Method of determining and using a filtered speed error in an integrated acceleration based electronic speed control system for vehicles

Claim 1

In a method for use in an electronic speed control, the method for determining and using a filtered speed error in an acceleration based electronic speed control system for a vehicle with an internal combustion engine with a throttle, a throttle position indicator, and a vacuum source where the electronic speed control system includes: a vacuum actuator, a vacuum reservoir and a valve body with a vacuum solenoid, a vent solenoid and a purge vent solenoid to work with a voltage source and switches and sensors including a set switch, resume switch, power on/orr switch, park/neutral or clutch switch, a speed sensor, and a brake switch; signal conditioning; a memory for storing data including point slope curves and look-up tables; an A/D converter; a vacuum solenoid driver and interface; a vent solenoid driver and interface and a microcontroller with input/output ports hereafter called vac/vent ports, to communicate with the valve body, where one of the uses for the microcontroller is for processing signals generated by the voltage source and switches and sensors which represent various speed control conditions as selected by the operator of the vehicle; a method of determining and using a filtered speed error in an acceleration based electronic speed control system comprising: monitoring a set speed selected by an operator of the vehicle; monitoring the vehicle speed; computing a speed error by finding the difference between set speed and the vehicle speed; calculating a desired acceleration from point slope curves stored in memory based on the computed speed error; monitoring the actual acceleration; computing an acceleration error based on the difference between the desired acceleration and the actual acceleration; using the acceleration error to drive the vehicle speed to the set speed and reducing the speed error to zero.