Vehicle longitudinal control and collision avoidance system for an automated highway system

• US 5,369,591 A
• Filed: 03/11/1993
• Issued: 11/29/1994
• Est. Priority Date: 03/11/1993
• Status: Expired due to Fees

• Current Assignee: Charles Broxmeyer
• Original Assignee: Charles Broxmeyer
• Inventors: Broxmeyer, Charles
• Primary Examiner(s): Chin, Gary
• Application Number:
  US08/029,722
• Time in Patent Office: 628 Days
• Field of Search: 364/424.02, 364/436-438, 364/449, 364/460, 364/461, 342/454, 342/455, 340/435, 340/436, 340/903, 340/905, 340/989, 340/991-993, 318/580, 318/587, 180/167-170
• 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 2201/083 using active brake actuation
• CPC Class Codes: G05D 1/0261 using magnetic plots
• 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 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G08G 1/164 Centralised systems, e.g. external to vehicles
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

This invention provides automatic longitudinal control of vehicles on highways, including speed control and protection against collision. The invention also provides for lane changing, following highway directional changes, route control, and transitions between the operator-controlled and the automatically controlled states. The invention is ideally configured to be employed jointly and cooperatively with previously developed means of automatic lateral control. Groups of permanent magnets are embedded in the highway surface at regular intervals. Permanent magnet sensors are installed in vehicles so that proximity and polarity indications of embedded magnets are obtained as a vehicle proceeds along the highway. Each group of magnets encodes a pseudo-random number that is sensed by the vehicle equipment and transmitted, via a radio link, to wayside computing equipment which determines vehicle longitudinal position and vehicle separation distances that are used as the basis of safety commands which are transmitted to the vehicles from the wayside. The system is configured to provide the highest possible reliability and fail-safe operation through employment of triply redundant communication and computation elements.

Claims

1. A vehicle longitudinal control and collision avoidance system, for vehicles operating on a multilane highway, comprising:

a plurality of permanent magnets distributed along the highway in a specified pattern and embedded in the highway surface, each said permanent magnet having a specified orientation,

permanent magnet sensing means, emplaced on board each vehicle, that provide indications of proximity to, and orientation of, said permanent magnets, when said permanent magnets are overpassed by each vehicle,

computation means at the wayside that are provided with an initial longitudinal position for each vehicle, and with speed limits, and receive, via vehicle-to-wayside data transmission means, outputs of said permanent magnet sensing means, and generate the longitudinal position of each vehicle and longitudinal control outputs comprising vehicle speed commands, and vehicle braking commands to protect a trailing vehicle against collision with a leading vehicle, and

vehicle control means included in each vehicle that receive, via wayside-to-vehicle data transmission means, said longitudinal control outputs and execute said vehicle speed commands, and said vehicle braking commands, by generating inputs to automatically control the vehicle propulsion system and the vehicle braking system of each vehicle.

2. A vehicle longitudinal control and collision avoidance system, as claimed in claim 1, wherein said computation means, additionally, generate lateral control outputs comprising vehicle steering commands causing vehicles to depart from a first highway lane to enter a second highway lane, and said vehicle control means receive, via said wayside-to-vehicle data transmission means, said lateral control outputs and execute said vehicle steering commands by generating inputs for a vehicle lateral control system, said computation means generating said lateral control outputs to insure that said vehicles arrive at preselected highway exits and to control vehicle distribution on the highway.

3. A vehicle longitudinal control and collision avoidance system, as claimed in claim 2, wherein said computation means generate additional lateral control outputs comprising additional vehicle steering commands causing vehicles to follow highway changes in direction, and said vehicle control means receive, via said wayside-to-vehicle data transmission means, said additional lateral control outputs and execute said additional vehicle steering commands by generating inputs for said vehicle lateral control system.

4. A vehicle longitudinal control and collision avoidance system, as claimed in claim 3, wherein said permanent magnets are arranged in groups that are emplaced in specified longitudinal positions along the highway, each said magnet encodes, by its orientation, binary information, and each group of magnets encodes a number, said number being associated with the longitudinal position of each said group of magnets along the highway, and wherein said permanent magnet sensing means on board a vehicle comprise permanent magnet sensors that are emplaced in specified locations on board the vehicle, said permanent magnet sensors providing, as outputs, a magnetically sensed number, encoded by said group of permanent magnets, when said group of permanent magnets is overpassed by the vehicle, each vehicle having said permanent magnet sensors so emplaced.

5. A vehicle longitudinal control and collision avoidance system, as claimed in claim 4, wherein said computation means, additionally,

store said numbers, encoded by said groups of magnets, in association with said associated longitudinal positions,

compare each magnetically sensed number with a corresponding stored number, each said magnetically sensed number being associated with a corresponding generated longitudinal position that is equal to the longitudinal position associated with said corresponding stored number, and

recognize an error in the operation of said permanent magnet sensing means, said vehicle-to-wayside data transmission means or said computation means, when said magnetically sensed number is not equal to said corresponding stored number,

the recognized error providing warning of a system malfunction.

6. A vehicle longitudinal control and collision avoidance system, as claimed in claim 5, wherein a sequence of numbers encoded by a sequence of said permanent magnet groups comprise a pseudo-random sequence.

7. A vehicle longitudinal control and collision avoidance system, as claimed in claim 3, wherein said vehicle-to-wayside data transmission means comprise:

a radio transmitter, on board each vehicle, that receives, as inputs, outputs of said permanent magnet sensing means, and

a multiplicity of radio receivers at the wayside, each said radio receiver being associated with a specified length of highway called a zone, and

wherein each vehicle is assigned to a zone, a zone radio receiver receives messages from the on-board radio transmitters of vehicles assigned to said zone, and the outputs of said zone radio receiver are presented, as inputs, to said computation means.

8. A vehicle longitudinal control and collision avoidance system, as claimed in claim 7, wherein said computation means comprise:

a multiplicity of computers at the wayside, each said computer being associated with a zone and receiving inputs from said zone radio receiver, each zone computer generating said longitudinal control outputs and said lateral control outputs for vehicles assigned to said zone, each said zone computer, additionally, receiving inputs from and generating outputs for said zone computers associated with neighboring zones, and

a central management computer that receives inputs from and generates outputs for said zone computers and provides means for monitoring the speeds and positions of all vehicles operating on the highway, means for communicating said speed limits and vehicle destinations to said zone computers, and means for intervention in the operation of the vehicle control means by a human system monitor.

9. A vehicle longitudinal control and collision avoidance system, as claimed in claim 8, wherein said wayside-to-vehicle data transmission means comprise:

a multiplicity of radio transmitters at the wayside, each said radio transmitter being associated with a zone, and

a radio receiver, on board each vehicle, that receives messages from said radio transmitter that is associated with the zone to which the vehicle is assigned, and

wherein each said zone computer provides said longitudinal control outputs, and said lateral control outputs, for vehicles assigned to said zone, which are presented as inputs to the zone radio transmitter.

10. A vehicle longitudinal control and collision avoidance system, as claimed in claim 9, wherein said vehicle control means comprise a vehicle control unit on board each vehicle that receives, as inputs, the outputs of the on-board radio receiver and generates, therefrom, outputs that are applied as inputs to said vehicle propulsion system and said vehicle braking system to cause vehicle longitudinal motions that have specified acceleration, deceleration and jerk limits.

11. A vehicle longitudinal control and collision avoidance system, as claimed in claim 10, wherein said vehicle control unit, additionally, generates outputs that are applied as inputs to said vehicle lateral control system to cause vehicle lateral motion.

12. A vehicle longitudinal control and collision avoidance system, as claimed in claim 11, wherein each said zone computer determines the longitudinal positions of vehicles assigned to the zone of said zone computer, and wherein a first zone computer, associated with a first zone, receives inputs from a second zone computer that is associated with a second zone that is downstream from and adjacent to said first zone, and said second zone computer receives inputs from said first zone computer, said inputs to said first zone computer including the longitudinal positions of vehicles assigned to said second zone, to enable said first zone computer to generate said longitudinal control outputs to protect vehicles assigned to said first zone against collision with vehicles assigned to said second zone, and to enable said first zone computer to transfer the computation and communication functions, for a vehicle, to said second zone computer, and to said radio transmitter and said radio receiver associated with said second zone, when the zone assignment of the vehicle changes from said first zone to said second zone.

13. A vehicle longitudinal control and collision avoidance system, as claimed in claim 12, comprising, additionally, a driver interface unit, on board each vehicle, wherein said driver interface unit accepts inputs from the driver for communication to said vehicle control unit and accepts inputs from said vehicle control unit for display and audio communication to the driver, inputs to said vehicle control unit from said driver interface unit being communicated to said zone computer, via said vehicle-to-wayside data transmission means, and inputs to said driver interface unit from said vehicle control unit being received from said zone computer via said wayside-to-vehicle data transmission means and said driver interface unit further comprising interaction means for effecting transfer of control of the vehicle from the driver to the vehicle control unit and from the vehicle control unit to the driver.

14. A vehicle longitudinal control and collision avoidance system, as claimed in claim 13, comprising, additionally, odometers at the wheels of each vehicle to measure incremental wheel rotations, the outputs of said odometers being communicated to said vehicle control unit and providing measures of the motion of the vehicle along its longitudinal axis.

15. A vehicle longitudinal control and collision avoidance system, as claimed in claim 14, comprising, additionally, a gyroscope mounted in each vehicle to measure incremental rotational motion of the vehicle around its vertical axis, the output of said gyroscope being communicated to said vehicle control unit, said vehicle control unit generating, from the output of said gyroscope, and from the outputs of said odometers, measures of the longitudinal and lateral displacement of the vehicle from a reference point, when the vehicle departs from a first highway lane to enter a second highway lane, said measures of longitudinal and lateral displacement being communicated to said zone computer via said vehicle-to-wayside data transmission means, said zone computer generating, from said measures of longitudinal and lateral displacement, and from the longitudinal and lateral positions of neighboring vehicles, vehicle longitudinal control outputs to protect the vehicle against collision with neighboring vehicles, and vehicle lateral control outputs to effect the vehicle transition from said first highway lane to said second highway lane.

16. A vehicle longitudinal control and collision avoidance system, as claimed in claim 15, wherein the transmissions of each said zone radio transmitter comprise sequentially and simultaneously transmitted messages, each said message being assigned to a priority category by said zone computer associated with the zone of said zone radio transmitter, said messages being transmitted in several frequency bands, each frequency band being uniquely associated with the priority category of said message and the zone of said zone radio transmitter, and wherein said longitudinal control outputs and said lateral control outputs generated by said zone computer additionally provide:

frequency information to enable the reception bands of said radio receivers on board vehicles assigned to the zone of said zone computer to conform to the transmission bands of said zone radio transmitter and to enable the transmission bands of said radio transmitters on board the vehicles to conform to the reception bands of said zone radio receiver, and

timing information to provide a time reference for operations of said vehicle control units on board vehicles assigned to the zone of said zone computer, to provide a time reference for changes in vehicle zone assignment, and to enable said on-board radio receivers and said on-board radio transmitters to communicate with said zone radio transmitter and said zone radio receiver, respectively, during designated, repetitive, communication time intervals, each vehicle being assigned a periodic communication time interval, non-overlapping with the communication time intervals assigned to the other vehicles assigned to the zone.

17. A vehicle longitudinal control and collision avoidance system, as claimed in claim 16, wherein the transmissions of said on-board radio transmitter of each vehicle comprise sequentially and simultaneously transmitted messages received from said permanent magnet sensing means, and from said vehicle control unit, each said message being assigned to a message priority category, said messages being transmitted in several frequency bands, each frequency band being uniquely associated with the priority category of said message and the zone to which the vehicle is assigned, and wherein said vehicle control unit provides inputs to said on-board radio receiver to control the reception bands of said on-board radio receiver, provides inputs to said on-board radio transmitter to control the transmission bands of said on-board radio transmitter, in accordance with the assigned zone of the vehicle, formats and assigns priority categories to messages communicated to said on-board radio transmitter, controls, through inputs to said on-board radio receiver and said on-board radio transmitter, the timing of transmissions and receptions in accordance with said communication time intervals assigned to the vehicle by said zone computer, assigns the vehicle to a specified zone, in accordance with information received from said zone computer, determines vehicle speed from inputs received from said permanent magnet sensing means when the vehicle is not departing from a first highway lane to enter a second highway lane, determines vehicle speed from said odometers when the vehicle is departing from a first highway lane to enter a second highway lane, controls and regulates vehicle speed and controls vehicle braking by providing inputs for said vehicle propulsion and braking systems in accordance with said longitudinal control outputs, and controls vehicle steering in accordance with said lateral control outputs received from said zone computer.

18. A vehicle longitudinal control and collision avoidance system, as claimed in claim 17, wherein said permanent magnets are arranged in groups that are emplaced in specified longitudinal positions along the highway, each said magnet encodes, by its orientation, binary information, and each group of magnets encodes a number, said number being associated with the longitudinal position of each said group of magnets along the highway, and wherein said permanent magnet sensing means on board a vehicle comprise:

permanent magnet sensors that are emplaced in specified locations on board the vehicle, said permanent magnet sensors providing, as outputs, a magnetically sensed number, when said group of permanent magnets is overpassed by the vehicle, each vehicle having said permanent magnet sensors so emplaced, and

a magnet sensor receiver that receives the outputs of said magnet sensors, and registers the encoded number sensed by said magnet sensors, the contents of said magnet sensor receiver being provided as an input to said on-board radio transmitter.

19. A vehicle longitudinal control and collision avoidance system, as claimed in claim 18, wherein each said zone computer, additionally,

stores said numbers, encoded by said groups of magnets, in association with said associated longitudinal positions,

compares each magnetically sensed number with a corresponding stored number, each said magnetically sensed number being associated with a corresponding generated longitudinal position that is equal to the longitudinal position associated with said corresponding stored number, and

recognizes an error in the operation of said permanent magnet sensing means, said vehicle-to-wayside data transmission means or said computation means, when said magnetically sensed number is not equal to said stored number,

the recognized error providing warning of a system malfunction.

20. A vehicle longitudinal control and collision avoidance system, as claimed in claim 19, wherein a sequence of numbers encoded by a sequence of said permanent magnet groups comprise a pseudo-random sequence.

21. A vehicle longitudinal control and collision avoidance system, as claimed in claim 20, wherein, in a designated area, the sequence of numbers encoded by said sequence of permanent magnet groups embedded in the highway identify a longitudinal position and enable said zone computer to be provided, from the outputs of said permanent magnet sensors, with an accurate initial longitudinal position of a vehicle that overpasses said sequence of permanent magnet groups.

22. A vehicle longitudinal control and collision avoidance system, as claimed in claim 3, wherein said vehicle-to-wayside data transmission means comprise:

three radio transmitters, on board each vehicle, that receive, as inputs, the outputs of said permanent magnet sensing means, and

a multiplicity of radio receivers at the wayside, each said radio receiver being associated with a specified length of highway called a zone, three of said radio receivers being associated with each zone,

wherein each vehicle is assigned to a zone, a zone radio receiver receives messages from one of said on-board radio transmitters of each vehicle assigned to the zone, and the outputs of said zone radio receivers, associated with a zone, are presented, as inputs, to comparator means that determine if the outputs of one of said zone radio receivers do not conform to the outputs of the other said zone radio receivers associated with the zone, and designate one of said zone radio receivers, having outputs that conform to the outputs of another said zone radio receiver, as the operative zone radio receiver, the outputs of said operative zone radio receiver being presented, as inputs, to said computation means.

23. A vehicle longitudinal control and collision avoidance system, as claimed in claim 22, wherein said computation means comprise:

a multiplicity of computers at the wayside, three of said computers being associated with each zone and receiving the same inputs from said operative zone receiver, the outputs of the three zone computers associated with a zone being presented as inputs to comparator means that determine if the outputs of one of said zone computers do not conform to the outputs of the other said zone computers associated with the zone and designate one of said zone computers having outputs that conform to the outputs of another of said zone computers associated with the zone as the operative zone computer, said zone computers generating said longitudinal control outputs and said lateral control outputs for vehicles assigned to the zone of said zone computers, said zone computers, additionally, receiving inputs from the operative zone computers associated with neighboring zones, said operative zone computer providing inputs for the zone computers associated with said neighboring zones, said three zone computers associated with a zone receiving the same inputs, and

a central management computer that receives inputs from said operative zone computers and generates outputs for said zone computers, said three zone computers associated with the zone receiving the same outputs from said central management computer, said central management computer providing means for monitoring the speeds and positions of all vehicles operating on the highway, means for communicating said speed limits and vehicle destinations to said zone computers, and means for intervention in the operation of the vehicle control means by a human system monitor.

24. A vehicle longitudinal control and collision avoidance system, as claimed in claim 23, wherein said wayside-to-vehicle data transmission means comprise:

a multiplicity of radio transmitters at the wayside, three of said radio transmitters being associated with each zone, and three radio receivers on board each vehicle,

wherein said operative zone computer provides said longitudinal control outputs, and said lateral control outputs for vehicles assigned to the zone, said longitudinal and lateral control outputs being presented as inputs to said three zone radio transmitters, said zone radio transmitters associated with a zone receiving the same inputs, and each of said zone radio transmitters transmitting messages to one of said radio receivers on board each vehicle assigned to the zone.

25. A vehicle longitudinal control and collision avoidance system, as claimed in claim 24, wherein said vehicle control means comprise three vehicle control units on board each vehicle, each said vehicle control unit receiving, as inputs, the outputs of one of said on-board radio receivers, and generating, therefrom, outputs that are applied as inputs to comparator means that determine if the outputs of one of said vehicle control units do not conform to the outputs of the other said vehicle control units and designate one of said vehicle control units, having outputs that conform to the outputs of another of said vehicle control units, as the operative vehicle control unit, said operative vehicle control unit providing inputs to said vehicle propulsion system and said vehicle braking system to cause vehicle longitudinal motions that have specified acceleration, deceleration and jerk limits.

26. A vehicle longitudinal control and collision avoidance system, as claimed in claim 25, wherein said operative vehicle control unit, additionally, generates outputs that are applied as inputs to said vehicle lateral control system to cause vehicle lateral motion.

27. A vehicle longitudinal control and collision avoidance system, as claimed in claim 26, wherein each said zone computer determines the longitudinal positions of vehicles assigned to the zone of said zone computer, and wherein said zone computers associated with a first zone, receive inputs from said operative zone computer that is associated with a second zone that is downstream from, and adjacent to, said first zone, and said zone computers associated with said second zone receive inputs from said operative zone computer associated with said first zone, the inputs to said zone computers associated with said first zone including the longitudinal positions of vehicles assigned to said second zone, to enable said zone computers associated with said first zone to generate said longitudinal control outputs to protect vehicles assigned to said first zone against collision with vehicles assigned to said second zone, and to enable said operative zone computer associated with said first zone to transfer the computation and communication functions, for a vehicle, to said zone computers associated with said second zone and to said radio transmitters and said radio receivers associated with said second zone, when the zone assignment of the vehicle changes from said first zone to said second zone.

28. A vehicle longitudinal control and collision avoidance system, as claimed in claim 27, comprising, additionally, a driver interface unit, on board each vehicle, wherein said driver interface unit accepts inputs from the driver for communication to said vehicle control units and accepts inputs from said operative vehicle control unit for display and audio communication to the driver, the inputs to said vehicle control units from said driver interface unit being communicated to said zone computers from said operative vehicle control unit via said vehicle-to-wayside data transmission means, and the inputs to said driver interface unit from said operative vehicle control unit being received from said operative zone computer via said wayside-to-vehicle data transmission means and said driver interface unit further comprising interaction means for effecting transfer of control of the vehicle from the driver to the operative vehicle control unit and from the operative vehicle control unit to the driver.

29. A vehicle longitudinal control and collision avoidance system, as claimed in claim 28, comprising, additionally, odometers at the wheels of each vehicle to measure incremental wheel rotations, the outputs of said odometers being communicated to said vehicle control units and providing measures of the motion of the vehicle along its longitudinal axis.

30. A vehicle longitudinal control and collision avoidance system, as claimed in claim 29, comprising additionally, three gyroscopes mounted in each vehicle to measure incremental rotational motion of the vehicle around its vertical axis, the output of each said gyroscope being communicated to one of said vehicle control units, each said vehicle control unit generating, from the output of said gyroscope, and from the outputs of said odometers, measures of the longitudinal and lateral displacement of the vehicle from a reference point, when the vehicle departs from a first highway lane to enter a second highway lane, said measures of longitudinal and lateral displacement being communicated to said zone computers from said operative vehicle control unit via said vehicle-to-wayside data transmission means, said zone computers generating, from said measures of longitudinal and lateral displacement, and from the longitudinal and lateral positions of neighboring vehicles, said longitudinal control outputs to protect the vehicle against collision with neighboring vehicles, and vehicle lateral control outputs to effect the vehicle transition from said first highway lane to said second highway lane.

31. A vehicle longitudinal control and collision avoidance system, as claimed in claim 30, wherein the transmissions of said zone radio transmitters, associated with a zone, comprise sequentially and simultaneously transmitted messages, each said message being assigned to a priority category by said operative zone computer associated with the zone of said zone radio transmitters, said messages being transmitted in several frequency bands, each frequency band being uniquely associated with the priority category of each message, the zone of the associated zone radio transmitter and the associated zone radio transmitter, and wherein said longitudinal control outputs and said lateral control outputs generated by said zone computers additionally provide:

frequency information to enable the reception bands of each of said radio receivers on board a vehicle assigned to the zone of said zone computers to conform to the transmission bands of one of said zone radio transmitters associated with the zone and to enable the transmission bands of each of said radio transmitters on board the vehicle to conform to the reception bands of one of said zone radio receivers associated with the zone, and

timing information to provide a time reference for operations of said vehicle control units on board vehicles assigned to the zone of said zone computers, to provide a time reference for changes in vehicle zone assignment, and to enable said on-board radio receivers and said on-board radio transmitters to communicate with said zone radio transmitters and said zone radio receivers, respectively, during designated, repetitive, communication time intervals, each vehicle being assigned a periodic communication time interval, non-overlapping with the communication time intervals assigned to the other vehicles assigned to the zone.

32. A vehicle longitudinal control and collision avoidance system, as claimed in claim 31, wherein the transmissions of each of said on-board radio transmitters comprise sequentially and simultaneously transmitted messages received from said permanent magnet sensing means and from said operative vehicle control unit, said messages having assigned message priority categories, said messages being transmitted in several frequency bands, each frequency band being uniquely associated with the priority category of each message, the zone to which the vehicle is assigned and said on-board transmitter, and wherein said operative vehicle control unit provides inputs to said on-board radio receivers to control the reception bands of said on-board radio receivers, provides inputs to said on-board radio transmitters to control the transmission bands of said on-board radio transmitters, in accordance with the assigned zone of the vehicle, formats and assigns priority categories to messages communicated to said on-board radio transmitters, controls, through inputs to said on-board radio receivers and said on-board radio transmitters, the timing of transmissions and receptions in accordance with said communication time intervals assigned to the vehicle by said operative zone computer, assigns the vehicle to a specified zone, in accordance with information received from said operative zone computer, determines speed from inputs received from said permanent magnet sensing means when the vehicle is not departing from a first highway lane to enter a second highway lane, determines vehicle speed from said odometers when the vehicle is departing from a first highway lane to enter a second highway lane, controls and regulates vehicle speed and controls vehicle braking by providing inputs for said vehicle propulsion and braking systems in accordance with said vehicle longitudinal control outputs, and controls vehicle steering in accordance with said vehicle lateral control outputs received from said operative zone computer.

33. A vehicle longitudinal control and collision avoidance system, as claimed in claim 32, wherein said permanent magnets are arranged in groups that are emplaced in specified longitudinal positions along the highway, each said magnet encodes, by its orientation, binary information, and each group of magnets encodes a number, said number being associated with the longitudinal position of each said group of magnets along the highway, and wherein said permanent magnet sensing means on board a vehicle comprise:

permanent magnet sensors that are emplaced in specified locations on board the vehicle, said permanent magnet sensors providing, as outputs, a magnetically sensed number when said group of permanent magnets is overpassed by the vehicle, each vehicle having said permanent magnet sensors so emplaced, and

three magnet sensor receivers that receive the outputs of said permanent magnet sensors, and register the encoded numbers sensed by said permanent magnet sensors, the contents of each of said magnet sensor receivers being provided as an input to one of said on-board radio transmitters.

34. A vehicle longitudinal control and collision avoidance system, as claimed in claim 33, wherein each said zone computer, additionally,

stores said numbers, encoded by said groups of magnets, in association with said associated longitudinal positions,

compares each magnetically sensed number with a corresponding stored number, each said magnetically sensed number being associated with a corresponding generated longitudinal position that is equal to the longitudinal position associated with said corresponding stored number, and

recognizes an error in the operation of said permanent magnet sensing means, said vehicle-to-wayside data tranmission means or said computation means when a said magnetically sensed number is not equal to said corresponding stored number,

the recognized error providing warning of a system malfunction.

35. A vehicle longitudinal control and collision avoidance system, as claimed in claim 34, wherein a sequence of numbers encoded by a sequence of said permanent magnet groups comprise a pseudo-random sequence.

36. A vehicle longitudinal control and collision avoidance system, as claimed in claim 35, wherein, in a designated area, the sequence of numbers encoded by said sequence of permanent magnet groups embedded in the highway identify a longitudinal position and enable said zone computers to be provided, from the outputs of said permanent magnet sensors, with an accurate initial longitudinal position of a vehicle that overpasses said sequence of permanent magnet groups.

37. A vehicle longitudinal control and collision avoidance system, as claimed in claim 1, further comprising wayside admission means that register the identification of a vehicle and assess the operational readiness of the vehicle to enter the highway, when the vehicle, is placed in a highway entrance area by a driver requesting admission for the vehicle onto the highway, the vehicle having on-board identification means, said wayside admission means comprising:

vehicle identification means at the wayside, that register the vehicle identification by interrogating said on-board identification means,

a segment of roadway, having embedded therein a test pattern of magnetic markers, and

wayside test means that receive said vehicle identification from said vehicle identification means at the wayside, and transmit test signals to the vehicle, via said wayside-to-vehicle data transmission means, said test signals comprising vehicle speed commands and vehicle braking commands,

wherein said vehicle control means receive said test signals and execute said vehicle speed commands, and said vehicle braking commands, by generating inputs to control said vehicle propulsion system and said vehicle braking system, said generated intputs causing vehicle motions, on said segment of roadway, that bring said permanent magnet sensing means into proximity with a plurality of said permanent magnets distributed along the highway, the outputs of said permanent magnet sensing means being transmitted to said wayside test means via said vehicle-to-wayside data transmission means, said wayside test means assessing, from said outputs of said permanent magnet sensing means, that said permanent magnet sensing means, said vehicle-to-wayside data transmission means, said wayside-to-vehicle data transmission means, said vehicle control means, said vehicle propulsion system and said vehicle braking system are all operational or that at least one of said permanent magnet sensing means, said vehicle-to-wayside data transmission means, said wayside-to-vehicle data transmission means, said vehicle control means, said vehicle propulsion system and said vehicle braking system is nonoperational, the assessment being performed through comparison of the outputs of said permanent magnet sensing means with reference data, thereby verifying, or failing to verify, the operational readiness of the vehicle to enter the highway.

38. A vehicle longitudinal control and collision avoidance system, for vehicles operating on a multilane highway, comprising:

odometers at the wheels of each vehicle, the outputs of said odometers providing measures of incremental wheel rotations,

computation means at the wayside that are provided with an initial longitudinal position for each vehicle, and with speed limits, and receive, via vehicle-to-wayside data transmission means, the outputs of said odometers, and generate the longitudinal position of each vehicle and longitudinal control outputs comprising vehicle speed commands, and vehicle braking commands to protect a trailing vehicle against collision with a leading vehicle, and

vehicle control means included in each vehicle that receive, via wayside-to-vehicle data transmission means, said longitudinal control outputs and execute said vehicle speed commands, and said vehicle braking commands, by generating inputs to automatically control the vehicle propulsion system and the vehicle braking system of each vehicle.

39. A vehicle longitudinal control and collision avoidance system, as claimed in claim 38, wherein said computation means, additionally, generate lateral control outputs comprising vehicle steering commands, and said vehicle control means receive, via said wayside-to-vehicle data transmission means, said lateral control outputs and execute said vehicle steering command by generating inputs for a vehicle lateral control system.

40. A vehicle longitudinal control and collision avoidance system, for vehicles operating on a multilane highway, comprising:

a plurality of permanent magnets distributed along the highway in a specified pattern and embedded in the highway surface, each said permanent magnet having a specified orientation,

permanent magnet sensing means, emplaced on board each vehicle, that provide indications of proximity to, and orientation of, said permanent magnets, when said permanent magnets are overpassed by a vehicle,

odometers at the wheels of each vehicle, the outputs of said odometers providing measures of incremental wheel rotations,

computation means at the wayside that are provided with an initial longitudinal position for each vehicle, and with speed limits, and receive, via vehicle-to-wayside data transmission means, the outputs of said odometers, and generate, therefrom, the longitudinal position of each vehicle and longitudinal control outputs comprising vehicle speed commands, and vehicle braking commands to protect a trailing vehicle against collision with a leading vehicle, and

vehicle control means, included in each vehicle, that receive, via wayside-to-vehicle data transmission means, said longitudinal control outputs and execute said vehicle speed commands, and said vehicle braking commands, by generating inputs to automatically control the vehicle propulsion system and the vehicle braking system of each vehicle, said vehicle control means further receiving outputs of said permanent magnet sensing means, and the outputs of said odometers, to generate calibration corrections for said odometers, which are applied by said vehicle control means to the outputs of said odometers.

41. A vehicle longitudinal control and collision avoidance system, as claimed in claim 40, wherein said computation means, additionally, generate lateral control outputs comprising vehicle steering commands, and said vehicle control means receive, via said wayside-to-vehicle data transmission means, said lateral control outputs and execute said vehicle steering commands by generating inputs for a vehicle lateral control system.

42. A vehicle longitudinal control and collision avoidance system, for vehicles operating on a multilane highway, comprising:

means, on board each vehicle, to measure the incremental longitudinal motion of the vehicle,

computation means, at the wayside, that are provided with an initial longitudinal position for each vehicle, and with speed limits, and receive, via vehicle-to-wayside data transmission means, outputs of said on-board means to measure the incremental longitudinal motion of the vehicles, and generate the longitudinal position of each vehicle and longitudinal control outputs comprising vehicle speed commands, and vehicle braking commands to protect a trailing vehicle against collision with a leading vehicle, and

vehicle control means included in each vehicle that receive, via wayside-to-vehicle data transmission means, said longitudinal control outputs and execute said vehicle speed commands, and said vehicle braking commands, by generating inputs to automatically control the vehicle propulsion system and the vehicle braking system of each vehicle.

43. A vehicle longitudinal control and collision avoidance system, as claimed in claim 42, wherein said computation means, additionally, generate lateral control outputs comprising vehicle steering commands, and said vehicle control means receive, via said wayside-to-vehicle data transmission means, said lateral control outputs and execute said vehicle steering commands by generating inputs for a vehicle lateral control system.

44. A vehicle longitudinal control and collision avoidance system, as claimed in claim 43, wherein said vehicle-to-wayside data transmission means comprise:

three radio transmitters on board each vehicle, that receive, as inputs, the outputs of said means to measure the incremental motion of the vehicle, and

a multiplicity of radio receivers at the wayside, each said radio receiver being associated with a specified length of highway called a zone, three of said radio receivers being associated with each zone,

wherein each vehicle is assigned to a zone, each of said zone radio receivers receives messages from one of said on-board radio transmitters of each vehicle assigned to the zone, and the outputs of said zone radio receivers, associated with each zone, are presented, as inputs, to comparator means that determine if the outputs of one of said zone radio receivers do not conform to the outputs of the other said zone radio receivers associated with the zone, and designate one of said zone radio receivers, having outputs that conform to the outputs of another of said zone radio receivers, as the operative zone radio receiver, the outputs of said operative zone radio receiver being presented, as inputs, to said computation means.

45. A vehicle longitudinal control and collision avoidance system, as claimed in claim 44, wherein said wayside-to-vehicle data transmission means comprise:

a multiplicity of radio transmitters at the wayside, three of said radio transmitters being associated with each zone, and

three radio receivers on board each vehicle,

wherein said computation means provide said longitudinal control outputs, and said lateral control outputs, for each vehicle, which are presented as inputs to said zone radio transmitters, said three zone radio transmitters associated with each zone receiving the same inputs, and each of said zone radio transmitters transmitting messages to one of said radio receivers on board each vehicle assigned to the zone, and the outputs of said radio receivers on board each vehicle are presented, as inputs, to comparator means that determine if the outputs of one of said on-board radio receivers do not conform to the outputs of the other said radio receivers on board the vehicle, and designate one of said on-board radio receivers, having outputs that conform to the outputs of another of said radio receivers on board the vehicle, as the operative vehicle radio receiver, the outputs of said operative vehicle radio receiver being presented, as inputs, to said vehicle control means.

46. A vehicle longitudinal control and collision avoidance system, for vehicles operating on a multilane highway, comprising:

means, on board each vehicle, to measure the incremental longitudinal motion of the vehicle,

gyroscope means, mounted in each vehicle, to measure the incremental motion of the vehicle around its vertical axis,

computation means, at the wayside, that are provided with an initial longitudinal position for each vehicle, and with speed limits, and receive, via vehicle-to-wayside data transmission means, outputs of said means to measure the incremental longitudinal motion of the vehicles, and generate the longitudinal position of each vehicle, and longitudinal control outputs comprising vehicle speed commands and vehicle braking commands to protect a trailing vehicle against collision with a leading vehicle, and lateral control outputs comprising vehicle steering commands causing vehicles to follow highway changes in direction and to effect vehicle transitions from a first highway lane to a second highway lane, and

vehicle control means that receive, via wayside-to-vehicle data transmission means, said longitudinal control outputs and execute said vehicle speed commands, and said vehicle braking commands, by generating inputs to automatically control the vehicle propulsion system and the vehicle braking system of each vehicle, and receive said lateral control outputs and execute said vehicle steering commands by generating inputs for a vehicle lateral control system, said vehicle control means, further, receiving outputs of said gyroscope means and said means to measure the incremental longitudinal motion of the vehicle and generating measures of the longitudinal and lateral displacement of the vehicle from a reference point, when the vehicle departs from said first highway lane to enter said second highway lane, said measures of longitudinal and lateral displacement being communicated from said vehicle control means to said computation means via said vehicle-to-wayside data transmission means.