GPS/IMU/video/radar absolute/relative positioning communication/computation sensor platform for automotive safety applications

• US 8,639,426 B2
• Filed: 07/15/2011
• Issued: 01/28/2014
• Est. Priority Date: 07/15/2010
• Status: Active Grant

• Current Assignee: Aurora Operations Incorporated (Aurora Innovation, Inc.)
• Original Assignee: George C. Dedes, Kyriakos C. Mouskos
• Inventors: Mouskos, Kyriakos C, Dedes, George C
• Primary Examiner(s): CHEUNG, CALVIN K
• Application Number:
  US13/135,862
• Publication Number:
  US 20120290146A1
• Time in Patent Office: 928 Days
• Field of Search: 701/65, 701117-119, 701/423
• US Class Current: 701/65
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2210/36 Global Positioning System [GPS]
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments
• 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: G08G 1/163 involving continuous checking
• CPC Class Codes: G08G 1/164 Centralised systems, e.g. external to vehicles

Abstract

A GPS/IMU safety sensor platform is proposed, consisting of data fusion Processors, GNSS Signal Acquisition and Tracking Processors, MEMS IMU sensors, one or multiple accelerometers able to provide orientation information, optional V2V communication modules, and optional V2I communication modules. The data fusion processors provide interface ports to GNSS/IMU processors, odometers, video (Visual/Infrared) cameras installed in the vehicle, V2V relative positioning sensors (laser, radar or any other distance measuring), and V2V and V2I communication modules. The data fusion processors are interfaced to a driver warning system and optionally to the vehicle controls for providing safety warning messages to drivers, or for automatic control the vehicle for preventing and reducing accidents.

Claims

1. An automotive safety system comprising:

a central data fusing processor;

a Vehicle-2-Vehicle (V2V) communication module;

a Vehicle-2-Infrastructure (V2I) communication module;

vehicle controls on a host vehicle;

a GNSS signal tracking and acquisition device;

an Inertial Measurement Unit (IMU) sensor; and

a GNSS/IMU integration processor configured to receive data from the GNSS signal tracking and acquisition device and the Inertial Measurement Unit (IMU) sensor and transmit integrated data to the central data fusing processor;

wherein the host vehicle and at least one other vehicle is part of a network and the central data fusing processor is configured to optimally combine at least two of other vehicle Inertial Measurement Unit (IMU) measurements, other vehicle radar measurements, other vehicle image measurements, other vehicle compass measurements, other vehicle inclinometer measurements, and other vehicle sensor measurements are to compute relative position and relative orientation of the host vehicle with respect to other vehicles in the network.

2. The system of claim 1, further comprising at least one of an accelerometer, a radar, a video camera, a compass, an inclinometer, or an odometer.

3. The system of claim 1, wherein the host vehicle is part of a network and the V2V communication module and the V2I communication module facilitate reception of GNSS carrier phase and pseudo range measurements as well as orientation and acceleration information from other vehicles in the network.

4. The system of claim 1, wherein the host vehicle is part of a network and the V2V communication module and the V2I communication module facilitate reception of measurements from positioning sensors in other vehicles in the network.

5. The system of claim 1, wherein the IMU sensor is one or more accelerometers distributed over the host vehicle.

6. The system of claim 1, wherein the central data fusing processor is configured to issue automated commands for avoiding impending accidents to the vehicle controls.

7. The system of claim 1, wherein the central data fusing processor is configured to issue warning messages to host vehicle audio and display devices.

8. The system of claim 1, wherein the host vehicle is part of a network and the central data fusing processor, the V2V communication module, and the V2I communication module are configured to issue one or more warnings to other vehicles in the network.

9. The system of claim 1, wherein the host vehicle is part of a network and the central fusing data processor is configured to store, in a permanent storage device, the host vehicle and other network vehicle positioning measurement information for post-mortem analysis.

10. The system of claim 1, wherein the central data fusing processor comprises any combination of multi/Single-core of GPPs, DSPs, FPGAS, CPUs, or other ICs for specific product line applications.

11. The system of claim 1, wherein the central data fusing processor resides inside a remote server located within an Internet cloud infrastructure.

12. The system of claim 1, wherein the GNSS Signal/Tracking and acquisition device can be any combination of GPPs, DSPs, CPUs, FPGAs, ASICs, or ICs specifically designed for GNSS acquisition and tracking.

13. The system of claim 1, wherein the host vehicle is part of a network and the central data fusing processor is configured to estimate position and orientation of the host vehicle and relative position and orientation of the host vehicle with respect to other vehicles in the network.

14. The system of claim 1, wherein the central data fusing processor is configured to optimally combine at least two of host vehicle GNSS measurements, host vehicle Inertial Measurement Unit (INU) measurements, host vehicle accelerometer measurements, host vehicle radar measurements, host vehicle video data, host vehicle compass measurements, and host vehicle inclinometer measurements to improve position and orientation estimation of the host vehicle.

15. The system of claim 1, wherein the host vehicle is part of a network and the central data fusing processor is configured to optimally combine GNSS measurements from other vehicles in the network with corresponding measurements of the host vehicle to estimate relative position of the host vehicle with respect to other vehicles in the network.

16. The system of claim 1, wherein the central data fusing processor is configured to optimally combine position and orientation information of the host vehicle with vehicle dynamics theory for different types of vehicles to estimate impending accidents and issue warnings to a driver of the host vehicle or automatically invoke the host vehicle controls in order to avoid accidents.

17. The system of claim 1, wherein the host vehicle and other vehicles are part of a network and the central data fusing processor is configured to optimally combine the relative position, speed and orientation of the host vehicle with respect to other vehicles in the network with vehicle dynamics theory for different type of vehicles to compute the real-time trajectories of the host vehicle and other vehicles in the network and predict impending accidents.

18. The system of claim 1, wherein the central data fusing processor is configured to make predictions of impending accidents, issue warning messages to a driver of the host vehicle, and issue commands automatically to the vehicle controls to avoid impending accidents for which the driver has not enough time to respond.