Accident Avoidance Systems and Methods

• US 20070152804A1
• Filed: 03/05/2007
• Published: 07/05/2007
• Est. Priority Date: 10/22/1997
• Status: Active Grant

• Current Assignee: American Vehicular Sciences LLC (Acacia Research Corporation)
• Original Assignee: Intelligent Technologies International, Inc.
• Inventors: DuVall, Wilbur, Johnson, Wendell, Breed, David
• Granted Patent: US 7,426,437 B2
• Time in Patent Office: Days
• US Class Current: 340/435
• CPC Class Codes: B60N 2/2863 backward facing
• CPC Class Codes: B60R 21/0134 responsive to imminent contact with an obstacle , e.g. using radar systems
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/0071 Controller overrides driver automatically
• CPC Class Codes: B60W 2050/0073 Driver overrides controller
• CPC Class Codes: B60W 2050/0075 Automatic parameter input, automatic initialising or calibrating means
• CPC Class Codes: B60W 2050/046 involving external transmission of data to or from the vehicle, e.g. via telemetry, satellite, Global Positioning System [GPS]
• CPC Class Codes: B60W 2050/048 displaying data transmitted between vehicles, e.g. for platooning, control of inter-vehicle distance
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2420/40 Photo, light or radio wave sensitive means, e.g. infrared sensors
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/406 Traffic density
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2555/20 : Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 2556/50 : of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/02 : Control of vehicle driving stability
• CPC Class Codes: B60W 30/04 : related to roll-over prevention
• CPC Class Codes: B60W 30/08 : Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 30/09 : Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 : Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/14 : Adaptive cruise control
• CPC Class Codes: B60W 30/16 : Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/18154 : Approaching an intersection
• CPC Class Codes: B60W 30/18159 : Traversing an intersection
• CPC Class Codes: B60W 30/18172 : Preventing, or responsive to skidding of wheels
• CPC Class Codes: B60W 40/04 : Traffic conditions
• CPC Class Codes: B60W 40/06 : Road conditions
• CPC Class Codes: B60W 40/072 : Curvature of the road
• CPC Class Codes: B60W 40/076 : Slope angle of the road
• CPC Class Codes: B60W 50/00 : 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
• CPC Class Codes: B60W 50/14 : Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G01C 21/26 : specially adapted for navigation in a road network
• CPC Class Codes: G01C 21/30 : Map- or contour-matching
• CPC Class Codes: G01C 21/3697 : Output of additional, non-guidance related information, e.g. low fuel level G01C21/3679 takes precedence
• CPC Class Codes: G01S 13/751 : wherein the responder or reflector radiates a coded signal
• CPC Class Codes: G01S 13/865 : Combination of radar systems with lidar systems
• CPC Class Codes: G01S 13/867 : Combination of radar systems with cameras
• CPC Class Codes: G01S 13/876 : Combination of several spaced transponders or reflectors of known location for determining the position of a receiver G01S13/874 takes precedence
• 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 17/89 : for mapping or imaging
• CPC Class Codes: G01S 17/931 : of land vehicles
• CPC Class Codes: G01S 19/14 : specially adapted for specific applications
• CPC Class Codes: G01S 19/17 : Emergency applications
• CPC Class Codes: G01S 19/41 : Differential correction, e.g. DGPS [differential GPS]
• CPC Class Codes: G01S 19/42 : Determining position
• CPC Class Codes: G01S 19/47 : the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
• CPC Class Codes: G01S 19/50 : whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
• CPC Class Codes: G01S 2007/4975 : of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen
• CPC Class Codes: G01S 2013/9315 : Monitoring blind spots
• 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 2013/9322 : using additional data, e.g. driver condition, road state or weather data
• CPC Class Codes: G01S 2013/9323 : Alternative operation using light waves
• CPC Class Codes: G01S 2013/9325 : for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2013/93273 : on the top of the vehicles
• CPC Class Codes: G01S 2013/9329 : cooperating with reflectors or transponders
• CPC Class Codes: G01S 2205/002 : for traffic control, mobile tracking, guidance, surveillance or anti-collision
• CPC Class Codes: G01S 2205/006 : for emergency situations
• CPC Class Codes: G01S 5/0072 : Transmission between mobile stations, e.g. anti-collision systems
• CPC Class Codes: G05D 1/0221 : involving a learning process
• CPC Class Codes: G05D 1/0225 : involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0246 : using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0257 : using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/027 : comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0274 : using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 : using satellite positioning signals, e.g. GPS
• CPC Class Codes: G06F 16/29 : Geographical information databases
• CPC Class Codes: G06V 20/58 : Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G08G 1/096783 : where the origin of the information is a roadside individual element
• CPC Class Codes: G08G 1/161 : Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: G08G 1/163 : involving continuous checking
• CPC Class Codes: G08G 1/164 : Centralised systems, e.g. external to vehicles
• CPC Class Codes: G08G 1/165 : for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 : Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

Accident avoidance system for a host vehicle includes a global positioning system residing on the host vehicle for determining the host vehicle'"'"'s location as the host vehicle travels based on signals received from one or more satellites, a map database having digital maps corresponding to an area including the location of the host vehicle as determined by the global positioning system, a vehicle-to-vehicle communication system residing on the host vehicle operative for receiving signals including location information acquired by global positioning systems residing on other vehicles directly from the other vehicles indicating the locations of the other vehicles, and a navigation system including a display residing on the host vehicle for displaying images to an occupant of the host vehicle showing the digital maps and indications of the locations of the host vehicle and the other vehicles on the digital maps. The navigation system also updates the images shown on the navigation system display to reflect changes in the locations of the host vehicle and the other vehicles.

Claims

1. An accident avoidance system for a host vehicle, comprising:

a global positioning system residing on the host vehicle for determining the host vehicle'"'"'s location as the host vehicle travels based on signals received from one or more satellites;

a map database comprising digital maps corresponding to an area comprising the location of the host vehicle as determined by said global positioning system;

a vehicle-to-vehicle communication system residing on the host vehicle operative for receiving signals comprising location information acquired by global positioning systems residing on other vehicles directly from the other vehicles indicating the locations of the other vehicles; and

a navigation system comprising a display residing on the host vehicle for displaying images to an occupant of the host vehicle showing the digital maps and indications of the locations of the host vehicle and the other vehicles on the digital maps, and for updating the images shown on the navigation system display to reflect changes in the locations of the host vehicle and the other vehicles.

2. The accident avoidance system of claim 1, wherein the signals received by the vehicle-to-vehicle communication system further comprise indications of the velocities and directions of travel of the other vehicles.

3. The accident avoidance system of claim 1, wherein the global positioning system further comprises a differential correction signal receiver operable for receiving global positioning differential correction signals from a global positioning augmentation system, and wherein the global positioning system is operative for using the global positioning differential correction signals in the determination of the location of the host vehicle.

4. The accident avoidance system of claim 1, further comprising:

a processor operative for determining that a potential collision is likely to occur between the host vehicle and one of the other vehicles; and

a warning system operative for alerting an operator of the host vehicle of the potential collision.

5. The accident avoidance system of claim 1, wherein the host vehicle has an assigned corridor of travel, further comprising:

a processor operative for determining that the host vehicle will potentially exit its assigned corridor of travel; and

a warning system operative for alerting an operator of the host vehicle of the potential exit from the assigned corridor of travel.

6. The accident avoidance system of claim 5, wherein the warning system is arranged to generate an audible warning.

7. The accident avoidance system of claim 5, wherein the warning system is arranged to cause the navigation system display to indicate an alarm.

8. The accident avoidance system of claim 1, wherein the map database comprises at least one digital map indicating at least one edge and surface shape of a roadway on which the host vehicle is traveling.

9. The accident avoidance system of claim 1, wherein the map database comprises at least one digital map indicating an elevation of a roadway which the host vehicle is traveling.

10. The accident avoidance system of claim 1, wherein the map database comprises at least one digital map indicating an edge of a roadway on which the host vehicle is traveling and a character of land beyond the edge of the roadway.

11. The accident avoidance system of claim 1, wherein the host vehicle further comprises a radar system, and while the host vehicle is traveling:

the radar system is operable for acquiring a location of an object in the area comprising the location of the host vehicle; and

the navigation system is operative for indicating the location of the object on a map shown on the navigation system display.

12. The accident avoidance system of claim 1, wherein the host vehicle further comprises a data acquisition system, and while the host vehicle is traveling:

the data acquisition system is operative for receiving a digital map transmitted from a site remote from the host vehicle; and

the navigation system is operative for displaying the received digital map on the navigation system display.

13. The accident avoidance system of claim 1, wherein the host vehicle further comprises a data acquisition system, and while the host vehicle is traveling:

the data acquisition system is operative for receiving weather condition information pertaining to the area where the host vehicle is located transmitted from a site remote from the host vehicle; and

the navigation system is operative for indicating the weather condition information on the navigation system display.

14. The accident avoidance system of claim 1, wherein the host vehicle comprises an aircraft.

15. The accident avoidance system of claim 14, wherein the area comprising the location of the host vehicle includes a roadway comprising an aircraft runway.

16. The accident avoidance system of claim 15, wherein at least one of the vehicles comprise an aircraft landing in the area comprising the location of the host vehicle.

17. The accident avoidance system of claim 16, wherein the global positioning system comprises a differential correction signal receiver operable for receiving global positioning differential correction signals from a global positioning augmentation systems, and wherein the global positioning system residing on the vehicle is operative for using the global positioning differential correction signals in the determination of the location of the vehicle.

18. The accident avoidance system of claim 17, wherein the differential correction signal receiver is operative for receiving the global positioning differential correction signals from a local area augmentation system.

19. The accident avoidance system of claim 17, wherein the differential correction signal receiver is operative for receiving the global positioning differential correction signals from a wide area augmentation system.

20. The accident avoidance system of claim 1, wherein the host vehicle comprises an automobile operating on a travel lane, and the area comprising the location of the host vehicle comprises the travel lane.

21. The accident avoidance system of claim 1, wherein the host vehicle comprises an aircraft operating on a roadway comprising an aircraft runway, and the area comprising the location of the host vehicle comprises the aircraft runway.

22. The accident avoidance system of claim 1, wherein the vehicle-to-vehicle communication system is arranged to transmit location, velocity and direction of travel information of the host vehicle to the other vehicles.

23. A method for avoiding accidents involving a host vehicle and another vehicle, comprising:

providing a global positioning system onboard the host vehicle and using the global positioning system to determine the host vehicle'"'"'s location as the host vehicle travels based on signals received from one or more satellites;

providing a map database onboard the host vehicle comprising digital maps corresponding to an area comprising the location of the host vehicle as determined by the global positioning system;

providing a vehicle-to-vehicle communication system onboard the host vehicle and using the vehicle-to-vehicle communication system to receive signals comprising location information acquired by global positioning systems residing on the other vehicle directly from the other vehicle indicating a location of the other vehicle;

providing a navigation system comprising a display onboard the host vehicle and displaying images on the navigation system display comprising the digital maps and indications of the locations of the host vehicle and the other vehicle on the digital maps; and

updating the images shown on the navigation system display to reflect changes in the locations of the host vehicle and the other vehicle.

24. The method of claim 23, further comprising the step of receiving signals from the other vehicle indicating the velocity and direction of travel of the other vehicle.

25. The method of claim 23, further comprising:

determining that a potential collision is likely to occur between the host vehicle and the other vehicle; and

activating a warning to alert an operator of the host vehicle of the potential collision.

26. The method of claim 25, wherein the warning comprises an audible warning.

27. The method of claim 25, wherein the warning comprises an alarm indicated on the display.

28. The method of claim 23, wherein the step of determining the host vehicle'"'"'s location comprises receiving and using global positioning differential correction signals from a global positioning augmentation system to determine the host vehicle'"'"'s location.

29. The method of claim 23, further comprising displaying a digital map on the navigation system display indicating at least one edge and surface shape of a roadway on which the host vehicle is traveling.

30. The method of claim 23, further comprising displaying an elevation of a roadway on which the host vehicle is traveling on the navigation system display.

31. The method of claim 23, further comprising displaying a digital map on the navigation system display indicating an edge of a roadway on which the host vehicle is traveling and a character of land beyond the edge of the roadway.

32. The method of claim 23, further comprising:

providing a radar onboard the host vehicle;

using the radar to acquire a location of an object in the area comprising the location of the host vehicle using radar; and

indicating the acquired location of the object on a digital map shown on the navigation system display.

33. The method of claim 23, further comprising, while the host vehicle is traveling:

receiving a digital map transmitted from a site remote from the host vehicle; and

displaying the received digital map on the navigation system display.

34. The method of claim 23, further comprising, while the host vehicle is traveling:

receiving weather condition information pertaining to the area comprising the location of the host vehicle transmitted from a site remote from the host vehicle; and

indicating the weather condition information on the navigation system display.

35. The method of claim 23, further comprising transmitting location, velocity, and direction of travel information from the host vehicle directly to the other vehicle.

36. An accident avoidance system for preventing accidents between first and second vehicles, comprising:

a first global positioning system residing on the first vehicle for determining the first vehicle'"'"'s location as the first vehicle travels based on signals received from one or more satellites;

a first map database comprising digital maps corresponding to an area comprising the location of the first vehicle as determined by the first global positioning system;

a first vehicle-to-vehicle communication system residing on the first vehicle and operative for transmitting signals directly to the second vehicle indicating the location of the first vehicle as determined by the first global positioning system, and for receiving signals directly from the second vehicle indicating the location of the second vehicle;

a first navigation system comprising a first navigation system display residing on the first vehicle for displaying images to an occupant of the first vehicle which comprise the digital maps and indications of the locations of the first and second vehicles the digital maps, and for updating the images shown on the first navigation system display to reflect changes in the locations of the first and second vehicles;

a second global positioning system residing on the second vehicle for determining the second vehicle'"'"'s location as the second vehicle travels based on signals received from the one or more satellites;

a second map database comprising digital maps corresponding to an area comprising the location of the second vehicle as determined by the second global positioning system;

a second vehicle-to-vehicle communication system residing on the second vehicle and operative for transmitting signals directly to the first vehicle indicating the location of the second vehicle as determined by the second global positioning system, and for receiving signals directly from the first vehicle indicating the location of the first vehicle; and

a second navigation system comprising a second navigation system display residing on the second vehicle for displaying images to an occupant of the second vehicle which comprise the digital maps and indications of the locations of the first and second vehicles the digital maps, and for updating the images shown on the second navigation system display to reflect changes in the locations of the first and second vehicles.

37. The accident avoidance system of claim 36, wherein the signals received by each vehicle-to-vehicle communication system further comprise indications of the velocity and direction of travel of the other vehicle.

38. The accident avoidance system of claim 36, wherein the global positioning system residing on each vehicle further comprises a differential correction signal receiver operable for receiving global positioning differential correction signals from a global positioning augmentation system, and wherein the global positioning system is operative for using the global positioning differential correction signals in the determination of the location of the host vehicle.

39. The accident avoidance system of claim 36, wherein the first vehicle further comprises:

a processor operative for determining that a potential collision is likely to occur between the first and second vehicles; and

a warning system operative for alerting an operator of the first vehicle of the potential collision.

40. The accident avoidance system of claim 36, wherein the first vehicle further comprises a radar system, and while the first vehicle is traveling:

the radar system is operable for acquiring a location of an object in the area comprising the location of the host vehicle; and

the first navigation system is operative for indicating the location of the object on a map shown on its navigation system display.

41. The accident avoidance system of claim 36, wherein the first vehicle further comprises a data acquisition system, and while the first vehicle is traveling:

the data acquisition system is operative for receiving a digital map transmitted from a site remote from the first vehicle; and

the first navigation system is operative for displaying the received digital map on its navigation system display.

42. The accident avoidance system of claim 36, wherein the first vehicle further comprises a data acquisition system, and while the first vehicle is traveling:

the data acquisition system is operative for receiving weather condition information pertaining to the area where the first vehicle is located transmitted from a site remote from the first vehicle; and

the first navigation system is operative for indicating the weather condition information on its navigation system display.

43. The accident avoidance system of claim 36, wherein the first or second vehicles comprise an aircraft.

44. The accident avoidance system of claim 43, wherein the area comprising the location of the first vehicle includes a roadway comprising an aircraft runway.

45. The accident avoidance system of claim 44, wherein the first vehicle comprises an aircraft landing in the area comprising the location of the second vehicle.

46. The accident avoidance system of claim 36, wherein the first vehicle comprises an aircraft operating on a roadway comprising an aircraft runway.