WO2017221233A1 - Système et procédé pour régulateur de vitesse optimisé - Google Patents

Système et procédé pour régulateur de vitesse optimisé Download PDF

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Publication number
WO2017221233A1
WO2017221233A1 PCT/IL2017/050664 IL2017050664W WO2017221233A1 WO 2017221233 A1 WO2017221233 A1 WO 2017221233A1 IL 2017050664 W IL2017050664 W IL 2017050664W WO 2017221233 A1 WO2017221233 A1 WO 2017221233A1
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Prior art keywords
vehicle
data
minimized
driver
control
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PCT/IL2017/050664
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English (en)
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Joshua Waldhorn
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Individual
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Priority to IL263832A priority Critical patent/IL263832A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/082—Selecting or switching between different modes of propelling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/085—Changing the parameters of the control units, e.g. changing limit values, working points by control input

Definitions

  • Embodiments of the present invention relate generally to systems and methods for improving metrics associated with vehicular transport, allowing for example maximized safety, minimized environmental impact, minimized fuel consumption, minimized trip time, minimized pollution, and the like.
  • Cruise control systems are common in modern vehicles. These systems allow a driver to set an operating point, typically a fixed driving speed, by pressing a button or through other means. When activated, the cruise control system will control the vehicle throttle to attain the set operating point, in some cases using feedback. Cruise control is more common on American cars than European cars, in part because the roads in America are generally longer and straighter, and destinations are farther apart. In any case with traffic loads continually increasing, basic cruise control is becoming less useful, but instead of becoming obsolete, cruise control systems are being adapted to a new reality of increasingly congested roads, ubiquitous computing, and reactive infrastructure.
  • a standard cruise control system has several functions other than controlling the speed of one's car. For instance, modern cruise control systems can accelerate or decelerate a car by a given speed increment at the driver's demand. Furthermore certain safety features have appeared in conjunction with cruise control, beyond the basic disengagement features such as those whereby the cruise control will disengage as soon as you hit the brake pedal, and will not engage at speeds less a preset threshold. [0004] Cruise control systems generally have a set of buttons or levers, such as : On, Off, Set/ Accel, Resume and Coast. In a sense the cruise control has an additional control in the brake pedal.
  • the On' button primes the system for operation.
  • the 'off button turns the cruise control off even if it is engaged.
  • Some cruise controls don't have these buttons; instead, they turn off when the driver hits the brakes, and turn on when the driver hits the set button.
  • the 'set/accel' button engages a feedback loop that will maintain the speed one is currently driving. If one hits the set button at (for instance) 100 km h, the car will maintain this speed despite variations in the road grade, wind resistance, etc. Holding down the set/accel button will make the car accelerate; and on certain models of cruise control, tapping it once will increase speed by a fixed increment, such asl mph faster.
  • the brake pedal has a switch that disengages the cruise control as soon as the pedal is pressed, so one can shut off the cruise control with a light tap on the brake or clutch.
  • the cruise control system controls the speed of the vehicle by adjusting the throttle position.
  • Cruise control actuates the throttle valve by any number of control means, such as a cable connected to an actuator, instead of by pressing the gas pedal.
  • the throttle valve controls the power and speed of the engine by limiting how much air and petrol the engine takes in.
  • the cruise control system will make use of two cables connected to a pivot that moves the throttle valve. One cable comes from the accelerator pedal, and one from the actuator. When the cruise control is engaged, the actuator moves the cable connected to the pivot, which adjusts the throttle; but it also pulls on the cable that is connected to the gas pedal - allowing the gas pedal to move up and down when the cruise control is engaged.
  • the cruise control system is generally controlled by a small computer that is normally found under the hood or behind the dashboard. It connects to the throttle control described above, as well as several sensors.
  • Modern cruise control systems have progressed from the simple fixed speed cruise control introduced in the 1960's to more sophisticated variants that (for instance) sense the distance from the preceding car (by sonar, visual, or other means) and decelerate (by slowing the fuel flow, changing throttle position, braking, or some combination of these) when this distance is below a prescribed limit.
  • the aforementioned more advanced cruise control system automatically adjusts a car's speed to maintain a safe following distance.
  • This technology has been given various monikers including adaptive cruise control, and may use such distance sensing technology as forward-looking radar, installed behind the grill of a vehicle, to detect the speed and distance of the vehicle ahead of it.
  • Adaptive cruise control is similar to conventional cruise control in that it maintains the vehicle's pre-set speed. However, unlike conventional cruise control, such systems automatically adjust speed in order to maintain a predetermined minimum distance between vehicles in the same lane. This is achieved through a radar headway sensor or other distance sensor, digital signal processor and longitudinal controller. If the lead vehicle slows down, or if another object is detected, the system sends a signal to the engine or braking system to decelerate. Then, when the road is clear, the system will re-accelerate the vehicle back to the set speed.
  • a 77-GHz radar system which has a forward-looking range of up to 492 feet (150 meters), and operates at vehicle speeds ranging from 18.6 miles per hour (30 km/h) to 111 mph (180 km/h).
  • Other systems have been disclosed by car manufacturers which also detect objects as far away as 492 feet, and operate at speeds as low as 20 mph (32 km/h).
  • a standard cruise control system accelerates aggressively to the desired speed without overshooting, and then maintains that speed with little deviation no matter how much weight is in the car, or how steep the hill you drive up.
  • Controlling the speed of a car is a classic application of control system theory.
  • the cruise control system controls the speed of the car by adjusting the throttle position, with feedback derived by means of sensors for speed and throttle position. The system also needs to monitor the controls so it can tell what the desired speed is and when to disengage.
  • the primary input is the speed signal. This is used by all control systems, a few of which will now be described.
  • the cruise control adjusts the throttle in proportion to the error (this being the difference between the desired speed and the actual speed). So, if the cruise control is set at 100 km h and the car is going 90 mph, the error term is lOkm/h and the throttle will be increased in proportion to this amount. The result is that the closer the car gets to the desired speed, the slower it accelerates. If one were on a steep enough hill, the car might not accelerate at all, allowing the error to remain and allowing the vehicle to remain below the set point of speed.
  • PID proportional-integral-derivative
  • a PID control system uses these three factors - proportional signals (in proportion to the error between setpoint and actual speed), integral (integrated error over time) and derivative (derivative of error with respect to time).
  • the integral factor eliminates any constant error such as the above problem encountered on hills, and also allows the system to settle into the correct speed and stay there.
  • the derivative of speed is acceleration which allows the cruise control respond quickly to changes, such as hills. If the car starts to slow down, the cruise control can 'see' this deceleration before the speed can actually change appreciably, and respond by increasing the throttle position.
  • U.S. patent 3511329 discloses such a cruise control system that allows a driver to choose a set operating point, and then cruise at this speed without depressing the gas pedal.
  • the device is designed for a constant speed and will generally speaking not minimize fuel consumption, driving time or any other parameter, as to do so would require a far greater amount of information and planning than cruise control systems can provide.
  • a system and method for optimization of various driving parameters such as velocity profile, environmental profile, pollution profile, safety profile, braking profile, and the like. Further a system and method are provided for automatic engagement/disengagement of the drive train of a vehicle from the engine, effectively putting the vehicle into and out of neutral for purposes of energy savings.
  • Various embodiments of the invention provide different means and methods for optimizing trip metrics such as fuel consumption, elapsed time, and the like.
  • TM W. J. Optimized intelligent cruise control
  • a. computing means comprising: a. computing means; b. sensing means in electronic communication with said computing means; c. software running on said computing means adapted to compute a trajectory that optimizes a metric, given information selected from the group consisting of: said sensing means; onboard information stored by said computing means; offboard information, and combinations thereof; d. indicating means adapted to indicate to a vehicle occupant an optimized vehicle state; whereby said vehicle may be brought closer to said optimized vehicle state.
  • TM W. J. Optimized intelligent cruise control
  • said optimized vehicle state is selected from the group consisting of: vehicle gear setting, vehicle speed, vehicle bearing, vehicle acceleration, and combinations thereof.
  • control means in electronic communication (which may be real time, near real time, or not real time and may be internet communication or other) with said computing means adapted to control said vehicle so as to bring said vehicle to said optimized vehicle state.
  • control means are selected from the group consisting of: clutch engagement control; gear selector (including gears of various types including automatic, semiautomatic, manual, hydraulic, servomotor control, electric gear, motorized (including brushed and brushless motor); transmission; electrically motorized control; steering control; velocity control; fuel supply rate control; control surface control; indicator light control; vehicle airconditioning control; vehicle onboard display control.
  • Clutch engagement may take the form of manual clutch, automatic clutch, electric clutch; hydraulic clutch; magnetic clutch; centrifugal clutch; finger clutch; diaphragm clutch; and screw clutch.
  • metric is selected from the group consisting of: minimized fuel consumption; minimized travel time; minimized travel risk; minimized safety risk; minimized travel emissions; minimized detection probability; maximized detection probability; minimized waiting time; minimized ticket risk; optimized scenery; minimized evaluation time; minimized deployment time; minimized army deployment time; minimized maneuvering requirement; and combinations thereof.
  • sensing means are selected from the group consisting of: GPS receiver; Dead Reckoning (DR) receiver; Dead Reckoning (DR); sonar rangefinder; laser rangefinder; radio receiver; proximity sensor; fuel consumption sensor; air flow sensor; speedometer; accelerometer; compass; inclinometer; magnetometer; altimeter;
  • the aforementioned system further comprising elements in electronic communication (real time or otherwise) with said computing means, selected from the group consisting of: radio transmitter; radio receiver; infrared transmitter; infrared receiver; license plate identification system; camera; night camera; day camera; vision processing means; cellular communications; internet connectivity; CANBUS; CCTV camera; thermal camera; fog vision systems; poor visibility vision systems; Google Earth 3D; satellite; and onboard vehicle network.
  • elements in electronic communication selected from the group consisting of: radio transmitter; radio receiver; infrared transmitter; infrared receiver; license plate identification system; camera; night camera; day camera; vision processing means; cellular communications; internet connectivity; CANBUS; CCTV camera; thermal camera; fog vision systems; poor visibility vision systems; Google Earth 3D; satellite; and onboard vehicle network.
  • computing means are selected from the group consisting of: smartphone; pda; laptop computer; onboard computer; GPS, Dead Reckoning (DR), Google Earth 3D, data relay satellite, optical satellite, radar satellite, satnav systems, WJ. HologramTM, navigation unit; atomic clock time location; and Turing machine.
  • said information is selected from the group consisting of: route endpoint data; route waypoint data; route constraints; GPS data; Dead Reckoning (DR) data; infrastructure data; traffic data; stoplight data; weather data; average route time data; topographic data; road usage data; road quality data; road inclination data; wind speed data; vehicle efficiency data; vehicle emissions data; car drag data; tire air pressure data; altitude data; tire friction data.
  • DR Dead Reckoning
  • said vehicle is selected from the group consisting of: car, truck, light truck, heavy truck, 3 wheeled vehicles, tractor, trailer, cargo transport vehicle, tank, boat, yacht, sailboat, submarine, airplane, motorized vehicle, train, bus, motorcycle, hybrid vehicle, electric vehicle, magnetic motor vehicle, W.J. EngineTM powered vehicle, W. J TurbineTM and W.J Rotor engineTM.
  • said vehicle is powered by a source selected from the group consisting of: internal combustion, external combustion, human power, electric propulsion, nuclear propulsion, wave propulsion, solar propulsion, ion propulsion, wind propulsion, W.J. Anaerobic engineTM, anaerobic engine, magnetic propulsion, hydraulic propulsion, air propulsion, WJ. Hydrogen PropulsionTM, hydrogen propulsion, W J. Turbine PropulsionTM, turbine propulsion.
  • TM W. J. Optimized intelligent cruise control
  • said optimized vehicle state is selected from the group consisting of: vehicle gear setting, vehicle speed, vehicle bearing, vehicle acceleration, environmental emissions reduction, and combinations thereof.
  • control means in electronic communication with said computing means adapted to control said vehicle through mechanical means, air pressure means, electrical means, hydraulic means and the like so as to bring said vehicle to said optimized vehicle state.
  • control means are selected from the group consisting of: clutch engagement control; gear selector; steering control; velocity control; fuel supply rate control; control surface disposition; indicator light control; vehicle air conditioning control; vehicle onboard display control; RPM control; handbrake control; brake control; wheel pressure; weight distribution; center of mass.
  • said software means optimizes said metric including minimized fuel consumption; minimized travel time; minimized travel risk; minimized travel emissions; minimized ticket risk; optimized scenery; minimized inclement weather; minimized waiting time, minimized detection probability; maximized detection probability; and combinations thereof by means of optimization algorithms selected from the group consisting of: gradient descent, simplex, convex minimization, support vector machine, neural networks, Bayesian networks, linear programming methods, nonlinear programming methods, Hessian methods, gradient methods, thermodynamic methods, entropic methods, ballistic methods, spline methods, and simulated annealing methods.
  • said metric is selected from the group consisting of: minimized fuel consumption; minimized travel time; minimized travel risk; minimized travel emissions; minimized ticket risk; optimized scenery; minimized waiting time, minimized detection probability (allowing for example escape from inimical forces), maximized detection probability (allowing for example detection by rescue personnel during an emergency), and combinations thereof.
  • said sensing means are selected from the group consisting of: GPS receiver; Dead Reckoning (DR); Google Earth 3D, data relay satellite, optical satellite, radar satellite, satnav systems, WJ. HologramTM, sonar rangefinder; laser rangefinder; radio receiver; proximity sensor; fuel consumption sensor; air flow sensor; speedometer; accelerometer; compass; inclinometer; magnetometer; altimeter; thermal rangefinder, fog vision system, dust vision system, bush and plant sensing means.
  • elements in electronic communication with said computing means selected from the group consisting of: radio transmitter; radio receiver; infrared transmitter; infrared receiver; license plate identification system; camera; vision processing means; cellular communications; internet connectivity; CANBUS; onboard vehicle network; Google Earth 3D; data relay satellite; optical satellite; radar satellite; satellite navigation systems; CCTV cameras for day or night operation.
  • said computing means are selected from the group consisting of: smartphone; pda; laptop computer; onboard computer; GPS navigation unit; Dead Reckoning (DR) unit; Google Earth 3D, satnav systems, WJ. HologramTM, Turing machine; altimeter; electronic altimeter and bar code reader.
  • trajectory comprises points in spacetime. It is further within provision of the invention to use an atomic clock for purposes of timing and precise location.
  • said trajectory includes segments utilizing a plurality of different vehicles.
  • said information is selected from the group consisting of: GPS data; Dead Reckoning (DR) data; Google Earth 3D, satnav systems, W.J. HologramTM, infrastructure data; traffic data; stoplight data; weather data; average route time data; topographic data; road usage data; road quality data; road inclination data; wind speed data; vehicle efficiency data; vehicle emissions data; crash data; altimeter data; road condition data; road angle data; infrastructure data including tunnel location; pedestrian crossing locations; school locations; U-turn locations; kindergarten locations; hospital locations; army base locations; animal crossing locations; training zone locations; firing zone locations; land mine field locations; accident data; road construction data; under repair data; altitude data.
  • said vehicle is selected from the group consisting of: car, truck, wheeled tractor, trailer, cargo transport vehicle, tank, boat, yacht, sailboat, submarine, airplane, motorized vehicle, train, bus, motorcycle , hybrid vehicle, electric vehicle, magnetic vehicle, 3 wheeled vehicle, 3 wheeled motor cycle.
  • said vehicle is powered by a source selected from the group consisting of: internal combustion, external combustion, human power, electric propulsion, nuclear propulsion, wave propulsion, solar propulsion, ion propulsion, wind propulsion, W.J. Anaerobic Engine TM propulsion, anaerobic engine propulsion, W.J. Turbine TM propulsion, turbine propulsion and WJ. Rotor engineTM.
  • a source selected from the group consisting of: internal combustion, external combustion, human power, electric propulsion, nuclear propulsion, wave propulsion, solar propulsion, ion propulsion, wind propulsion, W.J. Anaerobic Engine TM propulsion, anaerobic engine propulsion, W.J. Turbine TM propulsion, turbine propulsion and WJ. Rotor engineTM.
  • said vehicle employs a transmission selected from the group consisting of: manual transmission, automatic transmission, electric transmission, hydraulic transmission, pneumatic transmission.
  • an optimized cruise control system adapted to compute a trajectory that optimizes a metric and indicate to a vehicle occupant an optimized vehicle state.
  • an optimized cruise control system adapted to compute a trajectory that optimizes a metric and control means adapted to control said vehicle so as to bring said vehicle to said optimized trajectory.
  • an optimized cruise control system comprising: a. computing means; b. sensing means in electronic communication with said computing means; c. software running on said computing means adapted to compute a trajectory that optimizes a metric, given information selected from the group consisting of: said sensing means; onboard information stored by said computing means; offboard information, and combinations thereof; d. indicating means adapted to indicate to a vehicle occupant an optimized vehicle state; whereby said vehicle may be brought closer to said optimized vehicle state.
  • gear is selected from the group consisting of: automatic gear; semiautomatic gear; manual gear; servomotor gear; hydraulic gear; pneumatic gear; motorized gear; brushed motor gear; brushless motor gear; magnetic gear; centrifugal gear; transmission; magnetic gear; centrifugal gear; transmission.
  • control means are selected from the group consisting of: clutch engagement control; gear selector; steering control; velocity control; fuel supply rate control; control surface control; indicator light control; vehicle air conditioning control; vehicle onboard display control, 3D display screen, hologram display, W.J. Hologram TM display; heads up display; RPM control; handbrake control; brake control; wheel pressure; weight distribution; center of mass position; drag control system; GPS control; Dead Reckoning (DR) control; altimeter control; information system control; accurate system control.
  • said clutch is selected from the group consisting of: automatic clutch; manual clutch; electronic clutch; hydraulic clutch; magnetic clutch; centrifugal clutch; air clutch; membrane clutch; finger clutch.
  • said software means optimizes said metric by means of optimization algorithms selected from the group consisting of: gradient descent, simplex, convex minimization, support vector machine, neural networks, Bayesian networks, linear programming methods, nonlinear programming methods, Hessian methods, gradient methods, thermodynamic methods, entropic methods, ballistic methods, spline methods, and simulated annealing methods.
  • optimization algorithms selected from the group consisting of: gradient descent, simplex, convex minimization, support vector machine, neural networks, Bayesian networks, linear programming methods, nonlinear programming methods, Hessian methods, gradient methods, thermodynamic methods, entropic methods, ballistic methods, spline methods, and simulated annealing methods.
  • metric is selected from the group consisting of: minimized fuel consumption; minimized travel time; minimized travel risk; minimized travel emissions; minimized environmental impact; minimized ticket risk; optimized scenery; maximized safety, minimized wait time, minimized time in traffic jams; maximized trip enjoyment; minimized driver fatigue; minimized vehicle wear; minimized consumables depletion; minimized oil usage; minimized emergency evacuation time; minimized emergency evacuation time; and combinations thereof.
  • sensing means are selected from the group consisting of: GPS receiver; Dead Reckoning (DR); sonar rangefinder; laser rangefinder; radio receiver; proximity sensor; fuel consumption sensor; air flow sensor; speedometer; accelerometer; emissions sensor; compass; inclinometer; magnetometer; altimeter; optical sensor; camera; night vision equipment; UV sensor; IR sensor; wind direction sensor; temperature sensor; daylight sensors; darkness sensors; night vision systems; day vision systems; piezoelectric sensors; crystal sensors; encoders; laser sensors; mirror sensors; WJ. Hologram sensors; bar code readers, QR code readers.
  • emissions sensor is adapted to sense pollutants selected from the group consisting of: 0 3 , PM2.5, PM10, PM50, CO, C0 2 , NO, N0 2 , SO, SO2, VOCs, NH 3 , benzene, polycyclic aromatic hydrocarbons, dioxins, furans, lead, mercury, unburnt fuel.
  • the aforementioned cruise control system further comprising elements in electronic communication with said computing means, selected from the group consisting of: radio transmitter; radio receiver; infrared transmitter; infrared receiver; license plate identification system; camera; vision processing means; cellular communications; internet connectivity; CANBUS; onboard vehicle network; W.J. Holograms TM, holograms; bar code readers; QR code readers; CCTV; daylight cameras; night vision cameras; thermal cameras; electronic computers; altimeters; data relay satellite, optical satellite, radar satellite, satellite communications; Google Earth 3D; center communication; online communication; update communications.
  • elements in electronic communication with said computing means selected from the group consisting of: radio transmitter; radio receiver; infrared transmitter; infrared receiver; license plate identification system; camera; vision processing means; cellular communications; internet connectivity; CANBUS; onboard vehicle network; W.J. Holograms TM, holograms; bar code readers; QR code readers; CCTV; daylight cameras; night vision cameras; thermal cameras; electronic computers; altimeters; data relay satellite, optical satellite
  • the aforementioned cruise control system wherein said computing means are selected from the group consisting of: smartphone; pda; laptop computer; onboard computer; GPS navigation unit; Dead Reckoning (DR) navigation unit; Turing machine; altimeter; compass; electronic altimeters; computers; systems of parallel computers; robust computers; W.J. Cruise ControlTM; cruise control; [0070] It is further within provision of the invention to provide the aforementioned cruise control system wherein said trajectory comprises points in spacetime.
  • said computing means are selected from the group consisting of: smartphone; pda; laptop computer; onboard computer; GPS navigation unit; Dead Reckoning (DR) navigation unit; Turing machine; altimeter; compass; electronic altimeters; computers; systems of parallel computers; robust computers; W.J. Cruise ControlTM; cruise control;
  • said trajectory comprises points in spacetime.
  • aforementioned cruise control system wherein said information is selected from the group consisting of: route endpoint data; route waypoint data; route constraints; GPS data; Dead Reckoning (DR) data; infrastructure data; traffic data; stoplight data; weather data; average route time data; topographic data; road usage data; road quality data; road inclination data; wind speed data; vehicle efficiency data; vehicle emissions data; crash data; accident data ; altimeter data; road condition data; road angle data; infrastructure data; tunnel location data; pedestrian crossing locations; school locations; U-turn locations ; Weggarten locations; hospital locations; army base locations; animal crossing locations; training zone locations; firing zone locations; visibility data; police data; army data; emergency data; firefighting data; airborne data; aviation data; land mine field locations; temperature data; air drag data; average distance of saving mode data; saving mode data; one month saving mode data; war zone data; country border data; enemy vehicle data; municipal data; road condition data; city border data; army installation data.
  • DR Dead Reckoning
  • vehicle is selected from the group consisting of: car, truck, heavy truck, light truck, wheeled tractor, trailer, cargo transport vehicle, tank, boat, yacht, sailboat, submarine, airplane, spacecraft, motorized vehicle, train, bus, motorcycle, bicycle, hybrid vehicle, electric vehicle, floating vessel, hydrofoil, minibus, electric bicycle.
  • a source selected from the group consisting of: internal combustion engine, external combustion engine, steam engine; anaerobic engine; W.J. Anaerobic engineTM,; W.J. Rotor engineTM,; human power; electric propulsion; brushed electric propulsion; brushless electric propulsion; nuclear propulsion; wave propulsion; solar propulsion; ion propulsion; hydrogen engine; W.J. Plasma engineTM,; air power; gas engine; diesel engine; propane engine; kerosene engine; butane engine; and wind propulsion, W.J. Anaerobic EngineTM propulsion, anaerobic engine propulsion, WJ. Turbine TM propulsion, turbine propulsion.
  • metric is chosen based on factors selected from the group consisting of: driver age; driver attention span; driver accident record; driver driving record; driver disabilities; driver socioeconomic status; driver visual acuity; driver reaction time; driver hearing acuity; driver ADHD, driver ADD, driver disorder, driver deficit, driver neurological condition; driver alertness; driver experience; driver fatigue.
  • a game of optimization consisting of computing means adapted to compute a metric of a journey; and means for comparison of said metric to that of other journeys with all parameters and computing system and sensor correlations. It is further within provision of the invention to store results of studies, simulations, and learning systems for purposes of more efficacious operation of the control means and/or trajectory calculation.
  • a method for optimized cruise control comprising steps of: a. computing a trajectory that optimizes a metric, and; b. indicating an optimized vehicle state in said trajectory to a vehicle occupant.
  • said optimized vehicle state is selected from the group consisting of: vehicle transmission setting, gear setting, vehicle speed, vehicle bearing, vehicle acceleration, transmission settings, vehicle air drag factor, vehicle internal mass and combinations thereof.
  • control means in electronic communication and/or data relay satellite, optical satellite, radar satellite, or any other satellite communication with said computing means adapted to control said vehicle so as to bring said vehicle to said optimized vehicle state.
  • control means are selected from the group consisting of: clutch engagement control; gear selector; steering control; velocity control; fuel supply rate control; control surface control; indicator light control; vehicle air conditioning control; vehicle onboard display control, 3D display screen, hologram display, W.J. HologramTM display, heads up display; altitude display, fuel savings display; mode display; status display; road slope display, TV display, in seat display, headrest display; navigation control; air drag factor display; RPM control; handbrake control; brake control; wheel pressure; weight distribution; center of mass position and barcode display.
  • gear is selected from the group consisting of: automatic gear; semiautomatic gear; manual gear; servomotor gear; hydraulic gear; pneumatic gear; motorized gear; brushed motor gear; brushless motor gear; magnetic gear; centrifugal gear; transmission; planetary gear.
  • said clutch is selected from the group consisting of: automatic clutch; manual clutch; electronic clutch; hydraulic clutch; magnetic clutch; centrifugal clutch; finger clutch; air clutch; membrane clutch;.
  • said software means optimizes said metric by means of optimization algorithms selected from the group consisting of: gradient descent, simplex, convex minimization, support vector machine, neural networks, Bayesian networks, linear programming methods, nonlinear programming methods, Hessian methods, gradient methods, thermodynamic methods, entropic methods, ballistic methods, spline methods, and simulated annealing methods.
  • said metric is selected from the group consisting of: minimized fuel consumption; minimized travel time; minimized travel risk; minimized travel emissions; minimized environmental impact; minimized ticket risk; optimized scenery; maximized safety, minimized detection probability; maximized detection probability; minimized waiting time; minimized evacuation time; minimize emergency vehicle arrival time; minimized police force arrival time; minimized first aid arrival time; minimized firefighting arrival time; and combinations thereof.
  • sensing means are selected from the group consisting of: GPS receiver; Dead Reckoning (DR) receiver; sonar rangefinder; laser rangefinder; radio receiver; proximity sensor; fuel consumption sensor; air flow sensor; speedometer; accelerometer; compass; inclinometer; magnetometer; altimeter, emissions sensor; optical sensor; camera; night vision equipment; UV sensor; IR sensor; CCTV; day vision system; night vision system.
  • DR Dead Reckoning
  • said emissions sensor is adapted to sense pollutants selected from the group consisting of: 0 3 , PM2.5, PM10, PM50, CO, C0 2 , NO, N0 2 , SO, S0 2 , VOCs, NH 3 , benzene, polycyclic aromatic hydrocarbons, dioxins, furans, lead, mercury, unburnt fuel.
  • the aforementioned methods further comprising elements in real time, near real time, or non-real time electronic communication with said computing means, selected from the group consisting of: radio transmitter; radio receiver; dead reckoning (DR) receiver; GPS receiver; infrared transmitter; infrared receiver; license plate identification system; camera; vision processing means; cellular communications; internet connectivity; CANBUS; onboard vehicle network; WJ.
  • DR dead reckoning
  • hologramTM hologram
  • barcode reader QR code reader
  • identification systems vision processing systems; mirrors; sights; road sign sensors; traffic lights sensors; range finders; laser range finders; altimeters; electronic altimeters; mechanical altimeters; mechanical compass; electronic compass; GPS receiver; data relay satellite, optical satellite, radar satellite, battery powered devices including those with emergency recharged batteries.
  • computing means are selected from the group consisting of: smartphone; pda; laptop computer; onboard computer; GPS navigation unit; Dead Reckoning (DR) unit; and Turing machine.
  • said information is selected from the group consisting of: GPS data; Dead Reckoning (DR) data; infrastructure data; traffic data; stoplight data; weather data; average route time data; topographic data; road usage data; road quality data; road inclination data; wind speed data; wind direction data; vehicle air drag data; road slope data; humidity data; temperature data; border data; municipal city data; vehicle efficiency data; vehicle emissions data; crash data; accident data ; altimeter data; road condition data; road angle data; infrastructure data; tunnel location data; pedestrian crossing locations; school locations; U-turn locations ; Weggarten locations; hospital locations; army base locations; animal crossing locations; training zone locations; firing zone locations; visibility data; police data; emergency data; firefighting data; airborne data; aviation data; and land mine field locations.
  • DR Dead Reckoning
  • vehicle is selected from the group consisting of: car, truck, heavy truck, light truck, wheeled tractor, trailer, cargo transport vehicle, tank, boat, yacht, sailboat, submarine, airplane, motorized vehicle, train, bus, motorcycle , bicycle, electric bicycle, hybrid vehicle, electric vehicle, spacecraft, floating vessel, hydrofoil.
  • said vehicle is powered by a source selected from the group consisting of internal combustion engine, external combustion engine, steam engine; anaerobic engine; W.J. Anaerobic engine; human power; electric propulsion; brushed electric propulsion; brushless electric propulsion; nuclear propulsion; wave propulsion; solar propulsion; ion propulsion; hydrogen engine; W.J. Plasma engine; plasma engine; air power; gas engine; diesel engine; propane engine; kerosene engine; butane engine; and wind propulsion, hydrogen engine; W.J. Hydrogen engineTM; W.J. Anaerobic Engine TM propulsion, anaerobic engine propulsion, W.J. Turbine TM propulsion, turbine propulsion; petrol engine; magnetic engine; Wankel engine; and W.J Rotor engine.
  • a source selected from the group consisting of internal combustion engine, external combustion engine, steam engine; anaerobic engine; W.J. Anaerobic engine; human power; electric propulsion; brushed electric propulsion; brushless electric propulsion; nuclear propulsion;
  • a transmission selected from the group consisting of: manual transmission, automatic transmission, electric transmission; hydraulic transmission; magnetic transmission; centrifugal clutch; planetary gear; magnetic gear; centrifugal gear; planetary gear; transmission.
  • metric is chosen based on factors selected from the group consisting of: driver age; driver attention span; driver accident record; driver driving record; driver disabilities; driver socioeconomic status; driver visual acuity; driver reaction time; driver hearing acuity; driver attentiveness; driver alertness; driver fatigue; driver record; driver ADHD; driver ADD; driver dyslexia; driver syndromes; driver medical conditions; driver psychological conditions.
  • the method may be used for such purposes as environmental education, cooperation and driving behavior modification, analysis of driving skill, learning geography by safe touring, and the like.
  • driver learning method consisting of: a. computing an optimized metric of a journey; b. comparing said metric to that of driver performance on said journey; c. analyzing driver behavior to encourage better driving methods and increasing the general safety of driving.
  • FIGS. la,b,c,d illustrate fuel economy vs. speed charts
  • FIGS. 2a,b,c,d,e illustrate speed vs. time and elevation vs. time profiles implementing different trajectories
  • FIG. 3 illustrates a height (y) vs. horizontal position (x) profile implementing part of a trajectory
  • FIG. 4 illustrates a speed vs. position profile implementing part of a trajectory
  • FIG. 5a illustrates a throttle position vs. vehicle position profile implementing part of a trajectory
  • FIG. 5b illustrates an altitude vs. distance profile
  • FIG. 5c illustrates an altitude vs. distance profile
  • FIG. 5d illustrates another altitude vs. distance
  • FIG. 5e illustrates another altitude vs. distance profile used for experimentation ;
  • FIG. 6 illustrates a graph of nodes connected by edges
  • FIG. 7 illustrates a graph of nodes connected by edges that have been given scalar weights
  • FIG. 8 illustrates a graph of nodes connected by edges that have been given vector weights
  • FIG. 9 illustrates a redundant solenoid-pair system adapted for engagement and disengagement of a throttle lever
  • FIG 10. illustrates a flow chart implementing one possible embodiment of the invention
  • FIG 11. illustrates a set of roads linking destinations, some roads being urban and others being highway.
  • trajectory thus consists of a collection of points or curves including positions and times. From a trajectory one may therefore determine position, velocity, acceleration and higher derivatives of position, in three dimensional space and at any given time. By means of the trajectory one can compute (for instance) average speed, the speed histogram, acceleration histogram, and the like, from which further information may be determined including the fuel consumption of a vehicle (given certain further parameters as explained below).
  • the term 'metric' hereinafter refers to a measure of performance.
  • relevant metrics could be total fuel consumption; travel time; travel risk; emissions; ticket risk; optimized scenery; minimized waiting time; maximized trip enjoyment; maximized safety; pollution; minimized inclement weather; minimized detection probability; maximized detection probability; and combinations of these such as functions of any number of these.
  • the term 'majority vote' hereinafter refers to redundant computer systems provided with (for instance) 3 or more independent computers running identical or nearly identical software.
  • the effects of an error on a single computer can then be largely eliminated if an overall arbiter constantly performs operations based on the output of the majority of the computers; if the likelihood of a single computer error is ⁇ (for instance 1 in 1000) then the likelihood of a majority vote system of three computers performing an operation based on an error is ⁇ 3 ⁇ (in this example 3 in 1,000,000), which is clearly far less than the likelihood of a single failure.
  • Systems with more than 3 independent units can also be used to implement more robust systems. It is within provision of the invention that such redundancy be built into the computing means of the system as well as the mechanical components thereof.
  • a standard cruise control system will bring a vehicle to a preset speed and maintain this speed.
  • Most designs have provision for setting the desired cruising speed, a “resume” control, an "automatic mode ", a “gliding mode”, and potentially other functions.
  • These systems allow a driver to cease depressing the accelerator pedal while still maintaining a steady speed, irrespective of road grade and wind resistance. However they do not optimize the driving speed or other parameters to allow fuel savings, time savings or the like.
  • trajectory optimization is a case of multidimensional optimization, and as such is amenable to solution by well-known numerical methods such gradient descent, simplex, convex minimization, support vector machine, neural networks, Bayesian networks, linear programming methods, nonlinear programming methods, Hessian methods, gradient methods, simulated annealing methods, thermodynamic methods, entropic methods, ballistic methods, spline methods, and others known in the art of function optimization.
  • solutions to the problem of route optimization may be used to solve the related problems of trajectory optimization.
  • trajectory optimization in addition to the actual physical route taken, the exact speed profile along each route must also be optimized.
  • an infinitude of paths each representing a different speed-distance or speed-time profile instead of a single edge connecting pairs of nodes or vertices, an infinitude of paths each representing a different speed-distance or speed-time profile.
  • optimal profiles may be chosen in addition to optimal routes, starting from solutions for optimal routes based on known methods such as alpha star and the like.
  • the invention comprises a system and method useful for any motor vehicle and any place in the world, which improves fuel and/or time efficiency, and increases the range of operation saving fuel and money thus implementing an environmentally friendly transportation planning solution.
  • the system is applicable to any powered vehicle including but not limited to cars, trucks, wheeled tractors, trailers, cargo transport vehicles, tanks, boats, yachts, sailboats, submarines, airplanes, motor vehicles, trains, buses , motorcycles , powered by any type and kind of engine , solar panels , hybrid drives, electric motors , servo motors, and the like.
  • Vehicles both manned and unmanned, and powered by any type of power source including internal combustion engines, external combustion engines, human power, electric propulsion, nuclear propulsion, W.J.
  • Anaerobic EngineTM anaerobic engine
  • W.J. Plasma Engine TM plasma engine
  • W.J. Hydrogen EngineTM hydrogen engine
  • magnetic engine W.J. TurbineTM
  • W.J. Rotor engine TM turbine; and the like
  • Manual, automatic, electric and other transmissions are amenable for use with the system.
  • a fleet vehicle that can be demonstrated as having lowered emissions, for instance in line with or lower than a given countries maximum allowable emissions per km, per mile, per hour, per vehicle lifetime or the like, will be of material and even monetary benefit over a truck without such provision, be it to the fleet operator, truck owner, truck seller, or whosoever obtains benefit or use of the vehicle in question.
  • the invention comprises computation means in communication with means for control over vehicle parameters, either directly (e.g. through control over the gearbox, clutch, brakes, steering, , fuel flow, lights, sensors, ) or indirectly for instance by means of display indicating to the driver the optimal speed. It is within provision of the invention that incoming information be received and/or processed in real time, near real time, or in non-real time. It is within provision of the invention that the computation means be a smartphone, cellphone, pda, portable computer, onboard computer, vehicle computer, satellite communication, GPS information, Dead Reckoning (DR) information or combination(s) thereof. Software suitable for the purpose running on the aforementioned computation means will determine optimal parameters of a given route including optimum trajectory. As defined above the trajectory includes the position, velocity, acceleration, air pressure, throttle position, RPM, altitude, atmospheric conditions, air drag factor, etc. as functions of time.
  • the system engage and disengage the clutch of any type of vehicle any in its various forms including manual, semiautomatic, automatic, mechanical, electrical, hydraulic, pneumatic, or the like.
  • the system may disengage the motive power source from the transmission, drive train and/or wheels.
  • the system can automatically implement a 'pump and glide' (also known as 'pulse and glide') driving trajectory consisting of segments of high speed transport and segments wherein the system is in 'neutral', i.e. the motive power source is disengaged from the wheels, propellers, or other force-delivery mechanisms. It has been found through extensive experimentation that this method can produce substantial energy savings. As may be appreciated from Fig.
  • the fuel economy of a given vehicle may be a complex function of speed. Knowing the fuel economy as a function of speed, and in certain cases even lacking detailed information concerning fuel economy as a function of speed, an optimized trajectory can planned and executed, either by trial and error, or by feedback, or by means of a vehicle model, or combinations of these.
  • One way of considering the advantage of the pump and glide method is that it exploits a vehicle's momentum and/or inertia to the maximum extent possible.
  • the computing means of the system determines an optimal trajectory for the vehicle, given the vehicle parameters and external parameters such as road inclination.
  • an optimal current state (instead of an entire trajectory) may be determined.
  • the computing means will take action to bring the vehicle closer to the optimal current state, either by means of alerting the driver or directly by means of control over various vehicle mechanisms such as the clutch, brake, fuel flow and the like.
  • actuators including real time actuation systems, near real time actuation system, and non-real time actuation systems, including but not limited to electric actuators, air pistons, linear actuators, rotary actuators, cable control, solenoids, fluidic control systems, 'fly by wire' systems and the like.
  • control means are within provision of the invention, including but not limited to control over drag (for instance by means of opening/closing windows, raising/lowering spoilers, changing load distribution, changing center of gravity, and the like) as well as related factors such as vehicle balance, which may be controlled for instance by means of hydraulic or pneumatic shock absorber settings, electric shock absorber settings, air cushion settings, tire pressure, control surface attitude, altitude, GPS, Dead Reckoning (DR) and the like.
  • control over drag for instance by means of opening/closing windows, raising/lowering spoilers, changing load distribution, changing center of gravity, and the like
  • vehicle balance which may be controlled for instance by means of hydraulic or pneumatic shock absorber settings, electric shock absorber settings, air cushion settings, tire pressure, control surface attitude, altitude, GPS, Dead Reckoning (DR) and the like.
  • control of the system be possible locally, remotely, real time, or combinations thereof.
  • the various parameters of the system such as choice of route, settings such as minimum allowable vehicle distance, minimum allowable time-to- collision, metric including minimized fuel consumption; minimized travel time; minimized travel risk; minimized travel emissions; minimized ticket risk; optimized scenery; minimized inclement weather; minimized waiting time; minimized detection probability; maximized detection probability; and the like, may be set either by the driver of the vehicle, a passenger, or a third party such as a dispatcher or fleet supervisor, who may change the various real time information settings of the system remotely (in real time or otherwise, such as through audio advisement of the driver of advisable routes or automatically through remote control of the system control computer) through use of communications means that will be obvious to one skilled in the art, including cellular communications, radio frequency communications, wireless networks, LANs, data relay satellite, optical satellite, radar satellite, satellite communications systems, internet connectivity in all its various guises and
  • the system may accelerate the system user's vehicle (either directly, through control over the fuel flow, throttle position or the like, or indirectly by means of a visual display, audible signal or the like, transmitted or relayed in some fashion to the driver) until reaching a speed of (for example) l lOkm/h.
  • the system (again either directly or indirectly) takes action to reduce engine usage, for example by putting the vehicle transmission into 'neutral' by means of disengaging the power train and lowering the throttle position, effectively putting the vehicle into neutral gear.
  • the fuel savings in this mode will be substantial as the engine idle running at its idle RPM will enjoy a fuel consumption appreciably much less than that at HOkm/h powered fuel consumption.
  • the drive train or W.J. Automatic GearTM Upon reaching a dynamically determined lower speed setpoint such as 90km/h, the drive train or W.J. Automatic GearTM is engaged once more and the throttle position raised to a position consistent with moderate acceleration to HOkm/h.
  • the 'coast time' may be considerable, for example reaching 35 seconds for a coast from l lOkm/h to 90 km/h in certain conditions.
  • the vehicle will then again accelerate to make up the 20km/h of speed lost, reaching l lOkm/h in some amount of time such as 4-5 seconds, determined by the throttle position, and after maintaining the l lOkm/h speed for some predetermined amount of time, the cycle may be repeated by once again putting the vehicle into neutral gear.
  • a 'pump and glide' system (or 'pulse and glide' as it may be known) is to oscillate between two speeds such as in the speed-time chart of Fig. 2a.
  • a 60mph speed is attained, the vehicle is put into neutral and the motive source is disengaged and idled, putting the vehicle into a fuel- saving mode.
  • the clutch in its various forms including manual, semiautomatic, automatic, mechanical, electrical, hydraulic, pneumatic, or the like, is once again engaged and the vehicle accelerated to a speed of 60mph, whereupon the cycle repeats.
  • Fig. la which has (for instance ) efficiency peaks at 45mph and 60 mph for a certain vehicle.
  • a 55mph speed is determined to be sufficient to bring the driver to his or her destination within the time allotted for the journey, the system may implement a trajectory such as that shown in Fig. 2b, wherein segments of operation at the 60mph efficiency peak alternate with segments at the 45mph efficiency peak, at a duty cycle determined to achieve an average 55mph speed.
  • the system may find that (for instance) 65 mph operation is optimal, satisfying the minimum time metric while using relatively little fuel. Alternatively if it is found that a more optimal trajectory for energy savings involved more time at 45mph, then the system will adopt longer segments at this speed if energy savings is chosen for the primary metric.
  • FIG. 2c A further example of a speed profile that may be implemented by the system is shown in Fig. 2c.
  • the vehicle starts from rest.
  • the vehicle reaches a highway speed of HOkm/h, at which point the throttle is automatically disengaged (in implementations of the invention using a computer-controlled clutch (in its various forms including such as manual, semiautomatic, automatic, mechanical, electrical, hydraulic, pneumatic, or the like) and gear control).
  • the vehicle then coasts or glides for a full 35 seconds until reaching a lower speed threshold of 80km/h.
  • the system reengages the clutch and appropriate gear stick, and increases the fuel flow to the engine, and as a consequence accelerates to a speed of 100 km/h once again.
  • the system will once again coast to reach 80km/h at 100 seconds.
  • the system can recapitulate the steps varying speed from lOOkm/h to 80 km/h ad infinitum if external factors remain the same.
  • the heights, lengths and durations of this speed profile are examples only; and furthermore the profile may take a much more variable form than that shown here.
  • Fig. 2C For example if the vehicle approaches a hill, the 'pump and glide' profile of Fig. 2C may be modified to allow for slower speeds on the upslope and larger speeds on the downslope. To achieve these different speeds the periods of acceleration and deceleration such as those shown in Fig. 2e may be varied.
  • the speed profile shown in Fig. 2c is appropriate for operation on level ground. It is within provision of the invention to implement automated 'pump and glide' even when on non-level ground, as shown in Fig. 2d,e.
  • the driver experiences a long uphill stretch, after which he experiences a long downhill stretch as shown in the elevation chart of Fig. 2d.
  • the system may then stretch the 'pump' and 'glide' sections accordingly, for example increasing the length of the 'pump' section on the uphill slope and increasing the length of the 'glide' section on a downhill stretch.
  • Various savings modes may be envisioned, for example a 'fuel saving' mode which provides moderate fuel savings while still allowing a moderately quick trip; 'super savings mode' providing maximized fuel savings at the cost of a longer, slower trip, and variations upon this theme, as will be obvious to one skilled in the art.
  • the optimized trajectory might consist of alternating between 1 lOkm/h and 90 km/h, while a 'super fuel-saving' mode might alternate between 105km/h and 90 km/h or 105km/h and 80 km/h.
  • throttle positions are advantageous in terms of one or more metrics of the system.
  • the particular slopes of the graphs in Figs. 2a,b,c,e may be carefully chosen by the system not only to provide certain amounts of time coasting or accelerating, but to optimize metrics dependent upon acceleration.
  • the aforementioned example highlights another subtlety of the system, namely the prioritization and balancing of metrics that may conflict or involve tradeoff such that not all may be optimized simultaneously. For example generally speaking higher speeds are less efficient, and thus the goals of minimum elapsed time (requiring high speeds) and minimum fuel utilization (requiring low speeds) are at odds. It is thus within provision of the invention to allow for combined metrics that are functions of one or more other metrics. For example a metric can be defined by the user that gives a certain weight to the elapsed time and another weight to the fuel consumed. The total metric can then be computed as some function of the weighted elapsed time and fuel consumed.
  • the resistance force comes to 400 ⁇ , for an acceleration of 0.4m s .
  • the gliding time from l lOkm/h to 90 km h is about 15s, in a distance of
  • further metrics may be defined such as trip cost.
  • the system may determine optimal refueling points.
  • the metric to be optimized may thus include fueling costs as part of a combined metric or standalone metric which may furthermore include minimized fuel consumption, minimized emissions, maximized safety, minimized trip time, minimized driver fatigue, minimized wait time, maximized trip enjoyment, minimized detection probability, maximized detection probability, and the like.
  • minimized risk for example as determined by use of road safety databases, traffic accident databases, and the like
  • maximized enjoyment of scenery for example as determined by automated reference to travel guides and reviews, driver preferences, etc.
  • minimized ticket risk i.e.
  • a minimization of the risk of receiving a ticket which may be accomplished by some combination of lowered speeds ,use of roads with known low police presence, GPS location, Dead Reckoning (DR) location or other means for identification of police presence, use of roads with low historic ticket probability, and the like), enhanced enjoyment (for example by use of scenic routes, avoidance of traffic, and the like), maximized scenery enjoyment (for example by use of data concerning road side attractions, scenery visible from various road segments, and the like), and in fact any other metric that may be found desirable to optimize.
  • DR Dead Reckoning
  • the metrics used be user-definable and variable, such that a user may program his or her own metrics to be optimized, which may be (for example) functions of the data sensed by the system and other information available to it (for example over the internet).
  • a long 'glide' (segment of unpowered transport) may be implemented.
  • the system if put in possession of terrain information such as topographic information, can plan an optimized 'glide' and even carry it out in the case of computation means in communication with the clutch or equivalent (including mechanical clutch, electronic clutch, manual clutch, semiautomatic clutch, automatic clutch, motorized clutch, magnetic clutch, pneumatic clutch, hydraulic clutch, and the like).
  • the system will indicate the optimum time on an upslope at which to disengage the engine that will still allow the vehicle to pass the upslope summit, at which point the engine is disengaged or even turned off.
  • an optimum braking schedule may be planned and implemented directly or indirectly, allowing for instance a maximum safe speed to be reached on a downslope without braking, by means of intelligent choice of the aforementioned upslope point at which to extinguish or disengage the engine. Variations of this notion are within provision of the invention, such as allowing for a 'minimum braking' trajectory that minimizes the amount of braking necessary, thereby saving fuel and/or time. [00143] Obviously in the above example it would be unwise to allow for extinguishing the engine in the case of vehicles with (for example) power brakes, power steering or the like, as the vehicle requires engine power at all times in order to keep these vital functions operating. In such cases therefore the engine must only be disengaged by means (for example) of a clutch in its various forms including such as manual, semiautomatic, automatic, mechanical, electrical, hydraulic, pneumatic, or the like , and not turned off or extinguished.
  • vehicle inertia in calculating optimal trajectories, as the amount of throttle necessary to (for example) crest a hill may well depend upon the vehicle inertia.
  • vehicle parameters such as frontal area, air drag coefficient, rolling drag coefficient, mass, tire inflation pressure, and the like to build a model of vehicle performance (mathematical or otherwise) which can be used for purposes of calculating optimized trajectories.
  • a crude representation of terrain is shown.
  • the x-axis represents for instance distance driven (not necessarily linear position, but rather mileage, for example) while the y-axis represents height (e.g. above sea level.)
  • An example of a speed profile that may possibly be found appropriate for this height profile is shown in Fig. 4.
  • the speed is allowed to fall on the upslope (near point Xo as marked on Figs. 3,4). This is in anticipation of the coming downslope, where the speed will naturally pick up (as seen in Fig. 4 after the point Xo), rendering high speed on the upslope unnecessary and wasteful, as it will require braking on the downslope and extra fuel on the upslope.
  • the advantage of this procedure may be seen in detail in Fig.
  • Fig. 5a where the throttle position as a function of vehicle position is shown.
  • the throttle may be gradually decreased if the computing means of the system determines that the inertia of the vehicle is enough to carry it to the peak Xo with sufficient velocity (sufficient, for example, to fulfill minimum speed requirements).
  • the throttle may be kept at low values and even choked completely during the downslope after Xo, saving further fuel. Only when the terrain begins to rise again and the system determines more throttle is needed, is the throttle again repositioned as in Fig. 5a near the point Xj. [00146] In Fig. 5b, a profile of altitude vs. position is shown.
  • the profile has been chosen to provide a maximized effectiveness for the method of the invention; namely, here a brief steep hill is followed by a long descent.
  • the brief steep hill takes advantage of the inertia of the vehicle, allowing it to crest the top with a minimum of expended fuel.
  • the long coast down then allows the vehicle to proceed in neutral, in accordance with the fuel consumption optimization method of the invention. It is within provision of the invention to build infrastructure that tends to maximize fuel savings by such means as engineered road grades, minimized wind resistance, or similar variations thereof as will be clear to one skilled in the art.
  • FIG. 5c,d Further examples of terrain profiles are shown in Fig. 5c,d.
  • a vehicle 501 and road 502 in side view.
  • Various 'control points' 503 are shown, which may be for example points at which the vehicle is put into neutral or put into gear.
  • the metrics to be optimized such as fuel consumption, time, safety and the like are calculated by computation means which use the available information which generally may be selected from the group consisting of: terrain, topography, position, as for instance obtained through GPS, Dead Reckoning (DR) location, Google Earth 3D, data relay satellite, optical satellite, radar satellite, satnav systems, W.J. HologramTM or the like), altimeter data, satellite data, mapping information, GIS information, road information, surface information, vehicle information including efficiency at one or more speeds, traffic information, infrastructure information, such as stoplight information including stop light location, light durations (e.g. average length of red stoplight, and average length of green 'go' light), and the like.
  • available information which generally may be selected from the group consisting of: terrain, topography, position, as for instance obtained through GPS, Dead Reckoning (DR) location, Google Earth 3D, data relay satellite, optical satellite, radar satellite, satnav systems, W.J. HologramTM or the like
  • altimeter data satellite data
  • mapping information mapping information
  • Further information sources may be used including but not limited to altimeter information, information obtained through satellite communication and/or navigation services , information obtained through GIS services or Google Earth, and the like as will be clear to one skilled in the art.
  • Other sensors may be employed such as lamdba sensors, rotating driveshaft rpm, wheel rpm, speedometer cable position sensor, wheel speed sensor, road sensors, light sensors, humidity sensors, thermometers, conductivity sensors, friction coefficient sensors, radio transmitters, and others as will be clear to one skilled in the art. It is within provision of the invention to make use of an internet connection, which is connected from the moment the driver turns on the vehicle ignition, or alternatively which is kept on continuously even when the vehicle is not activated. [00155] As an example, suppose the system is implemented on a smartphone.
  • a menu-driven system is implemented in software running on the smartphone that allows a user to choose the metric to be optimized, for example choosing from a list including minimized fuel consumption, minimized elapsed time, maximized safety, minimized ticket risk, or optimized scenery.
  • the user chooses optimized scenery and maximized safety as the top two metrics to be optimized.
  • the system which is in communication with road databases including terrain data, scenery data, and average road speed data, chooses a route that includes several spectacular views along roads with relatively low top speeds and good safety records.
  • the system can either advise a driver to take an alternate route or advise on a safe speed when approaching this particular turn.
  • the system may automatically reduce fuel flow to the engine, adjust the throttle, or otherwise reduce the vehicle speed upon approaching this turn to minimize the risk of accident.
  • the system uses real time information obtained through various communications channels to help the driver adhere to an optimal driving trajectory.
  • This information includes various sources and parameters including but not limited to GPS, Dead Reckoning (DR), Google Earth 3D, satnav systems, WJ. HologramTM, barometer, electronic and photoelectric sensors and information, holograms, barcode readers, identification systems, optical instruments including cameras and associated vision processing systems, gages , mechanical instruments that are part of or embedded in the infrastructure , and the like.
  • This information is correlated and used by computing means in order to plan and execute an optimum trajectory.
  • the system 'learn' by means of storing information concerning fuel economy, elapsed times, driver behavior and the like such that these factors may be taken into account in future trips. It is further within provision of the invention that this invention be stored either locally or remotely, for instance on a magnetic card, flash drive, cd, DVD, Blu-Ray, or the like, for instance on a networked server associated with the system. This networked server may thus be updated with information concerning average route speed on given legs of a route, traffic information, driver behavior and the like which will allow more precise optimization of future trips.
  • the computing means are in communication and control of certain vehicle parameters, including in some embodiments control over such mechanisms as the clutch, brakes, speed, gear (be it automatic, manual, semi automatic, electronic, pneumatic, hydraulic, electric, magnetic, or the like) and in some cases velocity (i.e. speed and direction) .
  • control and/or indicators indicating to the driver the desired optimum trajectory, an optimal or improved path can be followed.
  • the invention operates as a kind of cruise control; the driver indicates to the system that he wishes to revert control over to the system of the invention, whereupon the speed (for instance) of the vehicle and its gearing are governed by the computing means of the system.
  • This computing means will determine the optimum speed, acceleration, gearing, and in some cases direction, for a given situation, and change the speed and bearing accordingly.
  • the computation means and/or associated software are such that the system adapts and learns various parameters associated with the vehicle and/or driver using the system or in which the system is installed.
  • any type of vehicle such as motorcycles, trucks, light trucks, any kind of wheeled vehicle of any number of axles, floating vessels, trains, military equipment such as tanks, army personal transport vehicles, planes, boats, ships, submarines, and in principle spacecraft, may be used in conjunction with the system.
  • measurement means in communication with the computation means including (for instance) the speedometer of the vehicle and fuel flow meter of the vehicle.
  • the mass and other characteristics of the vehicle may be determined, including the fuel efficiency. This is accomplished by measuring the speed and fuel consumption, and calculating the energy output of the engine (e.g. at the wheels) as compared to the energy input (in the form of fuel), the ratio of these two energies being the fuel efficiency.
  • Parameters are calculated that are of concern of computation of optimal trajectories such as vehicle loads, routes , terrain , altitude, fuel consumption , handling traffic, traffic light information, road tolls, air pressure, tire pressure, temperature, center of gravity, and the like, in order to compute optimal route in terms of several metrics including: fuel consumption, travel time, travel cost, travel safety, vehicle wear, and the like. By this means one may improve safety, reduce vehicle wear, reduce transportation times, and reduce fuel consumption.
  • the platform disclosed implements a transportation management system that allows vehicles of any type to be operated in the safest, most efficient and most environmentally friendly way possible in any country on the globe, internationally and nationally.
  • multi-mode travel may be planned and executed optimally by means of the system; the system can help people and goods effortlessly transfer from one mode of travel (motorcycle, car, bus, truck, train, ship, floating vessel, etc.) or route to another for the fastest and most environmentally friendly trip. This may be accomplished for example by notifying the user of an optimum route from a given point to another, and from this second point to a third, where the two legs of the trip utilize different vehicles. Thus for instance if a user indicates a desire to travel from Washington D.C. to New York, New York, and requests the minimum travel time (and without regard to expense), the system will search all travel options including air travel.
  • the system will plan an optimal route from the current location to the Washington airport, and from the New York airport (in a rental car, for instance) to the final New York destination. It is within provision of the invention that tickets for such route legs be automatically bought, and that vehicles be automatically rented by use of various known online technologies and websites.
  • the route A-B-H-G apparently requires the least time.
  • an optimal route can be chosen, and lacking a known optimal route various alternatives may be compared.
  • algorithms known in the art such as A Star, ant colony optimization, and the like adapted for minimizing such scalar metric including minimized fuel consumption; minimized travel time; minimized travel risk; minimized travel emissions; minimized ticket risk; optimized scenery; minimized inclement weather; minimized waiting time; minimized detection probability; maximized detection probability, and combinations thereof without exhaustive search (which in many cases may become intractable due to the number of possible routes, as in the famous traveling salesman problem.)
  • each leg may be characterized by more than one parameter, for example its energy use (as judged for example by the topography, or by database of energy usage, or by mathematical model, or the like).
  • energy use as judged for example by the topography, or by database of energy usage, or by mathematical model, or the like.
  • Fig. 8 Such a case of several parameters associated with each leg is shown in Fig. 8.
  • a given route may be assessed and thereby compared to other routes, now with the route totals being vector sums instead of scalar sums.
  • the preceding table may be once again updated, this time with the second parameter of energy usage being indicated.
  • Multi-depot vehicle routing problem (MDVRP)
  • VRPPD Vehicle routing problem with pick-up and delivery
  • One metric that may be felicitously optimized by the system is driving safety.
  • maintaining at least a certain minimum distance between one's vehicle and the preceding will not necessarily prevent accidents, especially insofar as a given distance at high speed differences between vehicles will translate into different 'times to collision', which in the case of high relative speeds may not suffice to take preventive action.
  • a 'time to collision' may be calculated, this being based on the distance from the preceding vehicle and the relative velocity between the two vehicles. It is within provision of the invention to implement a system that keeps this collision time greater than some minimum threshold.
  • the 'time to collision' can be defined using the relative velocity between a given vehicle and the preceding, and the distance between these two vehicles.
  • the relative velocity may of course be determined through the finite difference ⁇ / ⁇ where the ⁇ refer to differences between successive samples.
  • corrective action be taken by the system including but not limited to changing the vehicle throttle setting, braking the vehicle, accelerating the vehicle, changing the fuel flow rate, changing vehicle control surfaces, activating the vehicle horn, activating vehicle lights including running lights and high-beam lights, and the like, including combinations thereof, in an attempt to avoid an impending collision.
  • topographic and geographic information as well as infrastructure information including road quality, traffic routing information, traffic sign and signal information, and the like.
  • infrastructure information including road quality, traffic routing information, traffic sign and signal information, and the like.
  • the system can choose between a short route that has many stop signs and traffic lights, and a slightly longer route that nevertheless will provide a shorter travel time, due to a smaller number of necessary stops.
  • hilly terrain that will provide a faster but more fuel-intensive and dangerous route may be chosen or discarded in lieu of a less hilly and safer but longer route, depending on whether the user of the system indicates a preference for optimized travel time, fuel consumption, safety, or particular combination of these metrics.
  • the computing means of the invention be in electronic or mechanical communication with various sensors including but not limited to ultra-sonic devices, GPS, Dead Reckoning (DR), Google Earth 3D, data relay satellite, optical satellite, radar satellite, satnav systems, WJ. Hologram TM, altimeter, laser rangefinders, cellular communications including internet connectivity, radar Doppler system, WJ. Hologram, CANBUS, other vehicle networks, fuel consumption sensors, air flow sensors, accelerometers, compasses, inclinometers, magnetometers, altimeters, radio transmitters and receivers, infrared transmitters and receivers, license plate identification systems, cameras, vision processing equipment, and others that will be obvious to one skilled in the art. It is within provision of the invention to use real time systems as well as persistent internet connections allowing access any place in the world.
  • sensors including but not limited to ultra-sonic devices, GPS, Dead Reckoning (DR), Google Earth 3D, data relay satellite, optical satellite, radar satellite, satnav systems, WJ. Hologram TM, altimeter,
  • the computing means transmit information to the driver or other entity by means of optical display, LCD screen, 3D screen, heads up display, audible means, and may transmit warnings (such as warnings concerning imminent collision, traffic, inclement weather, or the like) by means of voice warning, light warning , signals, siren warning , vibration warning ,horn warning , flashing light warning, and the like.
  • warnings such as warnings concerning imminent collision, traffic, inclement weather, or the like
  • voice warning such as warnings concerning imminent collision, traffic, inclement weather, or the like
  • voice warning such as warnings concerning imminent collision, traffic, inclement weather, or the like
  • voice warning such as warnings concerning imminent collision, traffic, inclement weather, or the like
  • voice warning such as warnings concerning imminent collision, traffic, inclement weather, or the like
  • voice warning such as warnings concerning imminent collision, traffic, inclement weather, or the like
  • voice warning such as warnings concerning imminent collision, traffic, inclement weather, or the like
  • voice warning such as warnings
  • State A This state corresponds to a throttle position corresponds to the minimum allowed speed in highways, for example 90 km/h, which may be reached in 4TM gear at 2300rpm.
  • State B This state corresponds to a throttle position corresponds to the maximum allowed speed on the road in use, for example 110 km/h, which may be reached in 4 th gear at 3000 rpm.
  • State C This state corresponds to 'neutral' ; in this stage the motive power source is disengaged from the power train or wheels.
  • the gear box is in Neutral position, allowing the engine to reduce immediately its running speed, for example dropping to the idling rpm of 700 rpm only.
  • the energy savings in this mode is related to the idling RPM; the difference in RPM in this example is 2300RPM, which difference multiplied by the time in idle, will provide a measure of the energy saved.
  • the running speed will obviously decrease due to friction and air drag of the vehicle.
  • the system may vary between different states automatically by means of electronic control over the gearbox, transmission, fuel flow, throttle and associated mechanisms.
  • the optimized trajectory will not necessarily involve constant speed, but rather may involve a dynamically changing speed depending upon such factors as road incline/declivity, road surface quality, speed limit, vehicle performance curves such as fuel efficiency vs. speed, vehicle turn radius, road layout, and the like. It is an object of the invention to take these an all other relevant factors into account in order to calculate the optimum trajectory, either analytically or by means of an optimization algorithm as known in the art, such as gradient descent, simplex, or the like.
  • the system may be disengaged either manually or automatically. For example, when the driver depresses the brake, gas or clutch pedal, the system may be automatically taken out of operation allowing the driver full control over the vehicle for safety, additionally engaging the engine to the transmission immediately. Alternatively when the system is disconnected remotely, or a given time period elapses, or necessary planning information is lacking, the system may be disengaged and control passed to the driver.
  • the system be reengaged either manually or automatically, for instance when the driver decides to engage the system he may depress a button on the system interface (which may be a smartphone interfaced with a vehicle control system) that reengages the system.
  • a button on the system interface which may be a smartphone interfaced with a vehicle control system
  • Clutch pedal will disable the system instantly so the driver can change the speed without interference from the system.
  • Extant cruise control and other speed control systems generally require the user to bring a vehicle up to speed manually and use a button to set the cruise control to the current speed.
  • An advantage of the current system is that no preset speed is required; rather the computing means of the system calculates the operating point that will optimize the metric desired at any given moment. It is within provision of the invention that different metrics may be defined, including minimized fuel consumption, maximized safety, minimized travel time, minimized risk of obtaining a speeding ticket, minimized detection probability, maximized detection probability, minimized oil consumption, maximized trip enjoyment, minimized driver fatigue, and the like, as well as combinations of these metrics (such as minimized weighted sums of different metrics, or generally speaking minimized or maximized functions of one or more metrics).
  • speed control is accomplished by means of pulling the throttle cable with a solenoid, a vacuum driven servo mechanism or by using the vehicle 'drive-by-wire' system.
  • the W. J. Optimized intelligent cruise control be capable of being turned off both explicitly and automatically, when the driver depresses the brake and or by depressing the clutch in its various forms including such as manual, semiautomatic, automatic, mechanical, electrical, hydraulic, pneumatic, or the like in manual gear box , and or pressing the "Off” or “cancel “ or “Red stop” button or pulling an operating switch , or by pressing an appropriate menu button on a display such as a vehicle display, smartphone dimply, or the like.
  • the system disclosed has relatively modest computing requirements, it can be easily integrated into a modern vehicle's engine management system. This includes the ability to automatically reduce speed when the distance to a car in front decreases, or the speed limit decreases. Distance information may be obtained through appropriate sensors, while infrastructure information such as speed limit may be obtained through network connectivity, local database, or the like.
  • a speed limiter function, which will not allow the vehicle to accelerate beyond a pre-set maximum; this can be overridden in the case of emergency by fully depressing the accelerator pedal. It is within provision of the invention to keep the driving speed below a pre-set maximum; and automatically brake in the event of over speeding (e.g. on a downhill stretch) and reduce the speed by using means known in the art, such as by means of electric solenoid or servo motor that connected to the braking mechanism.
  • the system disclosed allows every driver to achieve highly optimized driving, for example in some embodiments by means of maintaining a relatively constant throttle position and allowing the vehicle to accelerate on the downgrades and decelerate on upgrades, while reducing power when cresting a rise and adding a bit before an upgrade is reached, at an accuracy limited only by the accuracy of information known about the vehicle and driving conditions (specifically, the vehicle performance curves and the road parameters such as the three-dimensional layout of the road).
  • this system is actually applicable to any vehicle, motorized or not; for example, a bicycle equipped with this system would be able to inform a rider as to the optimal speed at any given point, allowing the rider to achieve an optimized trajectory without benefit of years of experience; indeed, even long experience will not allow a seasoned biker to optimize his trajectory unless the biker also has foreknowledge of the terrain, which is not always the case and may well be of less detail than that possible with an onboard computerized database.
  • an W. J. Optimized intelligent cruise control would provide all the benefits of a regular cruise control including reduction of driver fatigue, improved comfort, and the like, in addition to optimizing metrics such as fuel consumption.
  • a pollution-minimizing metric is within provision of the invention , which takes into account the emissions vs. speed curve of a given vehicle or a standardized curve of similar nature, useful for reducing emissions such as C(3 ⁇ 4 , ⁇ , particulates, metals, sulfur and the like.
  • sensors be provided in electronic communication with the computing means of the system that are adapted for measurement of a variety of emissions and/or external pollutants including but not limited to 0 3 , PM2.5, PM10, PM50, CO, C0 2 , NO, N0 2 , SO, S0 2 , VOCs, NH 3 , benzene, polycyclic aromatic hydrocarbons, dioxins, furans, lead, and mercury.
  • emissions and/or external pollutants including but not limited to 0 3 , PM2.5, PM10, PM50, CO, C0 2 , NO, N0 2 , SO, S0 2 , VOCs, NH 3 , benzene, polycyclic aromatic hydrocarbons, dioxins, furans, lead, and mercury.
  • deviation from this emissions code may be added to a metric to be optimized, thus preventing deviations from the code or minimizing them.
  • this may prove invaluable, as a driver who can demonstrate lowered emissions may at some point be eligible for benefits such as tax credits or the like.
  • a dynamic set speed determined by the computing means of the system using for instance the GPS positions or Dead Reckoning (DR) positions of speed limit signs as determined from a database.
  • DR Dead Reckoning
  • large cars such as those equipped with large bore engines like V6 or V8 engines, petrol engines, or engines equipped with turbo or compressor systems, and/or vehicles of large mass such as 2000-2500 kg, their inertia power at speed of 110 km/h may allow the vehicle to coast long distances before the speed drops to a given lower minimum such as a minimum 90 Km/h lower higher speed limit.
  • system employ one or more microprocessor modules with hardware memory management and Real-Time Operating Systems.
  • embedded system platforms be employed, capable of running appropriate software applications, including model-based process control, artificial intelligence, and cloud and ubiquitous computing.
  • Sensing systems for ITS are vehicle and infrastructure based networked systems, thus it is within provision of the invention to use infrastructure sensors. These may be in-road reflectors or other devices that are installed or embedded on the road, or surrounding the road (buildings, posts, and signs for example) to enable better transport or provide other road, transport, safety, or condition information (such as information concerning a tight turn upcoming, slipper when wet indications, and any other road indications which may in addition to being posted on signs, be embedded in RFID tags or otherwise provided in an electronically or automatically readable format. It is within provision of the invention to use the W.J. Hologram, barcode readers, optical connections, internet connections, real time data, and persistent always-on connections.
  • GPS Global System
  • DR Dead Reckoning system
  • an W. J. Optimized intelligent cruise control (TM) system comprising: a. computing means; b. sensing means in electronic communication with said computing means; c. software running on said computing means adapted to compute a trajectory that optimizes a metric, given information selected from the group consisting of: said sensing means; onboard information stored by said computing means; off board information, and combinations thereof; d. indicating means adapted to indicate to a vehicle occupant an optimized vehicle state; whereby said vehicle may be brought closer to said optimized vehicle state.
  • TM W. J. Optimized intelligent cruise control
  • said optimized vehicle state be selected from the group consisting of: vehicle gear setting, vehicle speed, vehicle bearing, vehicle acceleration, combinations thereof, and others as will be known to those skilled in the art. It is within provision of the invention further to use air drag, tire type, air pressure, and rolling resistance factors for finding optimized vehicle state.
  • control means in electronic communication with said computing means adapted to control said vehicle so as to bring said vehicle to said optimized vehicle state, and others as will be known to those skilled in the art.
  • control means are selected from the group consisting of: clutch in its various forms including such as manual, semiautomatic, automatic, mechanical, electrical, hydraulic, pneumatic, or the like engagement control; gear selector; steering control; velocity control; fuel supply rate control; control surface control; indicator light control; vehicle air conditioning control; vehicle onboard display control, and others as will be known to those skilled in the art.
  • said software means optimizes said metric by means of optimization algorithms selected from the group consisting of: gradient descent, simplex, convex minimization, support vector machine, neural networks, Bayesian networks, linear programming methods, nonlinear programming methods, Hessian methods, gradient methods, simulated annealing methods, thermodynamic methods, entropic methods, ballistic methods, spline methods, and others as will be known to those skilled in the art.
  • optimization algorithms selected from the group consisting of: gradient descent, simplex, convex minimization, support vector machine, neural networks, Bayesian networks, linear programming methods, nonlinear programming methods, Hessian methods, gradient methods, simulated annealing methods, thermodynamic methods, entropic methods, ballistic methods, spline methods, and others as will be known to those skilled in the art.
  • metric is selected from the group consisting of: minimized fuel consumption; minimized travel time; minimized travel risk; minimized travel emissions; minimized risk of getting a traffic ticket; optimized scenery; minimized detection probability; maximized detection probability; minimized waiting time; combinations thereof, and others as will be known to those skilled in the art.
  • said sensing means are selected from the group consisting of: GPS receiver; Dead Reckoning (DR); sonar rangefinder; laser rangefinder; radio receiver; proximity sensor; fuel consumption sensor; air flow sensor; speedometer; accelerometer; compass; inclinometer; magnetometer; altimeter; and others as will be known to those skilled in the art. It is further within provision of the invention to use W.J. HologramTM, bar code readers, internet connections, and real time systems.
  • said computing means are selected from the group consisting of: smartphone; pda; laptop computer; onboard computer; GPS navigation unit; Dead Reckoning (DR) unit; Google Earth 3D, data relay satellite, optical satellite, radar satellite, satnav systems, W.J. HologramTM, Turing machine, bar code readers, internet connections that are always connected, real time data, worldwide networks, and others as will be known to those skilled in the art.
  • the information available to the computing means be selected from the group consisting of: route endpoint data; route waypoint data; route constraints; vehicle to vehicle data; GPS data; Dead Reckoning (DR) data; infrastructure data; traffic data; stoplight data; weather data; average route time data; topographic data; road usage data; road quality data; road inclination data; wind speed data; vehicle efficiency data; vehicle emissions data, crash data, safety data, data relay satellite, optical satellite, radar satellite, accident data and others as will be known to those skilled in the art.
  • DR Dead Reckoning
  • the vehicle be selected from the group consisting of: car, truck, tractor, trailer, cargo transport vehicle, tank, boat, yacht, sailboat, submarine, airplane, motorized vehicle, train, bus, motorcycle, hybrid vehicle, electric vehicle and others as will be known to those skilled in the art.
  • the vehicle be powered by a source including internal combustion, external combustion, human power, electric propulsion, nuclear propulsion, wave propulsion, solar propulsion, ion propulsion, wind propulsion, W.J. Anaerobic EngineTM propulsion, anaerobic engine propulsion, W.J. TurbineTM propulsion, turbine propulsion, W.J. Rotor EngineTM, rotor engines, and others as will be known to those skilled in the art.
  • the vehicle employ a transmission such as manual transmission, automatic transmission, electric transmission or others as will be known to those skilled in the art.
  • the computing means be provided with a user interface in any given language.
  • This user interface may include text, audio, gestures, and other elements as will be clear to one skilled in the art. It is within provision of the invention to use real time connections and add updates anywhere in the world depending on internet availability.
  • the gear shift of a manual vehicle be automatically moved from position to position by means adapted for this purpose, for example by means of an electromagnetic solenoid such as that pictured in Fig. 9.
  • an electromagnetic solenoid such as that pictured in Fig. 9.
  • a pair of electromagnetic linear actuators are to move a gear shift (although these types of actuators can also be used in conjunction with the system disclosed in order to engage/disengage the clutch in its various forms including manual, semiautomatic, automatic, mechanical, electrical, hydraulic, pneumatic, or the like , control the steering, move the gas pedal, move the brake pedal, or the like).
  • control means are within provision of the invention, including but not limited to control over drag (for instance by means of opening/closing windows, raising/lowering spoilers, changing load distribution, changing center of gravity, and the like) as well as related factors such as vehicle balance, which may be controlled for instance by means of hydraulic or pneumatic shock absorber settings, tire pressure, control surface attitude, and the like.
  • remote air pressure sensors may also be employed for this purpose, without requiring the aforementioned calibration run.
  • driving at length without proper tire pressure can lead to a hidden but potentially enormous loss of money due to lowered fuel economy.
  • the coasting may start from 110 km/h (for example), and continue until 90 km/h at which point the vehicle is accelerated once more to 110 km/h.
  • RPM limit whereby the maximum RPM is limited to a certain predetermined value.
  • the user may specify a limit of 5000 RPM, and in cases where the vehicle throttle is under full system control, the system will never allow the engine RPM to exceed 5000 RPM.
  • the system may indicate this path (for instance on an onboard computer monitor, or on a smart phone screen, or on a windshield display, heads-up monitor, or the like.), and may furthermore steer the vehicle automatically on this path for example by means of hydraulic or electronic control over the steering, gear, clutch in its various forms including such as manual, semiautomatic, automatic, mechanical, electrical, hydraulic, pneumatic, or the like , and throttle.
  • Optimal states in general lie along optimized trajectories. These optimal states and/or trajectories may be computed by various means including analog computation, digital computation, or the like. The optimality of a given state or trajectory is determined by means of one or more metric functions.
  • weather data be taken into consideration for purposes of metric computation.
  • inclement weather such as heavy rains or hailstorms will have a statistically predictable effect on average driving speeds, safety, fuel consumption, and the like.
  • knowledge of incipient inclement weather can be incorporated for more accurate assessment of the various metrics.
  • statistical and/or partial knowledge of external factors including weather so as to incorporate information such as "10% chance of rain” ; the probability of this occurrence may be used for instance to weight its effect in computation of a metric, or to weight the number of occurrences in a Monte Carlo simulation, or by use of other methods as will be clear to one skilled in the art.
  • the first step of the method is to determine the metric to be optimized, be it fuel efficiency , elapsed time, emissions, safety, and the like, including combinations and functions thereof.
  • the metric may be chosen automatically, remotely, or locally e.g. by the driver through a menu-driven interface.
  • the next step is to determine the destination, again either locally or remotely and again for instance by means of a menu-driven interface.
  • the next step in this example is determination of position, e.g. through GPS or Dead Reckoning (DR) and a number of vehicle parameters such as speed, gear, inclination, acceleration, fuel consumption, traffic situation, weather, road status, accident status and the like.
  • DR Dead Reckoning
  • an optimal route can be determined (which may in fact change during the trip due to navigational mistakes, changes in traffic, accidents ahead, inclement weather ahead, etc.)
  • an optimal vehicle state (or states) my be determined.
  • a difference measure can be determined, and if greater than some threshold this may trigger corrective action.
  • This may take the form of a display, alarm, warning, audio alert, or mechanical action taken such as engagement or disengagement of the clutch in its various forms including such as manual, semiautomatic, automatic, mechanical, electrical, hydraulic, pneumatic, or the like .
  • these steps will be taken in an event-driven loop, allowing for adjustment depending on changing conditions such as changed destination, changing vehicle performance, and the like.
  • Fig. 11 shows a further example of factors which may be taken into account by the computing means for optimizing metrics of the trip.
  • different routes connecting various points on a map can be labeled with different qualitative characteristics such as (in this case) 'urban' vs. 'highway' legs.
  • a driver primarily concerned with speed may have a trip optimized for maximal use of highway legs, while a driver concerned primarily with access to stores may have a trip maximizing use of urban routes.
  • accident reduction can be especially significant in the case of certain population segments in greater danger of accidents such as those with ADD, ADHD, other attention disorders, physical disabilities, Tourette's syndrome, sleepwalkers, the elderly, youth, and any other group or groups prone to accidents.
  • This is accomplished by means (for example) of increasing the importance of trip safety in the definition of the metric to be optimized, in the case of a driver falling into any of these accident-prone groups.
  • the collision avoidance systems of the invention including audible, visual, and other warnings of impending collision and/or other unsafe conditions, will tend to reduce the rate of collisions over that which would otherwise occur.
  • the system may be designed so as to automatically choose a metric based on factors such as: driver age; driver attention span; driver accident record; driver driving record; driver disabilities; driver socioeconomic status; driver visual acuity; driver reaction time; driver hearing acuity.
  • driver information it is further within provision of the invention to use driver information to provide tailored warnings.
  • audio sensors can be used to pick up audio information that the driver may miss. This information may then be used (for example) in a visual display, warning the driver of a nearby honking car or vehicle in reverse (which often emit a beeping signal when backing up). In this fashion the system will adapt to take advantages of a driver's strengths to compensate for his weaknesses.
  • Another aspect of the invention is that optimization of metrics may be turned into a game to be played between different drivers or by a single driver.
  • the metric may be used to generate a score which may be compared to high scores or between drives or between drivers.
  • a fleet vehicle that has a fixed route every day but different drivers on different days may be used to create an optimization contest, with (for example) the driver using the least fuel on this route winning the contest, and (for instance) receiving a bonus from the fleet operator.
  • the passengers be allowed access to the information correlated by the computing means of the system.
  • system information including but not limited to: fuel economy; elapsed time; ETA; average speed; speed histogram; average acceleration; acceleration histogram; safety rating; remaining fuel; remaining distance to destination; deviation from optimal vehicle state; optimal vehicle state; current vehicle state; engine RPM; gear state; clutch state; speed limit; road grade; vehicle inclination; vehicle altitude; topographic information; map information; and the like.
  • the W.J. Intelligent Cruse control operating systemTM is a game changing platform.
  • the computing means comprises one or more cores, with (for example) 4.3" or 7" screens, and can be supplied either in fixed or portable versions.
  • the W.J. Intelligent Cruise control operating systemTM is a Ground breaking layered architecture which provides OEMs (Original Equipment Manufacturers) and ASPs (Application Service Providers) with a rugged, versatile, vehicle -centric, and fixed-mount or portable mobile-computing platform for a variety of MRM (Mobile Resource Management) applications, with real time update option applications.
  • OEMs OEMs
  • ASPs Application Service Providers
  • MRM Mobile Resource Management
  • the WJ.Intelligent Cruise control operating systemTM be fully recyclable according all environmental regulations. Its unique layered architecture makes the WJ.Intelligent Cruise control operating systemTM highly modular and scalable, allowing for variable factory-set configurations and in-field hardware upgrades, by using plug-in modules, and a real time update by the company through cell phone technologies, and satellite .
  • the WJ.Intelligent Cruise control operating systemTM is built to withstand a wide temperature range, vibrations, shock, and endure the rough working conditions in the commercial vehicle environment.
  • the WJ.Intelligent Cruise control operating systemTM be offered in several models, denoted the Wl , W2,W3,W4 Models etc.
  • a single core processing unit supports two exchangeable display sizes: 4.3" WQVGA (Wl model) and 7" WVGA (W2 model), W3 model is a 3 dimensional screen allowing the user to enjoy the support of "GOOGLE EARTH 3D" and other 3 D navigation programs and/or channels.
  • W4 model is adapted to be connected to all car and bus screens ,each combining a touch color screen with large and programmable function and control keys.
  • GPRS modem GPS, Dead Reckoning (DR), Wi-Fi, Bluetooth, ethernet connection, flash drive, and electronic altimeter.
  • Physical interface options on these models include: USB, Serial RS-232 ports, dedicated interface for Dallas ID button reader, analog inputs, multiple digital inputs and outputs, and control signals for vehicle connectivity. Additional integrated options include a bar-code scanner, W.J.HologramTM, informative card, magnetic card-reader, flash drive, and any size CD.
  • Each model can be ordered with fixed-mount or portable configurations , according the size of the screen.
  • the portable configuration includes a battery, for up to three hours of operation, and a unique cradle for recharging and for additional interface and connectivity options.
  • Development Tool and Kit Packages The W.J.Intelligent Cruse control operating systemTM Al Model has a Development Tool Kit ⁇ SDK package, for independent application development and is backed by W.J.Intelligent Cruise control operating systemTM technical support. Platform Key Features include ruggedness, Feature -rich nature, a ground breaking layered architecture, multiple optional built-in modules, and fixed or portable vehicle interface.
  • Reckoning (DR) techniques include 'filling in' of areas with no or low-resolution coverage by use of other techniques such as dead reckoning, map matching, Kalman filters, vehicle to vehicle data, and the like.
  • a 'Where am I system' capable of providing map location, lane location, position information, and the like. It is within provision of the invention that realtime information be provided thereto by means of UAVs, drones, airplanes, satellites, UUV's and the like. It is within provision of the invention that digital lanes of traffic including the safety lane be included. It is within provision of the invention that the inertial navigation system be of super interlligence. It is within provision of the invention to provide handicapped aware services such as vibration indicators for the deaf.
  • thermal sensors It is within provision of the invention to make use of thermal sensors, heat cameras, infrared viewers and the like.
  • IT is within provision of the invention to use sensors including optical, acoustic, thermal and the like to provide imagine capability even instorem conditions such as sandstorms, heavy rain, dust, and extreme weather of all sorts.
  • a traffic light sensing and/or identification and/or reading system It is within provision of the invention to use a traffic light sensing and/or identification and/or reading system. It is within provision of the invention to analyze locations of multiple cars for use of group behavior, for instance implementing 'group gliding' wherein an entire group of cars uses the pump and glide method together in synchrony, the synchronization being implemented in distributed fashion by the onboard route optimization systems, which (for instance) sense whether neighbors are in 'pump' mode or in 'glide' mode.
  • invetnion it is within provision of the invetnion to provide real time information about free lane availability, allowing a vehicle for instance to merge safely, exit safely, pass safely, and the like.
  • traffic light warning information comprising advance warnings about traffic lights and their predicted dispositions (red, green, etc) as well as upcoming road condition warnings such as sharp turn warnings, ice slick warnings, etc.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

Un système et un procédé pour "régulateur de vitesse intelligent" qui optimise (par exemple) un profil de vitesse d'un véhicule sont divulgués. De plus, un système et un procédé sont fournis pour l'accouplement/le désaccouplement automatique de la transmission d'un véhicule par rapport au moteur, ce qui permet de mettre le véhicule au point mort ou de l'en sortir grâce à des paramètres de transmission optimisés.
PCT/IL2017/050664 2016-06-19 2017-06-15 Système et procédé pour régulateur de vitesse optimisé Ceased WO2017221233A1 (fr)

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IL263832A IL263832A (en) 2016-06-19 2018-12-19 System and method for optimized cruise control

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US62/351,973 2016-06-19

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CN110082794A (zh) * 2019-05-21 2019-08-02 四川首汽交投汽车共享科技有限公司 一种车辆gps轨迹数据过滤方法
CN111121783A (zh) * 2018-12-28 2020-05-08 中国人民解放军国防科技大学 一种车载无人机电力巡检的双层路径规划方法与装置
WO2020097562A1 (fr) 2018-11-09 2020-05-14 Iocurrents, Inc. Prédiction, planification et optimisation basées sur l'apprentissage automatique du temps de voyage, du coût de voyage et/ou de l'émission de polluants pendant la navigation
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