System and method of collision avoidance using an invarient set based on vehicle states and dynamic characteristics
First Claim
1. A method to provide and implement a collision avoidance system for a vehicle, the method comprising:
- receiving a buffer zone boundary input defining a buffer zone at an on-board processor in the vehicle from a controlling supervisor;
calculating a positively invariant set based on vehicle states and dynamic characteristics, the positively invariant set operable to define a protection zone enclosed within the buffer zone and centered about the vehicle;
determining an object traversing the buffer zone boundary; and
initiating an emergency maneuver procedure after primary collision avoidance maneuvers fail, wherein the object does not enter the protection zone.
1 Assignment
0 Petitions
Accused Products
Abstract
A method to provide and implement a collision avoidance system for a vehicle. The method includes receiving a buffer zone boundary input defining a buffer zone at an on-board processor in the vehicle from a controlling supervisor, calculating a positively invariant set based on vehicle states and dynamic characteristics, the positively invariant set operable to define a protection zone enclosed within the buffer zone and centered about the vehicle, determining an object is traversing the buffer zone boundary; and implementing an emergency maneuver procedure after a collision avoidance maneuver fails, wherein the object does not enter the protection zone.
71 Citations
23 Claims
-
1. A method to provide and implement a collision avoidance system for a vehicle, the method comprising:
-
receiving a buffer zone boundary input defining a buffer zone at an on-board processor in the vehicle from a controlling supervisor;
calculating a positively invariant set based on vehicle states and dynamic characteristics, the positively invariant set operable to define a protection zone enclosed within the buffer zone and centered about the vehicle;
determining an object traversing the buffer zone boundary; and
initiating an emergency maneuver procedure after primary collision avoidance maneuvers fail, wherein the object does not enter the protection zone. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
-
-
13. A collision avoidance system for a vehicle, the system comprising:
-
an external processor operable to compute a positively invariant set based on vehicle states and dynamic characteristics and operable to up-load the positively invariant set to an on-board processor wherein the positively invariant set defines a protection zone;
an on-board processor operable to receive the positively invariant set from the external processor and to store data defining a buffer zone boundary of the vehicle, wherein the protection zone is enclosed within the buffer zone boundary;
a vehicle controller in communication with the on-board processor;
sensors in communication with the on-board processor and operable to detect objects within the buffer zone boundary, wherein the on-board processor transmits an emergency maneuver command to the vehicle controller if the sensors detect an object within the buffer zone boundary for more than a preset threshold time, wherein the vehicle controller implements an emergency maneuver procedure and wherein during the emergency maneuver procedure, the vehicle stays within the protection zone. - View Dependent Claims (14, 15, 16, 17)
-
-
18. A decentralized collision avoidance system for vehicles moving in a coordinated operation, the system comprising:
-
means to compute an invariant set of initial velocities from which the vehicles can stop within a protection zone based on vehicle states and dynamic characteristics;
means to program decentralized controllers in respective vehicles with the invariant set to provide a protection zone centered about the vehicles; and
means to switch at least one vehicle into an emergency maneuver mode in the event that an object enters a buffer zone and stays within the buffer zone of the vehicle for more than a preset threshold time. - View Dependent Claims (19, 20, 21, 22)
-
-
23. A decentralized collision avoidance system for vehicles moving in a flight formation, the system comprising:
-
means to compute an invariant set of initial velocities from which the vehicles can stop within a protection zone based on vehicle states and dynamic characteristics;
means to program decentralized controllers in respective vehicles with the invariant set to provide a protection zone centered about the vehicles; and
means to switch at least one vehicle into an emergency maneuver mode in the event that an object enters a buffer zone and stays within the buffer zone of the vehicle for more than a preset threshold time.
-
Specification