Method for controlling the average speed of a vehicle

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

• (a) measuring elapsed time;
• (b) defining a desired average speed;
• (c) measuring an actual speed of said marine vehicle;
• (d) calculating an error magnitude as a function of said desired average speed and said actual speed;
• (e) determining a cumulative error magnitude of said marine vehicle as a function of said error magnitude and said elapsed time;
• (f) selecting a period of elapsed time over which an absolute value of said cumulative error magnitude is to be reduced to a predetermined magnitude;
• (g) determining a compensatory speed of said marine vehicle, as a function of said cumulative error and said period of elapsed time, which will reduce said cumulative error magnitude to said predetermined magnitude within said period of elapsed time, said time measuring step, said error magnitude calculating step, said cumulative error determining step, and said compensatory speed determining step being performed by a microprocessor;
• (h) sensing a starting signal;
• and
• (i) repeating steps a-g for a preselected duration of time subsequent to said starting signal sensing step.

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

• (a) measuring elapsed time;
• (b) defining a desired average speed;
• (c) measuring an actual speed of said vehicle;
• (d) selecting a period of elapsed time over which a cumulative average speed of said vehicle will equal said desired average speed within a preselected tolerance band;
• and
• (e) determining a compensatory speed of said vehicle, which will result in said vehicle achieving said desired average speed within said period of elapsed time and within said preselected tolerance band.