Dynamic monitoring of vehicle separation

• US 6,067,031 A
• Filed: 12/18/1997
• Issued: 05/23/2000
• Est. Priority Date: 12/18/1997
• Status: Expired due to Fees

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Janky, James M., Schipper, John F., Smith, Derek Steven
• Primary Examiner(s): TONG, NINA C
• Application Number:
  US08/993,693
• Time in Patent Office: 887 Days
• Field of Search: 340/435, 340/436, 340/901, 340/903, 340/904, 180/169, 180/167, 180/168, 180/170, 342/70, 342/71, 342/72, 367/909, 367/112, 367/96, 367/97, 367/107
• US Class Current: 340/903
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/081 using distance control
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 19/48 by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• 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 2013/93274 on the side of the vehicles
• CPC Class Codes: G01S 5/0072 Transmission between mobile stations, e.g. anti-collision systems
• CPC Class Codes: G08G 1/164 Centralised systems, e.g. external to vehicles
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: Y10S 367/909 Collision avoidance

Abstract

A system for monitoring operation and location of a moving first vehicle relative to a second vehicle. A minimum separation distance between the first and second vehicles is estimated, based on the first vehicle velocity, and optionally on the second vehicle velocity, using location determination (LD) signals received from satellite-based transmitters from GPS, GLONASS and LEO satellites, or from ground-based signal sources such as LORAN signal towers, and using ranging signals from SONAR, RADAR or a similar system. The minimum separation distance is compared with the actual separation distance at selected times, and a vehicle driver is advised if the actual separation distance is too small, if the separation distance is decreasing too quickly, or if the second vehicle velocity is decreasing too quickly. The second vehicle may travel in the same traffic lane, in an adjacent lane, or on a road that intersects the road used by the first vehicle. Where the first and second vehicles travel on separate roads that will intersect, the system estimates whether the second vehicle will stop, or will be able to stop, at the intersection. The second vehicle may be a railroad car, such as a locomotive, or a road vehicle, such as an automobile, bus or truck. A maximum vehicle clear-view velocity, consistent with vehicle stopping within a selected distance, is estimated. Road conditions are estimated and compensated for in estimating the minimum separation distance and/or the maximum vehicle clear-view velocity.

Claims

1. A method of monitoring operation of a first vehicle relative to a second vehicle on a road, the method comprising the steps of:

estimating the location of a first vehicle and the location of a second vehicle, using location determination (LD) signals received from two or more LD signal sources and ranging signals received from a ranging signal source that provides at least one of relative velocity and a distance between the first and second vehicles;

estimating a first velocity component, denoted Δ

v_x, of the second vehicle relative to the first vehicle with reference to a first selected direction, and estimating a second velocity component, denoted Δ

v_y, of the second vehicle relative to the first vehicle in a second selected direction that differs from the first direction, using a range rate signal received from the ranging signal source;

determining whether the value of the first velocity component lies in a first value range, in a second value range or a third value range for the first direction, where the first, second and third value ranges are selected so that substantially no overlap occurs between any two of these ranges;

determining whether the value of the second velocity component lies in a first value range, in a second value range or a third value range for the second direction, where the first, second and third value ranges are selected so that substantially no overlap occurs between any two of these ranges; and

advising an operator of the first vehicle of a selected action to be taken by the first vehicle, if the first velocity component lies in a selected one of the first, second and third value ranges for the first direction, and the second velocity component lies in a selected one of the first, second and third value ranges for the second direction.

2. The method of claim 1, further comprising the steps of:

estimating a velocity component, denoted v_1x, of said first vehicle in said first direction; and

selecting said first value range, said second value range and said third value range for said first direction to be the respective approximate ranges Δ

v_x ≦

-v_1x, -v_1x <

Δ

v_x ≦

Δ

v_x,thr, and Δ

v_x,thr <

Δ

v_x, where Δ

v_x,thr is a selected threshold value for said first velocity component Δ

v_x of said second vehicle relative to said first vehicle.

3. The method of claim 2, further comprising the steps of choosing said selected one of said first, second and third value ranges for said first direction to be said second value range for said first direction.

4. The method of claim 1, further comprising the step of:

selecting said first value range, said second value range and said third value range for said second direction to be the respective approximate ranges Δ

v_x ≦

-Δ

v_1y,thr, -Δ

v_1y,thr <

Δ

v_y ≦

Δ

v_2y,thr, and Δ

v_2y,thr <

Δ

v_y, where Δ

v_1y,thr and Δ

v_2y,thr are selected non-negative threshold values for said second velocity component Δ

v_y of said second vehicle relative to said first vehicle.

5. The method of claim 4, further comprising the steps of choosing said selected one of said first, second and third value ranges for said second direction to be said second value range for said second direction.

6. A system for monitoring operation of a first vehicle relative to a second vehicle on a road, the system comprising:

a location determination (LD) module and a ranging signal source that provides at least one of relative velocity and a distance between first and second vehicles, carried on a first vehicle, that receives LD signals from at least two LD signal sources, estimates a present location of the first vehicle, estimates a present location of a second vehicle that precedes and moves in the same general direction as said first vehicle, and estimates a distance of separation d(t;

1;

2) between the first vehicle and the second vehicle;

a computer, connected to or a part of the LD module, that is programmed to;

estimate the location of a first vehicle and the location of a second vehicle, using information provided by the LD module and the ranging signal source;

estimate a first velocity component, denoted Δ

v_x, of the second vehicle relative to the first vehicle with reference to a first selected direction, and to estimate a second velocity component, denoted Δ

v_y, of the second vehicle relative to the first vehicle in a second selected direction that differs from the first direction, using a range rate signal received from a ranging signal source;

determine whether the value of the first velocity component lies in a first value range, a second value range or a third value range for the first direction, where the first, second and third value ranges are selected so that substantially no overlap occurs between any two of these ranges;

determine whether the value of the second velocity component lies in a first value range, in a second value range or a third value range for the second direction, where the first, second and third value ranges are selected so that substantially no overlap occurs between any two of these ranges; and

advise an operator of the first vehicle of a selected action to be taken by the first vehicle, if the first velocity component lies in a selected one of the first, second and third value ranges for the first direction, and the second velocity component lies in a selected one of the first, second and third value ranges for the second direction.

7. The system of claim 6, wherein said computer is further programmed to:

estimate a velocity component, denoted v_1x, of said first vehicle in said first direction; and

select said first value range, said second value range and said third value range for said first direction to be the respective approximate ranges Δ

v_x ≦

-v_1x, -v_1x <

Δ

v_x ≦

Δ

v_x,thr, and Δ

v_x,thr <

Δ

v_x, where Δ

v_x,thr is a selected threshold value for said first velocity component Δ

v_x of said second vehicle relative to said first vehicle.

8. The system of claim 7, wherein said computer chooses said selected one of said first, second and third value ranges for said first direction to be said second value range for said first direction.

9. The system of claim 6, wherein said computer selects said first value range, said second value range and said third value range for said second direction to be the respective approximate ranges Δ

v_x ≦

-Δ

v_1y,thr, -Δ

v_1y,thr <

Δ

v_y ≦

Δ

v_2y,thr, and Δ

v_2y,thr <

Δ

v_y, where Δ

v_1y,thr and Δ

v_2y,thr are selected non-negative threshold values for said second velocity component Δ

v_y of said second vehicle relative to said first vehicle.

10. The system of claim 9, wherein said computer chooses said selected one of said first, second and third value ranges for said second direction to be said second value range for said second direction.

11. The system of claim 6, wherein said first vehicle has a dashboard and at least one of said LD module, said ranging signal source, said computer and said display is installed in the first vehicle dashboard.