METHOD AND APPARATUS FOR VEHICLE TRAFFIC CONTROL
First Claim
1. A method for effecting vehicle traffic control which comprises the steps of a. determining vehicle position information in x, y and h rapidly and accurately sequentially for each vehicle within a predetermined area with respect to a predetermined reference coordinate point, b. computing course and speed for all vehicles simultaneously on the basis of the position information determined by step (a), c. computing interrogation rate for all vehicles as a function of their position relative to predetermined points or their potential collision with other vehicles, d. determining course intersect positions and time for all vehicles with respect to each other related to the predetermined reference, e. determining the difference in arrival time of each of the vehicles at their respective intersect points, f. determining the minimum separation distance or closest point of approach of vehicles with respect to their positions and velocities, g. comparing the difference in all vehicle intersect times to a predetermined standard, and h. sending maneuvering instructions to all vehicles having intersect times within the predetermined standard so as to extend the intersect times outside the predetermined standard.
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Abstract
A method for vehicle traffic control is provided which is basically adapted to aircraft and includes a method for aircraft control to eliminate hazardous operating conditions, a method for determining a potential conflict between two or more aircraft in sufficient time to effect correction, a method for determining an effective maneuver to avoid collision, a method for predicting control sector overload, a method for predicting terminal overload, and as a result of conflict, determination of an alternate flight plan or necessary time delay in takeoff to minimize flight costs. The means to accomplish these methods is a sophisticated data processing system properly programmed to a previously prepared algorithm. Preferably, the invention contemplates use of an associative processor so that all calculations can be performed on each aircraft or vehicle simultaneously in parallel. The invention also contemplates a satellite position measuring system to determine conflict of aircraft or surface vehicles over large water expanses. In addition, the system contemplates determining if a given flight path may intersect hazardous weather, or that an aircraft has safe minimum terrain clearance as the system can provide command instructions or controls in accordance with the system information generation.
109 Citations
17 Claims
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1. A method for effecting vehicle traffic control which comprises the steps of a. determining vehicle position information in x, y and h rapidly and accurately sequentially for each vehicle within a predetermined area with respect to a predetermined reference coordinate point, b. computing course and speed for all vehicles simultaneously on the basis of the position information determined by step (a), c. computing interrogation rate for all vehicles as a function of their position relative to predetermined points or their potential collision with other vehicles, d. determining course intersect positions and time for all vehicles with respect to each other related to the predetermined reference, e. determining the difference in arrival time of each of the vehicles at their respective intersect points, f. determining the minimum separation distance or closest point of approach of vehicles with respect to their positions and velocities, g. comparing the difference in all vehicle intersect times to a predetermined standard, and h. sending maneuvering instructions to all vehicles having intersect times within the predetermined standard so as to extend the intersect times outside the predetermined standard.
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2. A method according to claim 1 where steps (d) though (g) are all performed simultaneously for one vehicle with respect to all other vehicles by an associative processor, and where such steps are simultaneously performed sequentially on all other vehicles.
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3. A method according to claim 1 where each of steps (a) through (h) are continuously repeated for each vehicle within the predetermined area at not greater than 6 second intervals.
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4. A method according to claim 1 where course and speed intersects for all vehicles are determined by i. defining each vehicle track in terms of slope with respect to an x, y coordinate system with the predetermined reference at the x, y zero point of the system, j. determining the potential x, y coordinate of track intersect of each vehicle with respect to every other vehicle, k. determining the time when each vehicle is going to reAch respective x, y coordinate of track intersect, l. comparing to a predetermined time standard the time difference of each vehicle reaching its respective x, y track intersect coordinate with the other vehicle for each intersect coordinate, and m. indicating which vehicles have track x, y intersects where the time difference of intersect is less than the predetermined standard.
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5. A method according to claim 4 which includes effecting a slope comparison of the track of each vehicle to determine if the vehicles are moving on substantially parallel, toward, away, diverging, or converging paths before accomplishing steps (j) through (m), and only effecting steps (j) through (m) on those vehicles whose slopes indicate parallel toward and converging courses.
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6. A method according to claim 5 where the vehicles are aircraft and which includes effecting an altitude comparison to a predetermined minimum standard of those vehicles which indicate track intersect within the predetermined time standard and effected some collision warning signal and suggested maneuvering to the vehicle operator for those vehicles which will intersect within the predetermined altitude standard.
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7. A method according to claim 1 where vehicle position information is determined by at least two satellites operating in coordinate relation to each other.
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8. A method according to claim 1 which includes the step of predicting an overload of vehicles in the area as a whole, and at any specific locations within the area.
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9. A method according to claim 8 where the vehicles are aircraft and which includes storing all filed IFR flight plans, comparing each IFR flight plan as it is filed with all previously filed IFR flight plans to determine potential future conflict, and comparing all changed and altered IFR flight plans to all filed IFR flight plans to determine potential future conflicts, and providing information in cases where potential future conflict is predicted to change flight plans or actual flight paths so as to avoid such conflict.
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10. A method according to claim 8 which includes the steps of determining weather and terrain characteristics for the area, and evaluating and controlling the path of all vehicles in the area to avoid collision of the vehicles therewith.
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11. A method to effect vehicle traffic control which comprises the steps of a. determining vehicle position information in x, y and h rapidly and accurately for vehicles within a predetermined area with respect to a predetermined reference coordinate point, b. simultaneously computing course and speed for all vehicles on the basis of repeated position information for all vehicles, c. sequentially computing whether vehicles will approach within a certain minimum distance of each other, d. sequentially computing alternate safe courses and/or speeds for all vehicles that have predicted approaches within the predetermined minimum distances, and e. sequentially sending maneuvering instructions to all such vehicles to make their approaches to all other vehicles fall outside the predetermined minimum standard.
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12. A method according to claim 11 which includes determining vehicle vector intersect points, measuring the time difference of vehicle arrival at such intersect points and comparing it to a predetermined standard, and providing maneuvering instructions for those vehicles which indicated intersect within the predetermined standard.
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13. A method according to claim 11 which includes determining the distances of the closest point of approach of each vehicle to each other vehicle based on their computed vector paths, comparing the determined distances to a predetermined standard, and providing maneuvering instructions for those vehicles which indicate distances within the predetermined standard.
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14. Apparatus for effecting traffic control of vehicles which comprises, means to determine the position of all vehicles withIn a predetermined area, means to simultaneously determine potential conflicts of each vehicle with every other vehicle in the area, means to simultaneously predict a safe course to avoid potential conflicts between each vehicle whose path indicates a potential conflict without creating a conflict with any other vehicles, and to sequentially perform this step for every vehicle and means to pass potential conflict information to the vehicles and information to effect a change in path and/or speed to avoid the potential conflict.
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15. Apparatus according to claim 14 where the means to simultaneously determine potential conflicts and simultaneously predict a safe course in an associative processor, and includes a bulk store and monitor section interrelated to the processor to store filed vehicle plans and compare each plan as it is filed against all previously filed plans to determine future potential vehicle conflict and compare all filed vehicle plans against actual vehicle paths to determine future potential vehicle conflict.
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16. Apparatus according to claim 14 which includes a CRT display scope for a vehicle controller to visually observe the vehicle conflict picture, and means to selectively effect transfer of information from the controller to each vehicle.
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17. Apparatus according to claim 14 which includes a trilateration beacon system to determine vehicle position information within the predetermined area, and a back up radar system to obtain vehicle position information for all vehicles not responding to beacon, and means to determine weather and terrain characteristics and effect vehicle control to avoid these.
Specification