Perception model for trajectory following autonomous and human augmented speed control
First Claim
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1. A speed control method of a vehicle, the method comprising the steps of:
- obtaining a steering angle;
obtaining a velocity error;
obtaining a distance error, said velocity error and said distance error being determined by mathematical combinations of a GPS position, a required path and speed set points;
applying said steering angle, said velocity error and said distance error to fuzzy logic membership functions to produce an output that is applied to a velocity rule base;
defuzzifying an output from said velocity rule base to produce a speed signal;
receiving said speed signal by a vehicle control unit; and
changing a speed of the vehicle by said vehicle control unit using said speed signal.
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Abstract
A speed control method of a vehicle including the steps of obtaining a steering angle, a velocity error and a distance error. The velocity and the distance error being determined by mathematical combinations of a GPS position, a required path and speed set points. The steering angle, velocity errors and distance error are applied to fuzzy logic membership functions to produce an output that is applied to a velocity rule base. An output from the velocity rule base is defuzzified to produce a speed signal.
112 Citations
18 Claims
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1. A speed control method of a vehicle, the method comprising the steps of:
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obtaining a steering angle; obtaining a velocity error; obtaining a distance error, said velocity error and said distance error being determined by mathematical combinations of a GPS position, a required path and speed set points; applying said steering angle, said velocity error and said distance error to fuzzy logic membership functions to produce an output that is applied to a velocity rule base; defuzzifying an output from said velocity rule base to produce a speed signal; receiving said speed signal by a vehicle control unit; and changing a speed of the vehicle by said vehicle control unit using said speed signal. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A speed control method of a vehicle, the method comprising the steps of:
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applying a steering angle, a velocity error and a distance error to fuzzy logic membership functions to produce an output that is applied to a velocity rule base; defuzzifying an output from said velocity rule base to produce a speed signal; receiving said speed signal by a vehicle control unit; and changing a speed of the vehicle by said vehicle control unit using said speed signal. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A vehicle, comprising:
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a drive system; a speed control system operatively connected to said drive system; a steering angle sensor producing a steering angle signal; a reference system producing a velocity signal and a distance signal, said speed control system applying said steering angle signal, said velocity signal and said distance signal to fuzzy logic membership functions to produce an output that is applied to a velocity rule base, said velocity rule base producing an output that is defuzzified to produce a speed signal that is supplied to said speed control system to control the speed of said drive system; and changing a speed of the vehicle by controlling the speed of said drive system. - View Dependent Claims (16, 17, 18)
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Specification