GPS vehicle collision avoidance warning and control system and method

• US 20020022927A1
• Filed: 08/02/2001
• Published: 02/21/2002
• Est. Priority Date: 08/11/1993
• Status: Active Grant

• Current Assignee: Jerome H. Lemelson, Robert D. Pedersen
• Original Assignee: Jerome H. Lemelson, Robert D. Pedersen
• Inventors: Lemelson, Jerome H., Pedersen, Robert D.
• Granted Patent: US 6,487,500 B2
• Time in Patent Office: Days
• US Class Current: 701/301
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/082 using alarm actuation
• CPC Class Codes: B60T 2201/083 using active brake actuation
• CPC Class Codes: B60T 2201/085 using several actuators; Coordination of the lane keeping system with other control systems
• CPC Class Codes: B60T 2201/087 using active steering actuation
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 19/11 wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2013/9318 Controlling the steering
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9319 Controlling the accelerator
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9322 using additional data, e.g. driver condition, road state or weather data
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2013/9329 cooperating with reflectors or transponders
• CPC Class Codes: G01S 5/009 : Transmission of differential positioning data to mobile
• CPC Class Codes: G07C 5/0891 : Video recorder in combination with video camera
• CPC Class Codes: G08G 1/164 : Centralised systems, e.g. external to vehicles
• CPC Class Codes: G08G 1/20 : Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles

Abstract

GPS satellite (4) ranging signals (6) received (32) on comm1, and DGPS auxiliary range correction signals and pseudolite carrier phase ambiguity resolution signals (8) from a fixed known earth base station (10) received (34) on comm2, at one of a plurality of vehicles/aircraft/automobiles (2) are computer processed (36) to continuously determine the one'"'"'s kinematic tracking position on a pathway (14) with centimeter accuracy. That GPS-based position is communicated with selected other status information to each other one of the plurality of vehicles (2), to the one station (10), and/or to one of a plurality of control centers (16), and the one vehicle receives therefrom each of the others'"'"' status information and kinematic tracking position. Objects (22) are detected from all directions (300) by multiple supplemental mechanisms, e.g., video (54), radar/lidar (56), laser and optical scanners. Data and information are computer processed and analyzed (50, 52, 200, 452) in neural networks (132, FIGS. 6-8) in the one vehicle to identify, rank, and evaluate collision hazards/objects, an expert operating response to which is determined in a fuzzy logic associative memory (484) which generates control signals which actuate a plurality of control systems of the one vehicle in a coordinated manner to maneuver it laterally and longitudinally to avoid each collision hazard, or, for motor vehicles, when a collision is unavoidable, to minimize injury or damage therefrom. The operator is warned by a heads up display and other modes and may override. An automotive auto-pilot mode is provided.

Claims

1. A computer controlled collision avoidance and warning method comprising the steps of:

receiving continuously from a network of satellites on a first communication link at one of a plurality of automobiles GPS ranging signals for initially accurately determining the one'"'"'s position on a highway on a surface of the earth,

receiving continuously at the one automobile on a second communication link from one of a plurality of stations having a known fixed position on the surface of the earth DGPS auxiliary range signals, including correction signals for correcting propagation delay errors in the GPS ranging signals and pseudolite signals for assistance in making further measurements for still further improving the accuracy of the GPS ranging signals and of determining the one'"'"'s position on a highway on a surface of the earth,

determining continuously at the one automobile from the GPS, DGPS, and pseudolite signals the one'"'"'s kinematic tracking position on the surface of the earth with centimeter accuracy,

communicating the one'"'"'s status information including the kinematic tracking position to each other one of the plurality of automobiles and to the one station or one of a plurality of control centers, and receiving at the one automobile each of the others'"'"' of the plurality of automobiles status information including the others'"'"' kinematic tracking position,

analyzing the kinematic tracking positions and status information to identify and evaluate each potential collision hazard relative to the one automobile,

determining in a fuzzy logic associative memory the one'"'"'s expert driving response relative to each collision hazard,

generating expert driving response control signals for actuating a plurality of control systems of the one automobile in a coordinated manner,

intelligibly indicating a warning of a collision hazard, and

coordinately actuating the control systems of the one automobile with the control signals to operate the one automobile laterally and longitudinally in real time sufficiently in due time to avoid each collision hazard or, when a collision is unavoidable, then to minimize any injury or damage therefrom.

2. The method of claim 1 wherein the pseudolite signals include carrier phase signals and the further measurements include ambiguity resolution measurements.

3. The method of claim 1 wherein the first communication link is a GPS receiver and the second communication link is a GPS transceiver each operating on separate predetermined frequencies.

4. The method of claim 1 including a third satellite communication link for auxiliary control information.

5. The method of claim 1 including a cellular telephone link for auxiliary control information.

6. The method of claim 1 wherein the determining continuously the one'"'"'s kinematic position step further comprises the step of:

determining the one'"'"'s attitude relative to a predetermined direction over the earth'"'"'s surface using multiple antennae supported on the extremities of the one automobile and phase comparing the GPS signals simultaneously received at the antennae.

7. The method of claim 6 wherein the attitude includes yaw and roll about mutually orthogonol axes of the automobile.

8. The method of claim 1

wherein the analyzing step includes

analyzing the one'"'"'s attitude, and

wherein the step of determining the one'"'"'s expert driving response further comprises the step of:

attitude compensating the expert driving response.

9. The method of claim 1 wherein the communicating step further comprises the step of:

communicating on the second communication link.

10. The method of claim 4 wherein the communicating step further comprises the step of:

communicating on a third control communication link via a separate control transceiver in the one automobile.

11. The method of claim 1 wherein the kinematic tracking position information includes position, velocity and acceleration vectors.

12. The method of claim 1 wherein the status information includes known obstacles which may be potential hazards to the one automobile.

13. The method of claim 1 wherein the received information is received from another one or each other one of the plurality of automobiles, the one station, the control center or a communications satellite.

14. The method of claim 1 wherein the communicating step further comprises the step of:

communicating using a speech synthesizer computer which recognizes the voice of the one automobile'"'"'s operator.

15. The method of claim 14 further comprising the step of:

displaying on a heads up display in the one automobile a response to the one operator'"'"'s speech received in the one automobile.

16. The method of claim 1 further comprising the steps of:

detecting multiple objects in all directions relative to the one automobile,

wherein the analyzing step includes

analyzing all objects and ranking all potential hazards and objects for determining the most effective collision avoidance strategy, and

wherein the step of determining the one'"'"'s expert driving response further comprises the step of;

determining with a fuzzy logic associative memory and fuzzy logic algorithms one'"'"'s expert driving response relative to each object which is a potential collision hazard.

17. The method of claim 16

wherein the detecting step includes

detecting objects by scanning with one or more television cameras supported on the one automobile, and

wherein the analyzing step includes

processing and analyzing digital signals indicative of video images detected by the one or more television cameras.

18. The method of claim 16

wherein the detecting step includes

detecting objects by scanning with one or more radar-based ranging mechanisms supported on the one automobile,

wherein the analyzing step includes

processing and analyzing digital signals indicative of the bearing, distance, and elevation to the objects detected by the radar-based ranging mechanisms.

19. The method of claim 16

wherein the detecting step further comprises:

detecting objects on or about the roadway in the vicinity of the one automobile by scanning a motion sensing device embedded in the roadway and transmitting to the one automobile signals indicative of the bearing, distance and elevation of the detected objects relative to a reference.

20. The method of claim 16 wherein objects include fixed or moving, or known or unknown obstacles, people, bicycles, animals, signs, terrain, roadway features and turns, or the like.

21. The method of claim 16

wherein the communicating step includes

communicating the one'"'"'s status information describing selected ones of the detected objects, and

the receiving step includes

receiving the others'"'"' status information describing selected ones of the others'"'"' detected objects.

22. The method of claim 1 wherein the analyzing step further comprises:

analyzing inputs from the one'"'"'s speedometer, environmental inputs, and inputs describing characteristics of the operator of the one automobile.

23. The method of claim 1

wherein the analyzing step further comprises the step of:

calculating a collision vector for each collision hazard.

24. The method of claim 1

wherein the step of determining the one'"'"'s expert driving response includes

determining a collision avoidance maneuver.

25. The method of claim 1

wherein the step of intelligibly indicating a warning further comprises the step of:

warning the operator of the one automobile of an expert driving response, and

wherein the coordinately actuating step further comprises

coordinately actuating the control systems only if a collision remains imminent.

26. The method of claim 1

wherein the warning step further comprises the step of:

visually indicating the existence of a hazardous condition.

27. The method of claim 26

wherein the step of visually indicating further comprises the step of:

displaying a visually perceptible symbol on a windshield of the one automobile.

28. The method of claim 26 wherein the step of visually indicating further comprises the step of:

displaying the relative position and motion between the one automobile and any collision hazard.

29. The method of claim 1

wherein the warning step further comprises the step of:

repeatedly actuating a headlight system, a horn system, or a collision warning light system.

30. The method of claim 1

wherein the warning step further comprises the step of:

generating sounds of select speech of warning of a hazardous condition.

31. The method of claim 30

wherein the generating sounds of select speech step further comprises the step of:

recommending an expert driving response.

32. The method of claim 31

wherein the recommending an expert driving response step further comprises the step of:

synthetically generating one of the following words of speech depending on the kind of expert driving response;

“

slow down”

, “

stop”

, “

swerve left”

, and “

swerve right”

.

33. The method of claim 1 wherein the coordinately operating step further comprises the step of:

operating one or more of the following systems depending on the kind of expert driving response determined by the fuzzy logic associative memory and fuzzy logic algorithms;

a brake, acceleration, steering, horn, light, windshield wiper, seat, mirror, air conditioning, heater, defogger and communication system.

34. The method of claim 1 further comprising the steps of:

repeatedly repeating the communicating step.

35. The method of claim 1 further comprising the step of:

communicating an emergency call for help in the event of an unavoidable collision.

37. The system of claim 36 further comprising:

multiple antennae supported on the extremities of the one automobile for determining the one automobile'"'"'s attitude relative to a predetermined direction over the earth'"'"'s surface, and

the processor phase comparing the GPS signals simultaneously received at the antennae, analyzing the one'"'"'s attitude, and attitude compensating the expert driving response.

38. The system of claim 36 wherein the attention device is a heads up display in the one automobile for indicating the expert driving response.

40. The method of claim 1 wherein intelligibly indicating a warning further comprises the step of:

communicating on a communication link a warning of an imminent collision.

41. The method of claim 1 wherein intelligibly indicating a warning further comprises the step of:

flashing exterior warning lights.

42. The method of claim 1 wherein intelligibly indicating a warning further comprises the step of:

sounding an alarm audible outside of the automobile.

36. A computer controlled collision avoidance and warning system comprising:

a receiver supported in one of a plurality of automobiles for receiving continuously from a network of satellites on a first communication link GPS ranging signals for initially accurately determining the one'"'"'s position on a highway on a surface of the earth,

a receiver supported in the one automobile for receiving continuously on a second communication link from one of a plurality of stations having a known fixed position on the surface of the earth DGPS auxiliary ranging signals for improving GPS ranging accuracy and pseudolite signals for assistance in making further measurements for still further improving the accuracy of the GPS ranging signals and of determining the one'"'"'s position on a highway on a surface of the earth,

a processor supported in the one automobile for determining continuously at the one automobile from the GPS, DGPS, and pseudolite signals the one'"'"'s kinematic tracking position on the surface of the earth with centimeter accuracy,

a transceiver for communicating the one'"'"'s status information including the kinematic tracking position to each other one of the plurality of automobiles and to the one station or one of a plurality of control centers, and receiving at the one automobile each of the others'"'"' of the plurality of automobiles status information including the others'"'"' kinematic tracking position,

a detector supported on the one automobile for detecting multiple objects in all directions relative to the one automobile,

a processor supported in the one automobile for

analyzing in a neural network all of the kinematic tracking position data, detected objects data and status information to identify and evaluate each potential collision hazard and object relative to the one automobile for determining the most effective collision avoidance strategy,

determining with a fuzzy logic associative memory and fuzzy logic control the one'"'"'s expert driving response relative to each collision hazard and object,and

generating expert driving response fuzzy logic control signals for actuating a plurality of control systems of the one automobile in a coordinated manner,

an attention device for intelligibly indicating a warning of a collision hazard at least to the operator of the one automobile, and

an actuator for coordinately operating the control systems of the one automobile in response to the control signals to maneuver the one automobile laterally and longitudinally as necessary in real time sufficiently in due time to avoid each collision hazard or, when a collision is unavoidable, then to minimize any injury or damage therefrom.

39. A GPS-based collision avoidance method comprising the steps of:

receiving continuously from a network of satellites on a first communication link at one of a plurality of vehicles GPS ranging signals for determining the one'"'"'s position relative to a surface of the earth,

receiving continuously at the one vehicle on a second communication link from one of a plurality of stations having a known fixed position on the surface of the earth DGPS auxiliary range correction signals for correcting propagation delay errors in the GPS ranging signals and pseudolite signals for assistance in making further measurements for still further improving the accuracy of the GPS ranging signals and of determining the one'"'"'s position relative to a surface of the earth,

determining continuously at the one vehicle from the GPS, DGPS, and pseudolite signals the one'"'"'s kinematic tracking position relative to the surface of the earth with centimeter accuracy,

determining the one'"'"'s attitude relative to a predetermined direction over the earth'"'"'s surface using multiple antennae supported on the extremities of the one vehicle coupled to the GPS receiver and phase comparing the GPS signals simultaneously received at the antennae,

communicating the one'"'"'s status information including the kinematic tracking position to each other one of the plurality of vehicles and to the one station or one of a plurality of control centers, and receiving at the one vehicle each of the others'"'"' of the plurality of vehicles status information including the others'"'"' kinematic tracking position,

analyzing in a neural network the one'"'"'s attitude, and all of the kinematic tracking positions and status information to identify and evaluate each potential collision hazard relative to the one vehicle,

determining in a fuzzy logic associative memory the one'"'"'s attitude compensated expert driving response relative to each collision hazard

generating expert driving response control signals for actuating a plurality of control systems of the one vehicle in a coordinated manner, and

coordinately actuating the control systems of the one vehicle with the control signals to operate the one vehicle laterally and longitudinally in real time sufficiently in due time to avoid each collision hazard.

43. A computer controlled collision avoidance and warning method comprising the steps of:

receiving continuously from a network of satellites on a first communication link at one of a plurality of vehicles GPS ranging signals for initially accurately determining the one'"'"'s position on a surface of the earth,

receiving continuously at the one vehicle on a second communication link from one of a plurality of stations having a known fixed position on the surface of the earth DGPS auxiliary ranging signals for improving GPS ranging accuracy and pseudolite signals for assistance in making further measurements for still further improving the accuracy of the GPS ranging signals and of determining the one'"'"'s position on a surface of the earth,

determining continuously at the one vehicle from the GPS, DGPS, and pseudolite signals the one'"'"'s kinematic tracking position on the surface of the earth with centimeter accuracy,

communicating the one'"'"'s status information including the kinematic tracking position to each other one of the plurality of vehicles and to the one station or one of a plurality of control centers, and receiving at the one vehicle each of the others'"'"' of the plurality of vehicles status information including the others'"'"' kinematic tracking position,

analyzing the kinematic tracking positions and status information to identify and evaluate each potential collision hazard relative to the one vehicle,

determining with a fuzzy logic associative memory and fuzzy logic algorithms the one'"'"'s expert driving response relative to each collision hazard

generating expert driving response control signals for actuating a plurality of control systems of the one vehicle in a coordinated manner,

intelligibly indicating a warning of a collision hazard, and

coordinately actuating the control systems of the one vehicle with the control signals to operate the one vehicle laterally and longitudinally in real time sufficiently in due time to avoid each collision hazard or, when a collision is unavoidable, then to minimize any injury or damage therefrom.

44. A computer controlled collision avoidance and warning method comprising the steps of:

receiving continuously from a network of satellites on a first communication link at one of a plurality of vehicles GPS ranging signals for initially accurately determining the one'"'"'s position on a pathway on a surface of the earth,

receiving continuously at the one vehicle on a second communication link from one of a plurality of stations having a known fixed position on the surface of the earth DGPS auxiliary ranging signals for still further improving the accuracy of the GPS ranging signals,

determining continuously at the one vehicle from the GPS and DGPS signals the one'"'"'s kinematic tracking position on the surface of the earth,

communicating the one'"'"'s status information including the kinematic tracking position to each other one of the plurality of vehicles and to the one station or one of a plurality of control centers, and receiving at the one vehicle each of the others'"'"' of the plurality of vehicles status information including the others'"'"' kinematic tracking position,

determining in a fuzzy logic associative memory the one'"'"'s expert driving response relative to each collision hazard

generating expert driving response control signals for actuating a plurality of control systems of the one vehicle in a coordinated manner,

intelligibly indicating a warning of a collision hazard, and

coordinately actuating the control systems of the one vehicle with the control signals to operate the one vehicle laterally and longitudinally in real time sufficiently in due time to avoid each collision hazard or, when a collision is unavoidable, then to minimize any injury or damage therefrom.