least one of preselected performances indices relating to the optimum condition in stopping the vehicle wherein k is a constant and Δα represents an estimated variation of acceleration when the brake setting is changed by the predetermined value; fourth means for selecting one of said first and second control commands by judging said satisfaction degree indicative values according to a predetermined rule; and fifth means for applying to the vehicle said selected one control command of the brake setting.

Claim 5

A method of automatic control in operating a vehicle for obtaining an optimum condition of a given event relating to operation of the vehicle comprising: a first step of detecting a current value of at least a first parameter representing a running state of the vehicle; a second step of estimating, based on the detected value of said first parameter, values of a second parameter adapted for evaluating a condition of said event and having a predetermined relationship with said first parameter, said values being those values which would be obtained, respectively, as a result of control operations under a plurality of different predetermined control commands, if applied to the running vehicle, respectively; said different control commands each of which is capable of affecting the value of said second parameter, including at least a first control command maintained at its current state and a second control command changed within a predetermined range from its current state; a third step of determining a degree of satisfaction of each of said estimated values of the second parameter with respect to at least one of preselected performance indices relating to the optimum condition of said event, said degree of satisfaction being represented by a fuzzy value determined according to a membership function predetermined for each of the performance indices and defining a relationship between the fuzzy value and the value of the second parameter; a fourth step of selecting one of said different control commands based on the degree of satisfaction of said estimated values of the second parameter; and a fifth step of controlling the vehicle in said selected one control command.

Claim 6

A method of automatic control in operating a vehicle for obtaining an optimum condition of a given event relating to operation of the vehicle comprising: a first step of detecting a current value of at least a first parameter representing a running state of the vehicle; a second step of estimating, based on the detected value of said first parameter, values of a second parameter adapted for evaluating a condition of said event and having a predetermined relationship with said first parameter, said values being those values which would be obtained, respectively, as a result of control operations under a plurality of different predetermined control commands, if applied to the running vehicle, respectively; said different control commands each of which is capable of affecting the value of said second parameter, including at least a first control command maintained at its current state and a second control command changed within a predetermined range from its current state; a third step of determining a degree of satisfaction of each of said estimated values of the second parameter with respect to at least one of preselected performance indices relating to the optimum condition of said event, said degree of satisfaction being represented by a fuzzy value determined according to a membership function predetermined for each of the performance indices and defining a relationship between the fuzzy value and the value of the second parameter; a fourth step of selecting one of said different control commands based on the degree of satisfaction of said estimated values of the second parameter; and a fifth step of controlling the vehicle in said selected one control command.

Claim 15

A device for automatically controlling the operation of a vehicle to obtain an optimum condition of a given event relating to operation of the vehicle comprising: first means for detecting a current value of at least a first parameter representing a running state of the vehicle; second means for estimating, based on the detected value of said first parameter, values of a second parameter adapted for evaluating the condition of said event and having a predetermined relationship with the first parameter, said values being those values which would be obtained, respectively, as a result of control operations under a plurality of different control commands if applied to the running vehicle; said different control commands, each of which is capable of affecting the value of the second parameter, including at least a first control command maintained at its current state and a second control command which is changed within a predetermined range from its current state; third means for determining a degree of satisfaction of each of said estimated values of the second parameter with respect to at least one of preselected performance indices relating to the optimum condition of said event; said degree of satisfaction being represented by a fuzzy value determined according to a membership function predetermined for each of the performance indices and defining a relationship between the fuzzy value and the value of the second parameter; fourth means for selecting one of said different control commands according to the fuzzy values representing the degree of satisfaction of the estimated values of the second parameter; and fifth means for applying to the vehicle the selected one control command, thereby controlling the operation of the vehicle.

Claim 16

A device for automatically controlling the operation of a vehicle to obtain an optimum condition of a given event relating to operation of the vehicle comprising: first means for detecting a current value of at least a first parameter representing a running state of the vehicle; second means for estimating, based on the detected value of said first parameter, values of a second parameter adapted for evaluating the condition of said event and having a predetermined relationship with the first parameter, said values being those values which would be obtained, respectively, as a result of control operations under a plurality of different control commands if applied to the running vehicle; said different control commands, each of which is capable of affecting the value of the second parameter, including at least a first control command maintained at its current state and a second control command which is changed within a predetermined range from its current state; third means for determining a degree of satisfaction of each of said estimated values of the second parameter with respect to at least one of preselected performance indices relating to the optimum condition of said event; said degree of satisfaction being represented by a fuzzy value determined according to a membership function predetermined for each of the performance indices and defining a relationship between the fuzzy value and the value of the second parameter; fourth means for selecting one of said different control commands according to the fuzzy values representing the degree of satisfaction of the estimated values of the second parameter; and fifth means for applying to the vehicle the selected one control command, thereby controlling the operation of the vehicle.

Claim 21

A method of control in moving a movable body for obtaining an optimum condition of a given event relating to moving of the body comprising: a first step of detecting a current value of at least a first parameter representing a state of the moving body; a second step of estimating, based on the detected value of said first parameter, values of a second parameter adapted for evaluating a condition of said event and having a predetermined relationship with said first parameter, said values being those values which would be obtained, respectively, as a result of control operations under a plurality of different predetermined control commands, if applied to the moving body, respectively; a third step of determining a degree of satisfaction of each of said estimated values of the second parameter with respect to at least one of preselected performance indices relating to the optimum condition of said event, said degree of satisfaction being represented by a fuzzy value determined according to a membership function predetermined for each of the performance indices and defining a relationship between the fuzzy value and the value of the second parameter; a fourth step of selecting one of said estimated values of the second parameter according to a rule predetermined according to the optimum condition of said event and selecting one of said different control commands corresponding to said selected one estimated value of the second parameter; and a fifth step of moving the movable body by using said selected one control command.

Claim 22

A method of control in moving a movable body for obtaining an optimum condition of a given event relating to moving of the body comprising: a first step of detecting a current value of at least a first parameter representing a state of the moving body; a second step of estimating, based on the detected value of said first parameter, values of a second parameter adapted for evaluating a condition of said event and having a predetermined relationship with said first parameter, said values being those values which would be obtained, respectively, as a result of control operations under a plurality of different predetermined control commands, if applied to the moving body, respectively; a third step of determining a degree of satisfaction of each of said estimated values of the second parameter with respect to at least one of preselected performance indices relating to the optimum condition of said event, said degree of satisfaction being represented by a fuzzy value determined according to a membership function predetermined for each of the performance indices and defining a relationship between the fuzzy value and the value of the second parameter; a fourth step of selecting one of said estimated values of the second parameter according to a rule predetermined according to the optimum condition of said event and selecting one of said different control commands corresponding to said selected one estimated value of the second parameter; and a fifth step of moving the movable body by using said selected one control command.

Claim 30

A method of controlling a controllable subject for obtaining an optimum condition of a given event relating to control of said subject comprising: a first step of detecting a value of at least a first parameter representing a current state of said controllable state of said subject; a second step of estimating, based on the detected value of said first parameter, values of a second parameter adapted for evaluating a condition of said event and having a predetermined relationship with said first parameter, said values being those values which would be obtained, respectively, as a result of control operations under a plurality of different control commands, if applied to said subject, respectively; a third step of determining a degree of satisfaction of each of said estimated values of the second parameter with respect to at least one of preselected performance indices relating to the optimum condition of said event, said degree of satisfaction being represented by a fuzzy value determined according to a membership function predetermined for each of the performance indices and defining a relationship between the fuzzy value and the value of the second parameter; a fourth step of selecting one of said estimated values of the second parameter according to a rule predetermined depending on the optimum condition of said event and selecting one of said different control commands corresponding to said selected one estimated value of the second parameter; and a fifth step of controlling said subject by said selected one control command.

Claim 31

A method of controlling a controllable subject for obtaining an optimum condition of a given event relating to control of said subject comprising: a first step of detecting a value of at least a first parameter representing a current state of said controllable state of said subject; a second step of estimating, based on the detected value of said first parameter, values of a second parameter adapted for evaluating a condition of said event and having a predetermined relationship with said first parameter, said values being those values which would be obtained, respectively, as a result of control operations under a plurality of different control commands, if applied to said subject, respectively; a third step of determining a degree of satisfaction of each of said estimated values of the second parameter with respect to at least one of preselected performance indices relating to the optimum condition of said event, said degree of satisfaction being represented by a fuzzy value determined according to a membership function predetermined for each of the performance indices and defining a relationship between the fuzzy value and the value of the second parameter; a fourth step of selecting one of said estimated values of the second parameter according to a rule predetermined depending on the optimum condition of said event and selecting one of said different control commands corresponding to said selected one estimated value of the second parameter; and a fifth step of controlling said subject by said selected one control command.

Claim 36

A device for controlling a controllable subject to obtain an optimum condition of a given event relating to control of said subject comprising: first means for detecting a value of at least a first parameter representing a current state of said controllable state of said subject; second means for estimating, based on said detected value of said first parameter, values of a second parameter adapted for evaluating a condition of said event and having a predetermined relationship with said first parameter, said values being those values which would be obtained, respectively, as a result of control operations under a plurality of different control commands, if applied to said subject, respectively; third means for determining a degree of satisfaction of each of said estimated values of the second parameter with respect to at least one of preselected performance indices relating to the optimum condition of said event, said degree of satisfaction being represented by a fuzzy value determined according to a membership function predetermined for each of the performance indices and defining a relationship between the fuzzy value and the value of the second parameter; fourth means for selecting one of said estimated values of the second parameter according to a rule predetermined depending on the optimum condition of said event and selecting one of said different control commands corresponding to said selected one estimated value of the second parameter; and fifth means for controlling said selected one control command to said subject for control therewith.

Claim 37

A device for controlling a controllable subject to obtain an optimum condition of a given event relating to control of said subject comprising: first means for detecting a value of at least a first parameter representing a current state of said controllable state of said subject; second means for estimating, based on said detected value of said first parameter, values of a second parameter adapted for evaluating a condition of said event and having a predetermined relationship with said first parameter, said values being those values which would be obtained, respectively, as a result of control operations under a plurality of different control commands, if applied to said subject, respectively; third means for determining a degree of satisfaction of each of said estimated values of the second parameter with respect to at least one of preselected performance indices relating to the optimum condition of said event, said degree of satisfaction being represented by a fuzzy value determined according to a membership function predetermined for each of the performance indices and defining a relationship between the fuzzy value and the value of the second parameter; fourth means for selecting one of said estimated values of the second parameter according to a rule predetermined depending on the optimum condition of said event and selecting one of said different control commands corresponding to said selected one estimated value of the second parameter; and fifth means for controlling said selected one control command to said subject for control therewith.

Claim 42

A method for controlling a controllable subject for obtaining an optimum condition of a given event relating to control of said subject comprising: a first step of detecting a value of at least a first parameter representing a current state of said subject; a second step of generating, based on said detected value of said first parameter, values of a second parameter adapted for evaluating a condition of said event and having a predetermined relationship with said first parameter, said values being those values which would be obtained, respectively, as a result of control operations under a plurality of different control commands, if applied to said subject, respectively; a third step of converting each of said values of the second parameter to at least one fuzzy value determined according to at least one of membership functions with respect to preselected performance indices relating to the optimum condition of said event, each of said membership functions defining a relationship between the fuzzy value and the value of the second parameter; a fourth step of selecting one of said different control commands based on the fuzzy values of the second parameter; and a fifth step of producing a control signal corresponding to said selected control command.

Claim 43

A method for controlling a controllable subject for obtaining an optimum condition of a given event relating to control of said subject comprising: a first step of detecting a value of at least a first parameter representing a current state of said subject; a second step of generating, based on said detected value of said first parameter, values of a second parameter adapted for evaluating a condition of said event and having a predetermined relationship with said first parameter, said values being those values which would be obtained, respectively, as a result of control operations under a plurality of different control commands, if applied to said subject, respectively; a third step of converting each of said values of the second parameter to at least one fuzzy value determined according to at least one of membership functions with respect to preselected performance indices relating to the optimum condition of said event, each of said membership functions defining a relationship between the fuzzy value and the value of the second parameter; a fourth step of selecting one of said different control commands based on the fuzzy values of the second parameter; and a fifth step of producing a control signal corresponding to said selected control command.

Claim 46

A method of automatic control in operating a vehicle for obtaining an optimum condition of a given event relating to operation of the vehicle comprising: a first step of detecting a current value of at least a first parameter representing a running state of the vehicle; a second step of estimating, based on the detected value of said first parameter, values of a second parameter adapted for evaluating a condition of said event and having a predetermined relationship with said first parameter, said values being those values which would be obtained, respectively, as a result of control operations under a plurality of different predetermined control commands, if applied to the running vehicle, respectively; said different control commands each of which is capable of affecting the value of said second parameter, including at least a first control command maintained at its current state and a second control command changed within a predetermined range from its current state; a third step of determining a degree of satisfaction of each of said estimated values of the second parameter with respect to at least one of preselected performance indices relating to the optimum condition of said events, a fourth step of selecting one of said different control commands based on the degree of satisfaction of said estimated values of the second parameter; and a fifth step of controlling the vehicle in said selected one control command, wherein the degree of satisfaction is generally represented by a fuzzy value determined according to a predetermined membership function defining a relationship between the fuzzy value and the value of the second parameter and takes a normalized value of "1" when the degree of satisfaction is minimum.

Claim 47

A method of automatic control in operating a vehicle for obtaining an optimum condition of a given event relating to operation of the vehicle comprising: a first step of detecting a current value of at least a first parameter representing a running state of the vehicle; a second step of estimating, based on the detected value of said first parameter, values of a second parameter adapted for evaluating a condition of said event and having a predetermined relationship with said first parameter, said values being those values which would be obtained, respectively, as a result of control operations under a plurality of different predetermined control commands, if applied to the running vehicle, respectively; said different control commands each of which is capable of affecting the value of said second parameter, including at least a first control command maintained at its current state and a second control command changed within a predetermined range from its current state; a third step of determining a degree of satisfaction of each of said estimated values of the second parameter with respect to at least one of preselected performance indices relating to the optimum condition of said events, a fourth step of selecting one of said different control commands based on the degree of satisfaction of said estimated values of the second parameter; and a fifth step of controlling the vehicle in said selected one control command, wherein the degree of satisfaction is generally represented by a fuzzy value determined according to a predetermined membership function defining a relationship between the fuzzy value and the value of the second parameter and takes a normalized value of "1" when the degree of satisfaction is minimum.

Claim 48

A method of control in moving a movable body for obtaining an optimum condition of a given event relating to moving of the body comprising: a first step of detecting a current value of at least a first parameter representing a state of the moving body; a second step of estimating, based on the detected value of said first parameter, values of a second parameter adapted for evaluating a condition of said event and having a predetermined relationship with said first parameter, said values being those values which would be obtained, respectively, as a result of control operations under a plurality of different predetermined control commands, if applied to the moving body, respectively; a third step of selecting one of said estimated values of the second parameter according to a rule predetermined according to the optimum condition of said event and selecting one of said different control commands corresponding to said selected one estimated value of the second parameter; and a fourth step of moving the movable body by using said selected one control command, wherein said third step includes determining a degree of satisfaction of each of the estimated values of the second parameter with respect to at least one of preselected performance indices relating to the optimum condition of said event, selecting one of the estimated values of which the degree of satisfaction is maximum, and selecting one of the different control commands corresponding to said selected one estimated value; and wherein the degree of satisfaction of each of the estimated values of the second parameter is represented by a fuzzy value determined according to a membership function predetermined for each performance index and defining a relationship between the fuzzy value and a possible value of the second parameter.

Claim 49

A method of control in moving a movable body for obtaining an optimum condition of a given event relating to moving of the body comprising: a first step of detecting a current value of at least a first parameter representing a state of the moving body; a second step of estimating, based on the detected value of said first parameter, values of a second parameter adapted for evaluating a condition of said event and having a predetermined relationship with said first parameter, said values being those values which would be obtained, respectively, as a result of control operations under a plurality of different predetermined control commands, if applied to the moving body, respectively; a third step of selecting one of said estimated values of the second parameter according to a rule predetermined according to the optimum condition of said event and selecting one of said different control commands corresponding to said selected one estimated value of the second parameter; and a fourth step of moving the movable body by using said selected one control command, wherein said third step includes determining a degree of satisfaction of each of the estimated values of the second parameter with respect to at least one of preselected performance indices relating to the optimum condition of said event, selecting one of the estimated values of which the degree of satisfaction is maximum, and selecting one of the different control commands corresponding to said selected one estimated value; and wherein the degree of satisfaction of each of the estimated values of the second parameter is represented by a fuzzy value determined according to a membership function predetermined for each performance index and defining a relationship between the fuzzy value and a possible value of the second parameter.

Claim 50

A method of control in moving a movable body for obtaining an optimum condition of a given event relating to moving of the body comprising: a first step of detecting a current value of at least a first parameter representing a state of the moving body; a second step of estimating, based on the detected value of said first parameter, values of a second parameter adapted for evaluating a condition of said event and having a predetermined relationship with said first parameter, said values being those values which would be obtained, respectively, as a result of control operations under a plurality of different predetermined control commands, if applied to the body, respectively; a third step of selecting one of said estimated values of the second parameter according to a rule predetermined according to the optimum condition of said event and selecting one of said different control commands corresponding to said selected one estimated value of the second parameter; and a fourth step of moving the movable body by using said selected one control command, wherein said third step includes determining a degree of satisfaction of each of the estimated values of the second parameter with respect to at least one of preselected performance indices relating to the optimum condition of said event, selecting one of the estimated values of which the degree of satisfaction is maximum, and selecting one of the different control commands corresponding to said selected one estimated value, wherein the degree of satisfaction of each of the estimated values of the second parameter is determined with respect to a plurality of the performance indices, and said one control command is selected according to a plurality of rules, each of which is defined by a combination of one of said control commands and one of said performance indices, predetermined according to the optimum condition of said event, respectively, by comparing a respective degree of satisfaction of the estimated values of the second parameter determined with respect to the performance index defined in said rules to each other, thereby for each of the combinations selecting the control command defined in that rule, and wherein the degree of satisfaction of each of the estimated values of the second parameter is represented by a fuzzy value determined according to a membership function predetermined for each of the performance indices and defining a relationship between the fuzzy value and a possible value of the second parameter.

Claim 51

A method of control in moving a movable body for obtaining an optimum condition of a given event relating to moving of the body comprising: a first step of detecting a current value of at least a first parameter representing a state of the moving body; a second step of estimating, based on the detected value of said first parameter, values of a second parameter adapted for evaluating a condition of said event and having a predetermined relationship with said first parameter, said values being those values which would be obtained, respectively, as a result of control operations under a plurality of different predetermined control commands, if applied to the body, respectively; a third step of selecting one of said estimated values of the second parameter according to a rule predetermined according to the optimum condition of said event and selecting one of said different control commands corresponding to said selected one estimated value of the second parameter; and a fourth step of moving the movable body by using said selected one control command, wherein said third step includes determining a degree of satisfaction of each of the estimated values of the second parameter with respect to at least one of preselected performance indices relating to the optimum condition of said event, selecting one of the estimated values of which the degree of satisfaction is maximum, and selecting one of the different control commands corresponding to said selected one estimated value, wherein the degree of satisfaction of each of the estimated values of the second parameter is determined with respect to a plurality of the performance indices, and said one control command is selected according to a plurality of rules, each of which is defined by a combination of one of said control commands and one of said performance indices, predetermined according to the optimum condition of said event, respectively, by comparing a respective degree of satisfaction of the estimated values of the second parameter determined with respect to the performance index defined in said rules to each other, thereby for each of the combinations selecting the control command defined in that rule, and wherein the degree of satisfaction of each of the estimated values of the second parameter is represented by a fuzzy value determined according to a membership function predetermined for each of the performance indices and defining a relationship between the fuzzy value and a possible value of the second parameter.

Claim 52

A method of controlling a controllable subject for obtaining an optimum condition of a given event relating to control of said subject comprising: a first step of detecting a value of at least a first parameter representing a current state of said controllable state of said subject; a second step of estimating, based on the detected value of said first parameter, values of a second parameter adapted for evaluating a condition of said event and having a predetermined relationship with said first parameter, said values being those values which would be obtained, respectively, as a result of control operations under a plurality of different control commands, if applied to said subject, respectively; a third step of selecting one of said estimated values of the second parameter according to a rule predetermined depending on the optimum condition of said event and selecting one of said different control commands corresponding to said selected one estimated value of the second parameter; and a fourth step of controlling said subject by said selected one control command, wherein said third step includes determining a degree of satisfaction of each of the estimated values of the second parameter with respect to at least one of preselected performance indices relating to the optimum condition of said event, selecting one of the estimated values of which the degree of satisfaction is maximum, and selecting one of the different control commands corresponding to said selected one estimated value, and wherein the degree of satisfaction of each of the estimated values of the second parameter is represented by a fuzzy value determined according to a membership function predetermined for each of the performance indices and defining a relationship between the fuzzy value and a possible value of the second parameter.

Claim 53

A method of controlling a controllable subject for obtaining an optimum condition of a given event relating to control of said subject comprising: a first step of detecting a value of at least a first parameter representing a current state of said controllable state of said subject; a second step of estimating, based on the detected value of said first parameter, values of a second parameter adapted for evaluating a condition of said event and having a predetermined relationship with said first parameter, said values being those values which would be obtained, respectively, as a result of control operations under a plurality of different control commands, if applied to said subject, respectively; a third step of selecting one of said estimated values of the second parameter according to a rule predetermined depending on the optimum condition of said event and selecting one of said different control commands corresponding to said selected one estimated value of the second parameter; and a fourth step of controlling said subject by said selected one control command, wherein said third step includes determining a degree of satisfaction of each of the estimated values of the second parameter with respect to at least one of preselected performance indices relating to the optimum condition of said event, selecting one of the estimated values of which the degree of satisfaction is maximum, and selecting one of the different control commands corresponding to said selected one estimated value, and wherein the degree of satisfaction of each of the estimated values of the second parameter is represented by a fuzzy value determined according to a membership function predetermined for each of the performance indices and defining a relationship between the fuzzy value and a possible value of the second parameter.