Methods and systems for avoiding a collision between an aircraft on a ground surface and an obstacle

• US 9,091,762 B2
• Filed: 10/27/2011
• Issued: 07/28/2015
• Est. Priority Date: 10/27/2011
• Status: Active Grant

• Current Assignee: Gulfstream Aerospace Corporation (General Dynamics Corporation)
• Original Assignee: Gulfstream Aerospace Corporation (General Dynamics Corporation)
• Inventors: Knight, Michael
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US13/283,398
• Publication Number:
  US 20130110323A1
• Time in Patent Office: 1,370 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: B64C 25/44 Actuating mechanisms
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: G01S 13/08 Systems for measuring distance only indirect measurement G01S13/46
• CPC Class Codes: G01S 13/93 for anti-collision purposes
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 13/934 on airport surfaces, e.g. while taxiing
• CPC Class Codes: G01S 15/08 Systems for measuring distance only indirect measurement G01S15/46
• CPC Class Codes: G01S 15/93 for anti-collision purposes
• CPC Class Codes: G01S 17/08 for measuring distance only indirect measurement G01S17/46; active triangulation systems G01S17/48
• CPC Class Codes: G01S 17/93 for anti-collision purposes
• CPC Class Codes: G01S 17/933 of aircraft or spacecraft
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2013/9324 Alternative operation using ultrasonic waves
• CPC Class Codes: G01S 7/24 the display being orientated or displaced in accordance with movement of object carrying the transmitting and receiving apparatus, e.g. true-motion radar
• CPC Class Codes: G01S 7/51 Display arrangements
• CPC Class Codes: G01S 7/56 Display arrangements short-range imaging G01S7/52053
• CPC Class Codes: G05D 1/0083 to help an aircraft pilot in the rolling phase
• CPC Class Codes: G05D 1/0202 specially adapted to aircraft
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G05D 1/0255 : using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0259 : using magnetic or electromagnetic means
• CPC Class Codes: G08G 5/0021 : located in the aircraft
• CPC Class Codes: G08G 5/04 : Anti-collision systems
• CPC Class Codes: G08G 5/065 : Navigation or guidance aids, e.g. for taxiing or rolling
• CPC Class Codes: H04N 7/181 : for receiving images from a plurality of remote sources

Abstract

The disclosed embodiments relate to methods and systems for avoiding a collision between an obstacle and a vehicle, such as an aircraft, on a ground surface. A processor receives a detection signal from one of a plurality of proximity sensors. The detection signal indicates that the obstacle has been detected. In response to receiving the detection signal, a video image signal is transmitted from the processor to a display in the cockpit of the aircraft. The video image signal corresponds to a particular video imager that is associated with the particular proximity sensor that detected the obstacle. A video image, of a particular region around the aircraft that includes the obstacle is displayed on a display. In response to receiving the detection signal, the processor can also transmit an alert signal, and a brake activation signal to activate a braking system to prevent the aircraft from colliding with the obstacle.

Claims

1. A method for avoiding a collision between an aircraft on a ground surface and an obstacle, the aircraft comprising a fuselage, wings, a vertical stabilizer and a horizontal stabilizer, the method comprising:

receiving, at a processor onboard an aircraft, a detection signal from one of a plurality of proximity sensors comprising first proximity sensors disposed on the wings of the aircraft and a second proximity sensor disposed on at least one of the vertical stabilizer or the horizontal stabilizer, wherein the detection signal indicates that the obstacle has been detected by a particular proximity sensor that transmitted the detection signal;

receiving, at the processor onboard the aircraft, a plurality of video image signals each being generated by a particular one of a plurality of video imagers each being disposed at various different locations on the aircraft and each being associated with at least one of the proximity sensors, wherein the video imagers comprise first video imagers disposed on the wings of the aircraft and a second video imager disposed on at least one of the vertical stabilizer or the horizontal stabilizer;

transmitting only one particular video image signal of the plurality of video image signals from the processor to a display in the cockpit of the aircraft in response to receiving the detection signal, wherein the one particular video image signal corresponds to a particular one of the video imagers that is associated with the particular proximity sensor that detected the obstacle;

displaying a video image on the display corresponding to the one particular video image signal, wherein the video image is of a particular region around the aircraft that includes the obstacle; and

transmitting, from the processor in response to receiving the detection signal, an alert signal to an element in a cockpit of the aircraft, and a brake activation signal to automatically activate a braking system to prevent the aircraft from colliding with the obstacle.

2. A method according to claim 1, further comprising:

continuously determining, at the processor when the aircraft is still moving below a threshold ground speed, whether a detection signal has been received from one of the proximity sensors.

3. A method according to claim 1, wherein the step of displaying a video image on the display corresponding to the video image signal, further comprises:

displaying an indicator to identify where the particular region that is being displayed in the video image is located is with respect to the aircraft.

4. A method according to claim 3, further comprising:

displaying, on a display in the cockpit, a representation of the aircraft along with a representation of the obstacle relative to the representation of the aircraft to provide an indication of the position of the obstacle relative to the aircraft.

5. A method according to claim 3, further comprising:

displaying, on a display in the cockpit, a representation of the aircraft, a representation of the particular video imager that is providing the video image that is being displayed with respect to the representation of the aircraft, a representation of the obstacle that provides a relative position of the obstacle with respect to the particular video imager, and an indication of a distance between the obstacle and the particular video imager that is providing the video image signal.

6. A method according to claim 1, wherein the braking system performs at least one of the following steps in response to the brake activation signal:

applying brakes to slow the ground speed of the aircraft in a controlled manner to prevent the aircraft from colliding with the obstacle;

or

applying the brakes to completely stop movement of the aircraft prior to reaching the obstacle and prevent the aircraft from colliding with the obstacle.

7. A method according to claim 1, the method further comprising the steps of:

determining a speed at which the aircraft and the obstacle are approaching each other;

determining, based on the speed, an estimated time until a collision will occur between the aircraft and the obstacle;

determining whether the estimated time is less than an activation time threshold; and

wherein the step of transmitting the brake activation signal, comprises;

transmitting a brake activation signal when the estimated time is less than the activation time threshold.

8. A method according to claim 7, wherein the step of determining a speed at which the aircraft and the obstacle are approaching each other, comprises the steps of:

determining a current distance between the obstacle and the aircraft based on the detection signal from the proximity sensor;

determining a direction of movement of the aircraft;

determining a ground speed of the aircraft; and

determining the speed at which the aircraft and the obstacle are approaching each other based on the current distance, the direction of movement and the ground speed.

9. A method according to claim 1, prior to the step of receiving, at a processor onboard an aircraft, a detection signal, further comprising the step of:

determining, at the processor, whether an aircraft is located on the ground surface and is moving below a threshold ground speed.

10. A method according to claim 9, when the processor determines that the aircraft is both on the ground surface and moving below the threshold ground speed, the method further comprising:

acquiring video images of various regions around the aircraft that correspond to each of the video imagers that are disposed along the aircraft; and

transmitting a second signal to enable a plurality of proximity sensors that are designed to detect obstacles in the vicinity of the aircraft.

11. A method according to claim 10, wherein the step of acquiring further comprises:

generating, at each of the video imagers, a video image signal.

12. A method according to claim 1, wherein the step of transmitting at least one alert signal, comprises:

transmitting at least one audio alert signal from the processor to an audio element in a cockpit of the aircraft, wherein the audio alert signal causes the audio element to generate an audible alert that comprises at least one of;

an alarm, a beeping sound, a siren sound, and a computerized voice that announces the particular region where the obstacle is present.

13. A collision avoidance system for an aircraft comprising a fuselage, wings, a vertical stabilizer and a horizontal stabilizer, the system comprising:

a plurality of proximity sensors mounted at a plurality of extremity portions of the aircraft, the plurality of proximity sensors comprising first proximity sensors disposed on the wings of the aircraft and a second proximity sensor disposed on at least one of the vertical stabilizer or the horizontal stabilizer, the proximity sensors each being configured to detect presence of obstacles in proximity to the aircraft, and to transmit a detection signal when an obstacle is detected;

a plurality of video imagers mounted at the plurality of extremity portions of the aircraft, each of the video imagers each being configured to acquire video images of different regions around the aircraft that correspond to that particular one of the video imagers and generate a video image signal corresponding to video images acquired by that particular video imager, wherein the video imagers comprise first video imagers disposed on the wings of the aircraft and a second video imager disposed on at least one of the vertical stabilizer or the horizontal stabilizer;

a first display in a cockpit of the aircraft; and

an onboard computer that is communicatively coupled to the plurality of proximity sensors and the plurality of video imagers, and operatively coupled to the first display, the onboard computer comprising;

a processor that is configured to;

receive a plurality of video image signals each being generated by a particular one of a plurality of video imagers each being disposed at various different locations on the aircraft and each being associated with at least one of the proximity sensors;

transmit, in response to receiving a detection signal from one of the plurality of proximity sensors, an alert signal to an element in the cockpit, and only one particular video image signal to the first display, wherein the one particular video image signal corresponds to a particular one of the video imagers that is associated with the particular proximity sensor that detected the obstacle,

wherein the first display is configured to display a video image corresponding to the one particular video image signal,

wherein the video image is of a particular region around the aircraft that includes the obstacle.

14. A system according to claim 13, further comprising:

a second display in the cockpit configured to display an indicator to identify where the particular region that is being displayed in the video image is located with respect to the aircraft.

15. A system according to claim 13, further comprising:

a second display in the cockpit configured to display a representation of the aircraft along with a representation of the obstacle relative to the representation of the aircraft to provide an indication of the position of the obstacle relative to the aircraft.

16. A system according to claim 15, wherein the second display is further configured to display a representation of the particular video imager, that is providing the video image that is being displayed, with respect to the representation of the aircraft, and a relative position of the obstacle with respect to the representation of the particular video imager that is providing the video image signal.

17. A system according to claim 13, wherein the processor is designed to confirm that the aircraft is on a ground surface and moving below a threshold ground speed prior to enabling the plurality of proximity sensors, wherein the plurality of proximity sensors are disabled when the processor determines that the aircraft is either (1) not on the ground surface, (2) is not moving or (3) is moving above a threshold ground speed.

18. A system according to claim 13, wherein the alert signal comprises an audio alert signal and the element comprises an audio element, wherein the audio alert signal causes the audio element to generate an audible alert that comprises at least one of:

an alarm, a beeping sound, a siren sound, and a computerized voice that announces the particular region where the obstacle is present.

19. A system according to claim 13, further comprising:

a braking system, operatively coupled to the onboard computer, and comprising brakes of the aircraft,

wherein the processor is further designed to transmit, in response to receiving the detection signal, a brake activation signal to activate the braking system to prevent the aircraft from colliding with the obstacle, wherein the brake activation signal causes the braking system to either;

apply brakes of the aircraft to slow the ground speed of the aircraft in a controlled manner to prevent the aircraft from colliding with the obstacle, or apply the brakes to completely stop movement of the aircraft prior to reaching the obstacle and prevent the aircraft from colliding with the obstacle.

20. A collision avoidance system for an aircraft comprising a fuselage, wings, a vertical stabilizer and a horizontal stabilizer, comprising:

a plurality of proximity sensors each being configured to detect presence of obstacles in proximity to the vehicle, and to transmit a detection signal when an obstacle is detected, the plurality of proximity sensors comprising first proximity sensors disposed on the wings of the aircraft and a second proximity sensor disposed on at least one of the vertical stabilizer or the horizontal stabilizer;

a plurality of video imagers each being configured to acquire video images of different regions around the vehicle that correspond to each of the video imagers and to generate a video image signal corresponding to the video images acquired by that particular video imager,. wherein the video imagers comprise first video imagers disposed on the wings of the aircraft and a second video imager disposed on at least one of the vertical stabilizer or the horizontal stabilizer;

a first display in a cockpit of the vehicle;

a braking system; and

an onboard computer, communicatively coupled to the plurality of proximity sensors and the plurality of video imagers, and operatively coupled to the braking system and the display, the onboard computer comprising;

a processor that is configured to;

receive a plurality of video image signals each being generated by a particular one of a plurality of video imagers each being disposed at various different locations on the aircraft and each being associated with at least one of the proximity sensors;

transmit, in response to receiving a detection signal from one of the plurality of proximity sensors;

an alert signal to an element in the cockpit;

only one particular video image signal to the first display, wherein the one particular video image signal corresponds to a particular one of the video imagers that is associated with the particular proximity sensor that detected the obstacle, wherein the first display is designed to display a video image corresponding to the one particular video image signal, wherein the video image is of a particular region around the vehicle that includes the obstacle; and

a brake activation signal to activate the braking system to prevent the vehicle from colliding with the obstacle.