System and method for automatically controlling a vehicle speed to a desired cruising speed

• US 4,958,288 A
• Filed: 06/30/1988
• Issued: 09/18/1990
• Est. Priority Date: 07/01/1987
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Takahashi, Hiroshi
• Primary Examiner(s): Chin, Gary
• Application Number:
  US07/213,927
• Time in Patent Office: 810 Days
• Field of Search: 364/426.04, 364/431.07, 123/352, 180/170, 180/176, 180/179
• US Class Current: 701/98
• CPC Class Codes: B60K 31/107 the memory being digital
• CPC Class Codes: B60W 2050/0057 Frequency analysis, spectral techniques or transforms
• CPC Class Codes: Y10S 706/90 Fuzzy logic

Abstract

A system for automatically controlling a vehicle speed to a desired cruising speed and method therefor are disclosed in which a controlled variable for an actuator for actuating a vehicular engine output to run the vehicle at the desired cruising speed is set using input and output membership functions for deriving an optimum operating variable of the actuator in a fuzzy estimation on the basis of input information on vehicle speed and a target cruising speed, the membership functions being stored in a memory and being correctable on the basis of the input information on the vehicle speed, change rates (control deviation, first-order difference, and second-order difference) of the vehicle speed, and set controlled variable, so that the vehicle speed conincides with the target cruising speed without reduction of control accuracy and without occurrence of overshooting of the controlled variable.

Claims

1. A system for automatically controlling the speed of a vehicle at a target cruising speed, comprising:

(a) first means for monitoring the speed of the vehicle;

(b) second means for setting the target cruising speed at which the vehicle cruises during a run of the vehicle according to a vehicle driver'"'"'s decision;

(c) third means for controlling the vehicular engine output according to a controlled variable set for each predetermined interval of time, so that the monitored vehicle speed coincides with the target cruising speed set by the second means;

(d) fourth means for storing a group of input/output membership functions for deriving the controlled variable in a fuzzy estimation, each stored membership function being correctable;

(e) fifth means for setting the controlled variable in the third means, using one of the membership functions retrieved from the fourth means on the basis of the monitored vehicle speed and the target cruising speed; and

(f) sixth means for deriving a change rate of the vehicle speed on the basis of the monitored vehicle speed and correcting any one or more of the membership functions stored in the fourth means and used for setting the controlled vehicle by the fifth means under a predetermined condition on the basis of the monitored vehicle speed and said set controlled variable.

2. A system as set forth in claim 1, further including:

(a) seventh means for deriving an optimum operating variable through the fuzzy estimation using the membership function stored in the fourth means and corrected by the sixth means on the basis of the monitored vehicle speed and the change rate of the vehicle speed; and

(b) eighth means for setting the controlled variable on the basis of a value of the optimum operating variable derived by the seventh means and the output of the third means.

3. A system as set forth in claim 2, further including:

(a) ninth means for calculating a control deviation e_n from the vehicle speed and target cruising speed, a first-order differential value e₂, and a second-order differential value e₃ ;

(b) tenth means for selecting and setting the membership function stored in the fourth means and corrected by the sixth means according to the calculated control deviation e₁, first-order differential value e₂, and second-order differential value e₃ ; and

(c) eleventh means for calculating the optimum operating variable through the fuzzy estimation using the selected membership function from the tenth means.

4. A system as set forth in claim 3, wherein the tenth means sets a first input membership function which emprically shows the certainty (fuzzy quantity) of a first proposition that the optimal operating variable should be positive when each value of the control deviation e₁, the first-order differential value e₂, and second-order differential value e₃ in a first equation are as follows:

space="preserve" listing-type="equation">P.sub.i (e.sub.i)=1/π

tan.sup.-1 (C.sub.i e.sub.i)+0.5

where i represents an integer and C represents an intersection.

5. A system as set forth in claim 4, wherein the tenth means sets a second input membership function which emprically shows a certainty fuzzy quantity) of a second proposition that the optimal operating variable should be negative when each value of the control deviation e₁, the first-order differential value e₂, and the second-order differential value e₃ in a second equation are as follows:

space="preserve" listing-type="equation">N.sub.i (e.sub.i)=1/π

tan.sup.-1 (-C.sub.i e.sub.i)+0.5

6. A system as set forth in claim 5, wherein the tenth means sets a first output membership function which shows a correspondence of the optimal operating variable to the certainty of the first proposition that the operating variable should be positive a third equation as follows:

space="preserve" listing-type="equation">Pu.sub.i (U)=diU+0.5

7. A system as set forth in claim 6, wherein the tenth means sets a second output membership function which shows a correspondence of the optimal operating variable to the certainty of the second proposition that the operating variable should be negative in a fourth equation as follows:

space="preserve" listing-type="equation">Nu.sub.i (U)=-diU+0.5

8. A system as set forth in claim 7, wherein the eleventh means calculates the optimum operating variable in the fifth and sixth equations as follows:

space="preserve" listing-type="equation">P.sub.i (e.sub.i)+γ

-1=Pu.sub.i (U)

space="preserve" listing-type="equation">N.sub.i (e.sub.i)+γ

-1=Nu.sub.i (U),

wherein γ

denotes a truth value taken from values of output membership functions for the input membership functions and e_i (i=1, 2,

     3) denotes one of the control deviation, first-order differential value, and second-order differential value, said eleventh means makes a graph in which the truth value γ

is taken as a longitudinal axis and the optimal operating variable is taken as a lateral axis, derives an intersection of each graph which is represented by each candidate of the optimum operating variable, and derives the optimum operating variable from among the candidates.

9. A system as set forth in claim 8, wherein the eleventh means derives the optimum operating variable from one of the candidates whose value is intermediate between the maximum and minimum values of the candidates.

10. A system as set forth in claim 8, wherein the eleventh means derives the optimum operating variable from an average value of the candidates.

11. A system as set forth in claim 8, wherein the eleventh means derives the optimum operating variable from a weight mean value of the candidates.

12. A system as set forth in claim 8, wherein the eleventh means derives the optimum operating variable from each candidate.

13. A system as set forth in claim 8, further including:

(a) twelfth means for deriving and storing a maximum control deviation e_L from among each of the control deviations e calculated by the ninth means for each control period within an instantaneous adjustment period of parameters in the membership functions, and average control deviation l_AV of each of the control deviations e for each of the control periods with the same adjustment period, and an average operating variable U_AV of each of the optimal operating variables derived by the seventh means for each control period within the same adjustment period;

(b) thirteenth means for deriving a new adjustment period τ

_i as follows;

##EQU4## , wherein AXi.sub.(j-1) and BXi.sub.(j-1) each denote a parameter of the input membership functions (i=1, 2,

     3), and K₁ to K₇ denote constants, both said parameters being derived at a previous adjustment period τ

_j-1, AX_i being set as AX_i =2π

/C_i in the first and second equations, BX_i being set as BX_i =1/2d_i, and τ

_STD denoting a reference adjustment period;

(c) fourteenth means for calculating a first-order differential value Δ

e_Av indicating a difference between an instantaneous average control deviation e_AVj and average control deviation e_Av at the previous adjustment period τ

_j-1 ; and

(d) fifteenth means for variably setting a gradient of an adjustment membership function used for setting adjustment quantities of AX_i and BX_i through the fuzzy estimation according to a changed state.

14. A system as set forth in claim 13, further including:

(a) sixteenth means for calculating a change rate Δ

BX_k of the parameter BX2 for each control period as follows;

space="preserve" listing-type="equation">BX.sub.k =BX2.sub.k+1 -BX2.sub.k (k=1, 2, ---9);

(b) seventeenth means for calculating an evaluation function Δ

β

x₂ for a series of Δ

BX2_k derived by the sixteenth means using the following equation;

##EQU5## (c) eighteenth means for determining whether the value of the evaluation function Δ

β

_x2 exceeds a predetermined value M;

(d) nineteenth means for calculating the gradient of the adjustment membership function when the eighteenth means determines that Δ

β

_x2 >

M using the following equation;

space="preserve" listing-type="equation">gradient of MSF (adjustment membership function)=1/A-(1/A--1/B)x |Δ

β

.sub.x2 /Σ

(k-1)(300-20)/Σ

K|

, wherein A and B are gradients of types of basic characteristics of the adjustment membership functions using linguistic tuning rules (LTR);

(e) twentieth means for calculating an adjustment rate γ

of each of AX_i and BX_i ;

(f) twenty first means for calculating the parameters of AX_ij and BX_ij using the adjustment rate γ

as follows;

space="preserve" listing-type="equation">AX.sub.ij =AX.sub.i(j-1) (1+γ

)

space="preserve" listing-type="equation">BX.sub.ij =BX.sub.i(j-1) (1+γ

); and

(g) twenty second means for correcting gradients of the input and output membership functions used in the fuzzy estimation for deriving the optimum operating variable by the seventh means according to the adjusted parameters AX_ij and BX_ij derived by the twenty first means.

15. A system as set forth in claim 14, wherein the twentieth means stops the calculation of the gradient when the eighteenth means determines that Δ

β

_x2 <

M.

16. A system as set forth in claim 14, which further comprises a twenty third means for replacing the instantaneous adjustment period τ

_j with the previous adjustment period τ

_j-1 for the subsequent use after the twenty second means corrects the gradients thereof; and

twenty fourth means for resetting the maximum control deviation e_L and average control deviation e_AV.

17. A system as set forth in claim 13, wherein τ

_STD is approximately three minutes.

18. A system as set forth in claim 13, wherein the calculated adjustment period is variably set so as to fall in a range of time between 0.2 times and 6 times a time constant of a vehicle in which the system is mounted.

19. A system as set forth in claim 1, wherein the controlled variable is the operation time of the compressed air pressure in an actuator for actuating a throttle valve of the vehicular engine.

20. A method for automatically controlling the speed of a vehicle at a target cruising speed, comprising the steps of:

(a) monitoring the vehicle speed;

(b) setting a target cruising speed according to a driver'"'"'s decision;

(c) providing means for storing a group of membership function in a fuzzy estimation, each stored membership function being correctable;

(d) setting a controlled variable, using the membership functions stored in the step (c) and retrieved from the storing means on the basis of the monitored vehicle speed and the target cruising speed;

(e) deriving a change of vehicle speed from the monitored vehicle speed and correcting the membership functions stored in the step (c) on the basis of input information of the monitored vehicle speed, the change rate of the vehicle speed and information on the controlled variable set in the step (d); and

(f) controlling vehicular engine output according to the stored and corrected controlled variable in step (e) for each predetermined control period so that the monitored vehicle speed coincides with the target cruising speed.

21. A method as set forth in claim 20, wherein the step (e) corrects the membership functions through the fuzzy estimation under a predetermined condition.