Method for controlling the average speed of a vehicle

• US 6,485,341 B1
• Filed: 04/06/2001
• Issued: 11/26/2002
• Est. Priority Date: 04/06/2001
• Status: Expired due to Term

• Current Assignee: Brunswick Corporation
• Original Assignee: Brunswick Corporation
• Inventors: Lemancik, Michael J., Lanyi, William D., Ehlers, Jeffery C., Boatman, John R.
• Primary Examiner(s): Sotelo, Jesus D.
• Application Number:
  US09/827,443
• Time in Patent Office: 599 Days
• Field of Search: 440/84, 440/87, 440/1, 440/2
• US Class Current: 440/87
• CPC Class Codes: B60K 31/047 the memory being digital
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: G01S 15/58 Velocity or trajectory determination systems; Sense-of-movement determination systems velocity measurement in imaging systems G01S15/8979
• CPC Class Codes: G01S 15/582 using transmission of interrupted pulse-modulated waves and based upon the Doppler effect resulting from movement of targets
• CPC Class Codes: G01S 15/60 wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track

Abstract

A method for controlling the average speed of a vehicle over a predetermined time period, or indefinitely, or distance length is described with reference to selecting a desired average speed, measuring an actual speed, and maintaining a cumulative error determined as a function of the difference between the average speed and actual speed and the time over which the actual speed measurement was taken. Based on the cumulative total of speed-time error, a compensatory speed is calculated that will reduce the cumulative speed-time error to an acceptable tolerance range within a selected period of elapsed time. Although particularly applicable to competition situations in which an average speed is dictated for use over a particular competition course, the average speed controlling method can be used in other situations where the average speed of a vehicle must be controlled.

Claims

1. A method for controlling the average speed of a vehicle, comprising the steps of:

measuring elapsed time;

defining a desired average speed;

measuring an actual speed of said vehicle;

calculating an error magnitude as a function of said desired average speed and said actual speed;

determining a cumulative error magnitude of said vehicle as a function of said error magnitude and said elapsed time;

selecting a period of elapsed time over which an absolute value of said cumulative error magnitude is to be reduced to a predetermined magnitude; and

determining a compensatory speed of said vehicle, as a function of said cumulative error and said period of elapsed time, which will reduce said cumulative error magnitude to said predetermined magnitude within said period of elapsed time.

2. The method of claim 1, wherein:

said vehicle is a marine vessel.

3. The method of claim 1, wherein:

said time measuring step, said error magnitude calculating step, said cumulative error determining step, and said compensatory speed determining step are performed by a microprocessor.

4. The method of claim 3, wherein:

said microprocessor is part of an engine control unit of an engine.

5. The method of claim 1, further comprising:

sensing a starting signal; and

iterating the steps of claim 1 repeatedly for a preselected duration of time subsequent to said starting signal sensing step.

6. The method of claim 1, wherein:

said actual speed measuring step is performed by a sonar device.

7. The method of claim 1, wherein:

said actual speed measuring step is performed by a global positioning satellite system.

8. The method of claim 1, wherein:

said desired average speed, said actual speed, and said compensatory speed are all land based speeds.

9. The method of claim 1, wherein:

said actual speed measuring step comprises the steps of measuring a first distance from said vehicle to an object fixed to the land, measuring a first speed of said vehicle relative to said object, calculating said actual speed of said vehicle as a function of said first distance and said first speed.

10. The method of claim 1, wherein:

said period of elapsed time over which said absolute value of said cumulative error magnitude is to be reduced to said predetermined magnitude is selected as a function of a predetermined length of a course over which said vehicle must maintain said average speed.

11. A method for controlling the average speed of a marine vehicle, comprising the steps of:

(a) measuring elapsed time;

(b) defining a desired average speed;

(c) measuring an actual speed of said marine vehicle;

(d) calculating an error magnitude as a function of said desired average speed and said actual speed;

(e) determining a cumulative error magnitude of said marine vehicle as a function of said error magnitude and said elapsed time;

(f) selecting a period of elapsed time over which an absolute value of said cumulative error magnitude is to be reduced to a predetermined magnitude;

(g) determining a compensatory speed of said marine vehicle, as a function of said cumulative error and said period of elapsed time, which will reduce said cumulative error magnitude to said predetermined magnitude within said period of elapsed time, said time measuring step, said error magnitude calculating step, said cumulative error determining step, and said compensatory speed determining step being performed by a microprocessor;

(h) sensing a starting signal; and

(i) repeating steps a-g for a preselected duration of time subsequent to said starting signal sensing step.

12. The method of claim 11, wherein:

said microprocessor is part of an engine control unit of an engine.

13. The method of claim 12, wherein:

said actual speed measuring step is performed by a sonar device.

14. The method of claim 12, wherein:

said actual speed measuring step is performed by a global positioning satellite system.

15. The method of claim 12, wherein:

said desired average speed, said actual speed, and said compensatory speed are all land based speeds.

16. The method of claim 15, wherein:

said actual speed measuring step comprises the steps of measuring a first distance from said marine vehicle to an object fixed to the land, measuring a first speed of said marine vehicle relative to said object, calculating said actual speed of said marine vehicle as a function of said first distance and said first speed.

17. The method of claim 15 wherein:

said period of elapsed time over which said absolute value of said cumulative error magnitude is to be reduced to said predetermined magnitude is selected as a function of a predetermined length of a course over which said marine vehicle must maintain said average speed.

19. The method of claim 16, further comprising:

(f) sensing a starting signal; and

(g) repeating steps a-e for a preselected duration of time.

20. The method of claim 16, further comprising:

(f) calculating an error magnitude as a function of said desired average speed and said actual speed;

(g) determining a cumulative error magnitude of said vehicle as a function of said error magnitude and said elapsed time;

(f) selecting a period of elapsed time over which an absolute value of said cumulative error magnitude is to be reduced to a predetermined magnitude;

(g) determining said compensatory speed of said vehicle, as a function of said cumulative error and said period of elapsed time, which will reduce said cumulative error magnitude to said predetermined magnitude within said period of elapsed time, said time measuring step, said error magnitude calculating step, said cumulative error determining step, and said compensatory speed determining step being performed by a microprocessor.

18. A method for controlling the average speed of a vehicle, comprising the steps of:

(a) measuring elapsed time;

(b) defining a desired average speed;

(c) measuring an actual speed of said vehicle;

(d) selecting a period of elapsed time over which a cumulative average speed of said vehicle will equal said desired average speed within a preselected tolerance band; and

(e) determining a compensatory speed of said vehicle, which will result in said vehicle achieving said desired average speed within said period of elapsed time and within said preselected tolerance band.