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# Method of Controlling Vehicular Movement

IP.com Disclosure Number: IPCOM000112813D
Original Publication Date: 1994-Jun-01
Included in the Prior Art Database: 2005-Mar-27
Document File: 2 page(s) / 54K

IBM

## Related People

Combs, JL: AUTHOR

## Abstract

Described is a is method for controlling the movement of a transport vehicle to a destination by utilizing velocity and acceleration information. The information is sensed from a transport device enabling computation, such as utilizing Fuzzy logic methods of control, to closely match that of human behavior.

This text was extracted from an ASCII text file.
This is the abbreviated version, containing approximately 52% of the total text.

Method of Controlling Vehicular Movement

Described is a is method for controlling the movement of a
transport vehicle to a destination by utilizing velocity and
acceleration information.  The information is sensed from a transport
device enabling computation, such as utilizing Fuzzy logic methods of
control, to closely match that of human behavior.

In prior art, control throttle changes were based on the
magnitude of velocity error relative to some dead-band range.  The
concept described herein utilizes acceleration as well as velocity
information enabling the use of Fuzzy logic to compute the methods of
control.  The technique utilizes information from continuous changes
that are based on how the vehicle is responding to a current set of
an error being read is negative, indicating that the vehicle is going
too slow but is accelerating, then no throttle change is required.
In this case, the throttle would have been applied to accelerate the
vehicle so as to reduce the error.  Another example would be if the
acceleration exceeds a certain error value, indicating that the
vehicle is accelerating too rapidly, then the throttle can be
adjusted so as to slow the acceleration.

Speed is sensed by means of a sensor which provides a pulse
train based on the speed of the vehicle.  This pulse train provides
velocity as well as acceleration information.  The time between
pulses, as well as the delta time between pulses is used to control
the speed of the vehicle.

Table I shows an example of the decision points as used in the
prior art method of controlling speed.  Table II shows the control
decision points utilizing Fuzzy logic.

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