Collision prevention device and method for a vehicle on the ground

• US 8,924,139 B2
• Filed: 06/05/2008
• Issued: 12/30/2014
• Est. Priority Date: 06/05/2007
• Status: Active Grant

• Current Assignee: Beijing Voyager Technology Co., Ltd.
• Original Assignee: Thales SA
• Inventors: LORIDO, Didier, LOUIS, Xavier, Marty, Nicolas
• Primary Examiner(s): Le, Michelle L
• Application Number:
  US12/133,537
• Publication Number:
  US 20080306691A1
• Time in Patent Office: 2,399 Days
• US Class Current: 701/301
• CPC Class Codes: G08G 5/0021 located in the aircraft
• CPC Class Codes: G08G 5/045 Navigation or guidance aids, e.g. determination of anti-collision manoeuvers radar or analogous systems specially adapted for anti-collision between aircraft G01S13/933
• CPC Class Codes: G08G 5/06 for control when on the ground
• CPC Class Codes: G08G 5/065 Navigation or guidance aids, e.g. for taxiing or rolling

Abstract

Described are a collision prevention device and a method for a vehicle in motion on the ground. The collision prevention device includes means for localizing obstacles; means for acquiring obstacle localization data; means for localizing the equipped vehicle; a collision prevention computer, and presentation means for presenting warnings to a driver of the equipped vehicle.

Claims

1. A collision prevention device for preventing collisions between a vehicle in motion on the ground, equipped with said collision prevention device, and obstacles, said device comprising:

a unit for localizing obstacles;

a unit for acquiring obstacle localization data;

a unit for localizing the equipped vehicle;

a collision prevention computer configured for;

consolidating the obstacle localization data from the unit for acquiring to output a weighted sum of the localization data for each of the obstacles localized;

taking into account a description of a configuration of the equipped vehicle and the localization of the equipped vehicle;

detecting proximity conflicts between the equipped vehicle and the localized obstacles based on the weighted sum of the localization data, the description of the configuration of the equipped vehicle and the localization of the equipped vehicle;

generating alerts in the case of proximity of the equipped vehicle and the localized obstacle, said alerts having various levels;

generating at least one conflict resolution guidance according to at least one of the determined levels for resolving each conflict detected; and

a presentation unit for presenting warnings to a driver of the equipped vehicle.

2. Device according to claim 1, further comprising a mapping database configured for storing topographical data used in the collision prevention computer.

3. Device according to claim 1, wherein the unit for localizing the equipped vehicle is configured for providing localization and kinematics information on the equipped vehicle to the collision prevention computer.

4. Device according to claim 1, wherein the description of the configuration of the equipped vehicle is a space-occupation circle of the vehicle, and a size of the space-occupation circle is based on a length and a width of the vehicle.

5. Device according to claim 1, further comprising a vehicle configuration database configured for storing the description of the configuration of the equipped vehicle.

6. Device according to claim 1, further comprising a braking and steering system implementing said conflict resolution guidance.

7. Device according to claim 1, wherein said collision prevention computer is configured for generating said various levels of the alerts which include a first level of alert that warns the driver of the vehicle that a first safety distance between the vehicle and an obstacle has been breached.

8. Device according to claim 7, wherein said collision prevention computer is configured for generating said various levels of the alerts which further include a second level of alert warns the driver of the vehicle that a second safety distance, smaller than the first safety distance, between the vehicle and an obstacle has been breached.

9. Device according to claim 8, wherein said collision prevention computer is configured for generating said various levels of the alerts which further include a third level of alert warns the driver of the vehicle to trigger an immediate action for avoiding an obstacle, the distance between the vehicle and the obstacle being less than a third safety distance, less than the second safety distance.

10. Device according to claim 8, wherein said collision prevention computer is configured for generating said various levels of the alerts which include a third level of alert warns the driver of the vehicle that the conflict resolution guidance is implemented by a braking and steering system, the distance between the vehicle and an obstacle being less than a third safety distance, less than the second safety distance.

11. Device according to claim 1, wherein the collision prevention computer is configured for generating a first conflict resolution guidance, with a low deceleration rate, proposing a first speed to the driver of the vehicle to be applied and to be maintained in order to comply with a first safety distance between the vehicle and an obstacle.

12. Device according to claim 11, wherein the collision prevention computer is configured for further generating a second guidance, with an intermediate deceleration rate, proposing a second speed to the driver of the vehicle to be applied and to be maintained in order to comply with a second safety distance, less than the first safety distance, between the vehicle and an obstacle.

13. Device according to claim 12, wherein the collision prevention computer is configured for further generating a third guidance, with a high deceleration rate, proposing a third speed to the driver of the vehicle to be immediately applied in order to ensure avoidance of an obstacle, the distance between the vehicle and the obstacle being less than a third safety distance, less than the second safety distance.

14. Device according to claim 12, wherein the collision prevention computer is configured for generating a third guidance, with high deceleration rate, implemented by a braking and steering system, the distance between the vehicle and an obstacle being less than a third safety distance, less than the second safety distance.

15. Device according to claim 1, wherein said unit for acquiring obstacle localization data is a traffic computer carrying out a data acquisition for the localization and identification of the obstacles, the localization and identification data originating from systems remote from the equipped vehicle.

16. Device according to claim 1, wherein said unit for acquiring obstacle localization data is a detection data management system.

17. Device according to claim 16, wherein the detection data management system is configured to identify the obstacles detected.

18. Device according to claim 16, wherein the unit for localizing the equipped vehicle is radar.

19. Device according to claim 18, wherein the radar is distributed over the equipped vehicle.

20. Device according to claim 2, wherein the presentation unit is configured for displaying the obstacles, the proximity conflicts, the topographical data, the alerts, the conflict resolution guidance and a representation of the vehicle.

21. Device according to claim 16, wherein the presentation unit is configured for displaying an indication of the type of data having allowed the identification of the obstacle, the type of data being:

data coming from a detection data management system;

data coming from a traffic computer;

data coming from a management system for detection data combined with data coming from a traffic computer.

22. Device according to claim 1, wherein, the presentation unit is configured for displaying information on the inter-distance between the vehicle and an obstacle detected.

23. Device according to claim 1, wherein the presentation unit is configured for displaying information on the variation with time of the inter-distance between the vehicle and an obstacle.

24. Device according to claim 1, wherein the vehicle is an aircraft moving over an airport surface.

25. Device according to claim 1, wherein the aircraft is a pilotless aircraft.

26. Device according to claim 1, wherein a system remote from the vehicle is a TCAS, acronym for Traffic Collision Avoidance System.

27. Device according to claim 1, wherein a system remote from the vehicle is an ADS-B system, acronym for Automatic Dependant Surveillance Broadcast.

28. Device according to claim 1, wherein a system remote from the vehicle is a TIS-B system, acronym for Traffic Information Service Broadcast.

29. A collision prevention method for a vehicle in motion on the ground, said vehicle equipped with a collision prevention device, said method implemented by the collision prevention device and comprising at least the following steps:

acquiring obstacle localization data;

consolidating the obstacle localization data to output a weighted sum, calculated by the collision prevention device, of the localization data for each of the obstacles localized;

detecting, by the collision prevention device, conflicts between the localized obstacles and the vehicle based on the weighted sum of the localization data and a geometrical description of the vehicle;

generating alerts in the case of a conflict being detected, said alerts having various levels;

generating a conflict resolution guidance upon generation of at least one of the levels; and

presenting warnings to a driver of the equipped vehicle.

30. Method according to claim 29, further comprising a step of acquiring identification information on the localized obstacles.

31. Method according to claim 29, wherein the conflict detection takes into account localization and kinematics information on the vehicle.

32. Method according to claim 29, comprising a step of automating conflict resolution guidance implementing a braking and steering system for the vehicle.

33. Method according to claim 29, further comprising a step of providing the localization data from a traffic computer.

34. Method according to claim 29, further comprising a step of providing the localization data from an obstacle detection data management system.

35. Method according to claim 34, further comprising a step of providing the obstacle detection data from at least one radar system positioned on the equipped vehicle.

36. Method according to claim 33, further comprising taking into account localization data by the traffic computer from the following systems:

TCAS, acronym for Traffic Collision Avoidance System;

ADS-B, acronym for Automatic Dependant Surveillance Broadcast;

TIS-B, acronym for Traffic Information Service Broadcast.

37. Method according to claim 29, wherein the conflict detection step takes into account topographical data stored in a mapping database.

38. Method according to claim 34, wherein a geometrical description of the vehicle is a space-occupation circle for the vehicle, a size of the space-occupation circle is based on a length and a width of the vehicle, and the space-occupation circle is stored in a configuration database for the vehicle.

39. Method according to claim 34, wherein the weighted sum of the localization data is provided from the traffic computer and the detection data management system.

40. Method according to claim 39, wherein the weighted sum is of the form:

P_MIX=C×

P₁+(1−

C)×

P₂

where P_MIX is a localization data value resulting from the weighted sum of a value P₁ of the localization data coming from the detection data management system and of a value P₂ of the localization data coming from the traffic computer, C being a weighting criterion.

41. Method according to claim 40, wherein the weighting criterion C is obtained according to the equation:

42. Method according to claim 41, wherein:

a first parameter C₁ is a distance measured between the equipped vehicle and a localized obstacle;

a second parameter C₂ is a speed of approach between the equipped vehicle and the localized obstacle;

a third parameter C₃ is a distance between the equipped vehicle and the localized obstacle, measured on elements of the airport, described by data on the topography over which the equipped vehicle is in motion.

43. Method according to claim 29, wherein the conflict detection step constructs at least one safety envelope as a function of:

settable safety margins around the vehicle, the geometrical description of the vehicle, a speed of the vehicle, and a direction of travel of the vehicle, the safety envelope being deformed according to the variation in the speed of the vehicle and the variation in the direction of travel of the vehicle.

44. Method according to claim 29, wherein a first level of alert warns the driver of the vehicle that a first safety distance between the vehicle and an obstacle has been breached.

45. Method according to claim 44, wherein a second level of alert warns the driver of the vehicle that a second safety distance, less than the first safety distance, between the vehicle and an obstacle has been breached.

46. Method according to claim 45, wherein a third level of alert warns the driver of the vehicle to trigger an immediate action in order to avoid an obstacle, the distance between the vehicle and the obstacle being less than a third safety distance, less than the second safety distance.

47. Method according to claim 45, wherein a third level of alert warns the driver of the vehicle that a conflict resolution guidance is implemented by a braking and steering system, the distance between the vehicle and an obstacle being less than a third safety distance, less than the second safety distance.

48. Method according to claim 29, wherein a first conflict resolution guidance, with low deceleration rate, proposes a first speed to the driver of the vehicle to be applied and to be maintained in order to comply with a first safety distance between the vehicle and an obstacle.

49. Method according to claim 48, wherein a second guidance, with intermediate deceleration rate, proposes a second speed to the driver of the vehicle to be applied and to be maintained in order to comply with a second safety distance, less than the first safety distance, between the vehicle and an obstacle.

50. Method according to claim 49, wherein a third guidance, with high deceleration rate, proposes a third speed to the driver of the vehicle to be immediately applied in order to ensure the avoidance of an obstacle, the distance between the vehicle and the obstacle being less than a third safety distance, less than the second safety distance.

51. Method according to claim 49, wherein a third guidance, with high deceleration rate, is implemented by the braking and steering system, the distance between the vehicle and an obstacle being less than a third safety distance, less than the second safety distance.

52. Method according to claim 29, comprising a situation presentation step, the situation comprising the localized obstacles, the representation of the vehicle, one or more safety envelopes of the vehicle, the topographical data, the alerts and the conflict resolution guidance.

53. Method according to claim 29, wherein each obstacle is displayed with information on the type of data having enabled the obstacle to be localized, the type of data being:

data coming from a detection data management system;

data coming from a traffic computer;

data coming from a detection data management system combined with data coming from a traffic computer.

54. Method according to claim 29, wherein each obstacle is displayed with information on the inter-distance between the vehicle and the obstacle.

55. Method according to claim 29, wherein each information on the inter-distance between the vehicle and an obstacle is shown with information on the variation with time of the inter-distance.

56. Method according to claim 29, wherein the vehicle is an aircraft moving over an airport surface.

57. Method according to claim 29, wherein the aircraft is a pilotless aircraft.