Autonomous vehicle collision/crossing warning system

• US 20040249571A1
• Filed: 07/22/2004
• Published: 12/09/2004
• Est. Priority Date: 05/07/2001
• Status: Active Grant

• Current Assignee: Ansaldo STS SPA
• Original Assignee: Ansaldo STS SPA
• Inventors: Blesener, James L., Melby, Gordon M.
• Granted Patent: US 7,769,544 B2
• Time in Patent Office: Days
• US Class Current: 701/301
• CPC Class Codes: B61L 2205/04 Satellite based navigation systems, e.g. global positioning system [GPS]
• CPC Class Codes: B61L 2207/02 using light-emitting diodes [LEDs]
• CPC Class Codes: B61L 29/28 electrically operated
• CPC Class Codes: G08G 1/164 Centralised systems, e.g. external to vehicles

Abstract

An autonomous vehicle collision/crossing warning system provides for simple, inexpensive and decentralized installation, operation and maintenance of a reliable vehicle collision/crossing warning system. The autonomous warning system preferably utilizes a single frequency TDM radio communication network with GPS clock synchronization, time slot arbitration and connectionless UDP protocol to broadcast messages among vehicles and components in the warning system. Adaptive localized mapping of components of interest within the warning system eliminates the need for centralized databases or coordination and control systems and enables new vehicles and warning systems to be easily added to the system in a decentralized manner. Preferably, stationary warning systems are deployed as multiple self-powered units each equipped to receive broadcast messages and to communicate with the other units by a low power RF channel in a redundant Master-Slave configuration. The communication schemes are preferably arranged for low duty cycle operation to decrease power consumption.

Claims

1. An autonomous vehicle warning system for a plurality of components in the warning system, the components including vehicles and stationary objects, the warning system comprising:

a plurality of controllers, each controller operably associated with one of the plurality of components in the warning system and including a radio transceiver that utilizes a single frequency time domain multiplexed (TDM) radio communication protocol and a global positioning system (GPS) receiver that provides the radio transmitter with GPS clock synchronization to broadcast messages to at least some of the components in the warning system.

2. The autonomous warning system of claim 1 wherein each controller utilizes a time slot arbitration relying on the GPS clock synchronization to determine when to broadcast messages from that controller.

3. The autonomous warning system of claim 1 wherein the TDM radio communication protocol is a connectionless user datagram protocol (UDP).

4. The autonomous warning system of claim 1 wherein the controller for each vehicle periodically and autonomously broadcasts messages for that vehicle which include data for heading, speed and location of the vehicle.

5. The autonomous warning system of claim 4 wherein the controller for each stationary object determines whether to activate an associated warning device based on calculating a position of at least one vehicle relative to the stationary object based on data in the broadcast message for the controller associated with that vehicle.

6. The autonomous warning system of claim 4 wherein the controller for each vehicle determines whether to activate an associated warning device based on calculating a course of at least one other vehicle relative to a course of the vehicle for that controller based on data in the broadcast messages for the controller associated with the at least one other vehicle.

7. The autonomous warning system of claim 1 wherein each controller utilizes data from broadcast messages of nearby components to autonomously construct an adaptive localized map representing at least a location of nearby components of interest within the warning system for the controller associated with that component.

8. The autonomous warning system of claim 7 wherein the broadcast messages from each controller selectively include representations of the adaptive localized map to propagate and update the location of nearby components.

9. The autonomous warning system of claim 8 wherein the controller for a vehicle collects and propagate at least a portion of the adaptive localized map to nearby stationary objects as the vehicle passes by those stationary objects.

10. The autonomous warning system of claim 1 wherein at least one of the components is a stationary object that is deployed as a plurality of self-powered units each equipped to receive broadcast messages over the TDM radio communication protocol and to communicate with the other units by a low power radio frequency (RF) channel.

11. The autonomous warning system of claim 10 wherein the low power RF channel is operated on a low duty cycle operation to decrease power consumption among the self-powered units.

12. The autonomous warning system of claim 10 phase and amplitude information of broadcast messages received by each of the units is transmitted over the low power RF channel and used to differentiate valid broadcast messages from extraneous triggers.

13. The autonomous warning system of claim 10 the units are configured in a redundant master-slave configuration.

14. The autonomous warning system of claim 13 wherein communications on the low power RF channel are synchronized by a master unit with periodic GPS time stamps such that fewer GPS operations are required by any slave units as compared to the master unit.

15. The autonomous warning system of claim 1 at least one of the stationary objects is located at a crossing and wherein the controller for the crossing receives and processes data from broadcast messages from multiple vehicles in a vicinity of the crossing and screens out vehicles that are on courses that will not intersect the crossing.

16. A vehicle warning system comprising:

a plurality of vehicles, each vehicle including a first control system having a radio transmitter located on the vehicle that autonomously transmits on a repeating basis a radio frequency signal that includes data for at least speed, heading and location of the vehicle; and

a second control system including a radio receiver that periodically receives data from the vehicles and determines whether to activate an associated warning device based on calculations using data from a vehicle to determine a relative relationship between the vehicle and the second control system.

17. The vehicle warning system of claim 16 wherein the second control system is associated with an intersection along potential path of travel of at least one of the plurality of vehicles and the warning device is a traffic control apparatus.

18. An autonomously synchronized radio communications system comprising:

a transmitter that includes a transmitter processor having a clock operably triggered by a first crystal oscillator that is synchronized to a GPS signal; and

a receiver that includes a receiver processor having a clock operably triggered by a first crystal oscillator that is synchronized to the GPS signal, such that the transmitter and the receiver operate on a common synchronous clock by compensating the respective crystal oscillators as a function of a frequency deviation between a signal pulse of the GPS signal and the clock of the respective transmitter and receiver.

19. The radio communications system of claim 18 wherein at least one of the processors compensates the respective crystal oscillator to generate the common synchronous clock on a periodic basis using the frequency derivation and maintains the common synchronous clock between the periodic basis by estimating a drift of the respective crystal oscillator over the periodic basis and using the drift to adjust the common synchronous clock.

20. The radio communications system of claim 18 wherein the processors synchronize the respective crystal oscillator to the common synchronous clock only periodically and at least once every four hours.

21. The radio communications system of claim 18 wherein the GPS signal provides a one pulse per second (PPS) interrupt that is compared with the one second pulse of the clock to determine the frequency deviation of the crystal.

22. A stationary vehicle crossing warning system comprising:

a first self-powered radio controller located in a vicinity of a vehicle crossing that transmits and receives radio frequency (RF) broadcast messages from passing vehicles within a first predefined range at a first power level and receives and transmits RF broadcast messages within a second predefined range at a second power level that is less than the first power level; and

a second self-powered radio controller located in the vicinity of the vehicle crossing that transmits and receives broadcast messages from passing vehicles within the predefined range at the first power level and receives and transmits broadcast messages within the second predefined range at the second power level, wherein the radio controllers are adapted to exchange respective operating status and communication time slot assignments using time division multiplexing (TDM) RF communications at the second power level so as to reduce power consumption of the radio controllers.

23. The warning system of claim 22 wherein the first and second radio controllers are arranged in a master-slave configuration with the first radio controller serving as a master and the second radio controller serving as a slave.

24. The warning system of claim 23 wherein the master transmits and receives broadcast messages from radio controllers in passing vehicles and uses data in the broadcast messages from the vehicles to determine whether to activate at least one vehicle crossing warning device associated with the second radio controller by broadcast messages using the TDM RF communications at the second power level.

25. The warning system of claim 23, wherein the slave is adapted to monitor the broadcast messages on the first power level and, in the event of a failure of the master, take over as the master.

26. An autonomous identified radio communication system comprising:

a plurality of controllers, each controller including a GPS receiver adapted to provide geoposition data and a radio frequency (RF) transceiver to broadcast messages wherein each controller uses the geoposition data to generate an identification address associated with broadcast messages for that controller.

27. The system of claim 26 wherein each controller autonomously generates a database of unique identification addresses within a coverage area where the controller operates.

28. The system of claim 26 the broadcast messages of each controller selectively include data representing the database generated by that controller.

29. A method of operating an autonomous vehicle warning system for a plurality of components in the warning system, the components including vehicles and stationary objects, the method comprising:

for each component in the warning system, providing a radio frequency (RF) transceiver and a global positioning system (GPS) receiver;

utilizing the RF transceiver for at least each of the vehicles to broadcast messages that include data for heading, speed and location of the vehicle derived from the GPS receiver; and

utilizing the RF transceiver for at least one of the stationary objects to periodically receive data from the vehicles;

determining whether to activate an associated warning device for that stationary object based by calculating a relative relationship between that vehicle and the stationary object.

30. The method of claim 29 further comprising:

utilizing the GPS receiver for each controller to generate a common synchronous clock that is used in a time domain multiplexing (TDM) communication protocol for coordinating transmission of the broadcast messages.