Anti-collision system and method using message formats containing distances

• US 8,922,391 B2
• Filed: 10/02/2012
• Issued: 12/30/2014
• Est. Priority Date: 04/24/2012
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Zetta Research and Development LLC - FORC Series
• Inventors: Rubin, Kim T, Betts-Lacroix, Jonathan
• Primary Examiner(s): TRIEU, VAN THANH
• Application Number:
  US13/633,657
• Publication Number:
  US 20130278440A1
• Time in Patent Office: 819 Days
• Field of Search: 340901-903, 340/436, 340/435, 370/252, 370/337, 370/445, 701/45, 701/46, 701/117, 701/122, 701/527, 705/4, 731/78.R
• US Class Current: 340/903
• CPC Class Codes: B60R 2325/205 Mobile phones
• CPC Class Codes: B60R 25/33 of global position, e.g. by providing GPS coordinates
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G01C 21/3658 Lane guidance
• CPC Class Codes: G01C 21/3822 Road feature data, e.g. slope data
• CPC Class Codes: G01S 5/0027 of actual mobile position, i.e. position determined on mobile
• CPC Class Codes: G08G 1/09 Arrangements for giving variable traffic instructions railroad crossing signals B61L; reflectors E01F, G08B; indicating arrangements for variable information by selection or combination of individual elements G09F9/00
• CPC Class Codes: G08G 1/096791 where the origin of the information is another vehicle
• CPC Class Codes: G08G 1/0969 having a display in the form of a map
• CPC Class Codes: G08G 1/142 external to the vehicles
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: G08G 1/163 involving continuous checking
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• CPC Class Codes: G08G 1/20 : Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
• CPC Class Codes: G08G 9/02 : Anti-collision systems
• CPC Class Codes: H04J 3/1694 : Allocation of channels in TDM/TDMA networks, e.g. distributed multiplexers Passive Optical Networks H04Q11/0062
• CPC Class Codes: H04L 5/0091 : Signaling for the administration of the divided path
• CPC Class Codes: H04W 4/027 : using movement velocity, acceleration information
• CPC Class Codes: H04W 4/06 : Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
• CPC Class Codes: H04W 4/46 : for vehicle-to-vehicle communication [V2V]
• CPC Class Codes: H04W 4/48 : for in-vehicle communication
• CPC Class Codes: H04W 56/0035 : detecting errors in frequency or phase
• CPC Class Codes: H04W 64/006 : with additional information processing, e.g. for direction or speed determination
• CPC Class Codes: H04W 72/0446 : Resources in time domain, e.g. slots or frames
• CPC Class Codes: H04W 72/30 : Resource management for broadcast services
• CPC Class Codes: H04W 74/0816 : with collision avoidance
• CPC Class Codes: H04W 76/14 : Direct-mode setup
• CPC Class Codes: H04W 76/40 : for selective distribution or broadcast

Abstract

Device, system and method of implementing a wireless vehicle-to-vehicle anti-collision system. Details of message formats are described, particularly efficient formats using flags and compressed data, expressing distances, both in the horizontal and vertical directions. Details of protocols are described. Details of encoding locations, headings and speed are described. In one embodiment messages are free of IP addresses and MAC addresses. Roadway elevation is included in some embodiments.

Claims

1. A vehicle-to-vehicle (V2V) communication system of claim comprising:

a V2V transmitter configured to operate in a transmitting vehicle;

wherein the V2V transmitter is configured to accept as input subject vehicle position and subject vehicle heading;

wherein the V2V transmitter broadcasts V2V messages comprising;

(i) the subject vehicle position;

(ii) the subject vehicle heading;

(iii) subject vehicle speed;

V2V messages further comprise a message header and one or more sub-messages.

2. The vehicle-to-vehicle (V2V) communication system of claim 1 wherein:

V2V messages further comprise;

(i) a flag field;

(ii) a message size field; and

(iii) a frame check sequence field.

3. The vehicle-to-vehicle (V2V) communication system of claim 1 wherein:

the V2V messages further comprise a flag field comprised of;

(i) an emergency bit;

(ii) a final bit;

(iii) a forward bit; and

(iv) a proxy bit;

wherein the emergency bit indicates the transmitting vehicle is an emergency response vehicle;

wherein the final bit indicates that this message is the last message of a related message group;

wherein the forward bit indicates that this message is being transmitted by a V2V transmitter other than the originator of the primary data of the message;

wherein the proxy bit indicates that vehicle position information contained in this message is for a vehicle other than the vehicle containing the V2V transmitter that is transmitting the message.

4. The vehicle-to-vehicle (V2V) communication system of claim 1 further comprising:

a V2V sub-message comprises a sub-message type field wherein the sub-message type field identifies the length of the sub-message.

5. The vehicle-to-vehicle (V2V) communication system of claim 1 further comprising:

at least one V2V sub-message type comprises;

(i) a vehicle location field along a first axis;

(ii) a vehicle location field along a second axis;

(iii) an angle of travel field; and

(iv) a vehicle speed field.

6. The vehicle-to-vehicle (V2V) communication system of claim 5 further comprising:

the vehicle location field along a first axis further comprises a distance from a nearest point on a geographical grid wherein the geographical grid comprises points on the earth at regular intervals of both latitude and longitude.

7. The vehicle-to-vehicle (V2V) communication system of claim 6 further comprising:

the geographical grid comprises points that are integer multiples of 0.5°

latitude and 0.5°

longitude.

8. The vehicle-to-vehicle (V2V) communication system of claim 5 further comprising:

the vehicle speed is asymmetric wherein the maximum negative speed supported by the field is less than the maximum positive speed supported by the field.

9. The vehicle-to-vehicle (V2V) communication system of claim 5 further comprising:

the vehicle speed fields are 24-bit signed integers where the integer represents the number of centimeters from one of a set of predetermined geographical points;

the angle of travel field is 10 bits, dividing a 360°

compass heading into 1024 equal portions;

the vehicle speed field is an unsigned 10-bit integer in units of 0.1 meters/second, with an offset of −

10.0 m/s.

10. The vehicle-to-vehicle (V2V) communication system of claim 1 further comprising:

at least one V2V sub-message type comprises;

(i) a risk value;

(ii) a vehicle type; and

(iii) a collision type.

11. A method of encoding vehicle location comprising the steps of:

determining a closest point on geographical grid, the “

grid point;

”

determining a subject vehicle geolocation;

computing a first distance difference along a first axis between the grid point and the subject vehicle geolocation;

computing a second distance difference along a second axis between the grid point and the subject vehicle geolocation;

placing the first distance difference and the second distance difference in to a vehicle-to-vehicle communication message.

12. The method of encoding vehicle location of claim 11 comprising the additional steps of:

determining a closest point in a predetermined elevation table, the “

elevation basis;

”

determining a subject vehicle elevation;

computing an elevation difference between the elevation basis and the subject vehicle elevation;

placing the elevation difference in the vehicle-to-vehicle communication message.

13. A V2V transceiver comprising:

a V2V transmit module;

a V2V location module;

a V2V elevation module;

a V2V computation module comprising non-transitory memory operatively connected to the V2V transmit module, the V2V location module, and the V2V elevation module;

wherein the V2V transmitter operates in a transmitting vehicle;

wherein the V2V transceiver accepts a subject vehicle position from the V2V location module;

wherein the V2V transceiver accepts a subject vehicle elevation from the V2V elevation module;

wherein the V2V transmitter broadcasts a V2V message comprising;

(i) the subject vehicle position;

(ii) the subject vehicle elevation.