Vehicle navigation, collision avoidance and control system

• US 7,317,987 B2
• Filed: 03/21/2003
• Issued: 01/08/2008
• Est. Priority Date: 03/22/2002
• Status: Expired due to Fees

• Current Assignee: Ibrahim Nahla
• Original Assignee: Ibrahim Nahla
• Inventors: Nahla, Ibrahim
• Primary Examiner(s): Camby, Richard M.
• Application Number:
  US10/508,582
• Publication Number:
  US 20050107954A1
• Time in Patent Office: 1,754 Days
• Field of Search: 701/1, 701/36, 701/19, 701207-213, 701/300, 701/301, 246 2 R- 14
• US Class Current: 701/301
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B61L 15/0072 On-board train data handling
• CPC Class Codes: B61L 2205/04 Satellite based navigation systems, e.g. global positioning system [GPS]
• CPC Class Codes: B61L 25/021 Measuring and recording of train speed
• CPC Class Codes: B61L 25/023 Determination of driving direction of vehicle or train
• CPC Class Codes: B61L 25/025 Absolute localisation, e.g. providing geodetic coordinates
• CPC Class Codes: B61L 27/20 Trackside control of safe travel of vehicle or train, e.g. braking curve calculation
• CPC Class Codes: G08G 1/164 Centralised systems, e.g. external to vehicles

Abstract

A collision warning and avoidance system which comprising an integrated on-board Train Navigation Unit (3) and a GPS Interface Subsystem to locate a train. The system includes a GPS (2) location signal, at least one fixed transponder station (31) and a calibrated, rectified transponder identification subsystem for scanning the track based transponders for override of train controls in the event of a collision risk and further comprising a database of all transponders, their location and the track ID on which they are located. Data and information are computer processed and analysed in neural networks in one train to identify, rank, and evaluate collision hazards.

Claims

1. A computer controlled train collision avoidance and warning system;

the system comprising;

at least one satellite in communication with at least one Global Positioning System device providing a first communication link between the at least one satellite to determine a location of at least a first train;

a second communications link allowing communications between at least one fixed station and at least a first said train;

wherein said second communications link provides continual communications between said at least one fixed station and at least one of a potentially unlimited number of other trains;

wherein, said first communications link provides a location of any one said trains and said second communications link provides a location of one train relative to at least one other train via processing means in each said at least one train;

wherein, each said fixed stations are located at a known position on a rail track and at a predetermined distance from each other;

wherein, each said fixed station includes a transponder which emits a range signal to said processing means in each train for track identification; and

wherein each fixed transponder station further emits correction signals for correcting errors in Global Positioning System signals from said first communications link to enable determination of exact track separation of trains on a track network allowing for respective train lengths and track curvature.

2. A system according to claim 1 wherein said correction signals allow further correction measurements for improving the accuracy of the Global Positioning System ranging signals.

3. A system according to claim 2 wherein the processing means comprises a train navigation unit.

4. A system according to claim 3 further comprising in association with said train navigation unit a main control unit.

5. A system according to claim 4 wherein the train navigation unit communicates with said main control unit to enable a comparison between train location data received via said first communication link and train location data received from said second communications link.

6. A system according to claim 5 further comprising a central controller for remote monitoring of said system.

7. A system according to claim 6 wherein, each said at least one satellite communicates with a train based Global Positioning System or a Global Positioning System associated with said central controller.

8. A system according to claim 7 wherein path identification is computer processed in conjunction with said controller to continuously determine a kinematic tracking of a train for position identification.

9. A system according to claim 8 wherein a tracked position of one train is communicated to or received by at least one other train in real time to allow each said trains to determine a distance of separation from at least one other train.

10. A system according to claim 9 wherein there is a network of satellites which transmit continually to a Global Positioning System for allowing a determination of a position of a train on a rail track.

11. A system according to claim 10 wherein range signals from each said transponder allow determination of a first train position relative to another train for determination of a collision hazard.

12. A system according to claim 11 wherein, in the event of a collision hazard a response control signal is generated for actuating an override control mechanism, which communicates with train controls, to stop the trains short of a collision.

13. A system according to claim 12 wherein the processing of said location information of each said trains is provided by a neural network which identifies and evaluates each potential collision hazard of one train relative to another train.

14. A system according to claim 13 wherein said train navigation units provide real-time logging of train characteristics.

15. A system according to claim 14, further comprising means for determining train location, length, velocity, speed relative to at least one other train.

16. A system according to claim 15, further comprising alert means for alerting an operator of one train at one location to the presence of at least one other train at another location.

17. A system according to claim 16 wherein the potential energy of a train in said network is determined by reference to the formula:

$\begin{array}{c}P.E.=\left(\mathrm{xEOB}\right)+\mathrm{Fb}<br><br>\left(\mathrm{xEOB}-x\right)=\frac{1}{2}<br><br>m<br><br><br><br>v^2<br><br>\left(x\right)+P.E.\left(x\right)\\ \mathrm{where}\\ \mathrm{Fb}<br><br><br><br>\mathrm{is}<br><br><br><br>a<br><br><br><br>\mathrm{braking}<br><br><br><br>\mathrm{force}<br><br><br><br>\mathrm{assumed}<br><br><br><br>\mathrm{constant}<br><br><br><br>\mathrm{at}<br><br><br><br>\mathrm{full}<br><br><br><br>\mathrm{service}<br><br><br><br>\mathrm{application},\\ M<br><br><br><br>\mathrm{is}<br><br><br><br>\mathrm{total}<br><br><br><br>\mathrm{train}<br><br><br><br>\mathrm{mass},\\ V<br><br><br><br>\mathrm{is}<br><br><br><br>\mathrm{velocity}<br><br><br><br>\mathrm{at}<br><br><br><br>\mathrm{start}<br><br><br><br>\mathrm{of}<br><br><br><br>\mathrm{braking},\\ P.E.<br><br>\mathrm{is}<br><br><br><br>\mathrm{the}<br><br><br><br>\mathrm{potential}<br><br><br><br>\mathrm{energy}<br><br><br><br>\mathrm{of}<br><br><br><br>\mathrm{the}<br><br><br><br>\mathrm{train}=\underset{n}{\sum <br><br>}<br><br>w_n<br><br>h_n,\mathrm{and}\\ n<br><br><br><br>\mathrm{is}<br><br><br><br>\mathrm{the}<br><br><br><br>\mathrm{number}<br><br><br><br>\mathrm{of}<br><br><br><br>\mathrm{cars}<br><br><br><br>\mathrm{and}<br><br><br><br>\mathrm{locomotives}.\end{array}$

18. A system according to claim 17 wherein the calculated potential energy determines quantum of braking effort to avoid a collision.

19. A system according to claim 1 further comprising a train Global Positioning System radio assembly including a Global Positioning System interface sub system and a train navigation unit subsystem;

wherein both said subsystems are in communication with a transceiver.

20. A system according to claim 19 further comprising:

an override control including;

a signal input,

a detection signal analysis means;

a data source; and

a logic associative memory in communication with a control signal generator, wherein said control signal generator is capable of emitting a signal responsive to input data to override train controls to effect braking in the event of a collision risk.

21. A system according to claim 20 wherein a central controller is capable of monitoring train locations over a range of approximately 600 kms.

22. A computer controlled train collision avoidance and warning system;

the system comprising;

at least one satellite in communication with at least one Global Positioning System device providing a first communication link between the at least one satellite to determine a location of at least a first train;

a second communications link allowing communications between at least one fixed station and at least a first said train;

wherein said second communications link provides continual communications between said at least one fixed transponder station and at least one of a potentially unlimited number of other trains;

wherein, said first communications link provides a location of any one said trains and said second communications link provides a location of one train relative to at least one other train via processing means in each said at least one train;

wherein said second communications link provides continual communications between said at least one fixed transponder station and at least one of a potentially unlimited number of other trains;

wherein, said first communications link provides a location of any one said trains and said second communications link allows determination of a location of one train relative to at least one other train; and

wherein each fixed transponder station further emits correction signals for correcting errors in Global Positioning System signals from said first communications link to enable determination of exact track separation of trains on a track network, allowing for respective train lengths and track curvature,

wherein the system further comprises;

a signal input,

a detection signal analysis means;

a data source; and

a logic associative memory in communication with a control signal generator, wherein said control signal generator is capable of emitting a signal responsive to input data to override train controls to effect braking in the event of a collision risk.

23. A system according to claim 22 further comprising a central controller capable of communication with at least one said satellites to monitor train location and to issue a warning in the event of a collision risk.

24. A system according to claim 23 wherein the central controller is capable of monitoring train locations over a range of approximately 600 kms.

25. A method of preventing train collisions comprising;

a computer controlled train collision avoidance and warning system;

the system comprising;

at least one satellite in communication with at least one Global Positioning System device providing a first communication link between the at least one satellite to determine a location of at least a first train;

a second communications link allowing communications between at least one fixed station and at least a first said train;

wherein said second communications link provides continual communications between said at least one fixed station and at least one of a potentially unlimited number of other trains;

wherein, said first communications link provides a location of any one said trains and said second communications link provides a location of one train relative to at least one other train via processing means in each said at least one train;

and wherein each fixed transponder-station further emits correction signals for correcting errors in Global Positioning System signals from said first communications link to enable determination of exact track separation of trains on a track network allowing for respective train lengths and track curvature,

the method comprising the steps of;

a) using the first communication link to provide a location of a first train;

b) activating a Global Positioning System radio system including a Global Positioning System interface and a communication subsystem;

c) placing train track identification means at predetermined track locations to provide signals of track identification to vehicles;

d) receiving input data relating to train operation and environment parameters;

e) analyzing said data via a logic associative memory to determine a collision risk between at least two trains;

f) activating an override signal responsive to a collision risk in the event that one train is on a collision course with another train;

g) locating at each said fixed station, transponders on the train track at a known position and at a predetermined distance from each other;

h) allowing each transponder to emit a range signal for track identification; and

i) allowing the fixed station to emits correction signals for correcting errors in Global Positioning System ranging signals from said first communications link.

26. A method according to claim 25 wherein said correction signals allow further correction measurements for improving the accuracy of the Global Positioning System ranging signals.

27. A method according to claim 26 comprising the further step of communicating a tracked position of one train for receipt by at least one other train in real time to allow each said trains to determine a distance of separation from at least one other train.

28. A method according to claim 27 comprising the further step of providing a central controller for monitoring train locations and capable of transmitting an override signal to prevent a collision.

29. A method according to claim 28 comprising the further step of processing positions of each said trains received and/or transmitted to each said train via a neural network.

30. A method according to claim 29 wherein said neural network identifies and evaluates each potential collision hazard of one train relative to another train.

31. A method according to claim 30 comprising the further step of allowing transponder range signals to allow determination via said neural network in a logic associative memory of a first train position relative to another train for determination of a collision hazard.

32. A method according to claim 31 wherein, in the event of a collision hazard a response control signal is generated for actuating an override control mechanism, which communicates with train controls, to stop the trains short of a collision.

34. A method according to claim 32 comprising an additional step of real-time logging of train characteristics to record the last several minutes of driving action to thereby enable reconstruction of events leading up to a collision.

35. A method according to claim 34 comprising the further step of providing a train navigation unit which provides remote train control override for a train controller to stop at least one train in the event of a collision risk.

33. A method for operating a collision warning and avoidance system comprising the steps of:

a) providing a network of satellites capable of continuous communications via a first communications link with one or more of a plurality of trains;

b) ranging signals for initially accurately determining a train position on a rail track,

c) receiving continuously a signal at each said train via a second communication link from one of a plurality of transponder stations having a known fixed position on the surface of the track;

d) allowing each fixed transponder station to further emit correction signals for correcting errors in Global Positioning System signals from said first communications link to enable determination of exact track separation of trains on a track network allowing for respective train lengths and track curvature; and

e) determining in a logic associative memory a response which generates control signals, that actuate an override control mechanism, that influences train controls to stop the trains short of a collision in the event of a detected collision risk.

36. A method of preventing train collisions comprising;

a computer controlled collision avoidance and warning system;

the system comprising;

at least one satellite in communication with at least one Global Positioning System device providing a first communication link between the at least one satellite to determine a location of at least a first train;

a second communications link allowing communications between at least one fixed transponder station and at least a first said train;

wherein said second communications link provides continual communications between said at least one fixed transponder station and at least one of a potentially unlimited number of other trains;

wherein, said first communications link provides a location of any one said trains and said second communications link provides a location of one train relative to at least one other train via processing means in each said at least one train;

and wherein each fixed transponder station further emits correction signals for correcting errors in Global Positioning System signals from said first communications link to enable determination of exact track separation of trains on a track network allowing for respective train lengths and track curvature;

the method comprising the steps of;

a) activating a Global Positioning System radio system including a Global Positioning System interface and a communication subsystem;

b) using the first communication link to provide a location of each one of a plurality of trains;

c) placing track identification means at predetermined track locations to provide signals of track identification to vehicles;

d) receiving at a main control unit input data relating to train operation and environment parameters

e) analyzing said data via a logic associative memory to determine a collision risk between at least two trains; and

f) activating an override signal responsive to a collision risk in the event that one train is on a collision course with another train.