Method and apparatus for automobile accident reduction using localized dynamic swarming

• US 9,187,118 B2
• Filed: 12/30/2011
• Issued: 11/17/2015
• Est. Priority Date: 12/30/2011
• Status: Active Grant

• Current Assignee: Unnikrishna Sreedharan Pillai
• Original Assignee: C & P Technologies Inc.
• Inventors: Pillai, Unnikrishna Sreedharan
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): ALSOMIRI, MAJDI A
• Application Number:
  US13/340,788
• Publication Number:
  US 20130173114A1
• Time in Patent Office: 1,418 Days
• Field of Search: 701 23- 25, 701/41, 364/424.01, 364/443, 364/447, 364/460, 364/461, 342/29, 342/41, 342/95, 342/455
• US Class Current: 1/1
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• 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 2050/0005 Processor details or data handling, e.g. memory registers or chip architecture
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2710/207 Steering angle of wheels
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/165 Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
• CPC Class Codes: B62D 15/026 combined with automatic distance control, i.e. electronic tow bar
• CPC Class Codes: B62D 5/0463 calculating assisting torque from the motor based on driver input
• CPC Class Codes: B62D 6/003 in order to control vehicle yaw movement, i.e. around a vertical axis B62D6/007 takes precedence
• CPC Class Codes: B62D 6/008 Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
• CPC Class Codes: B62D 7/159 characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
• CPC Class Codes: G05D 1/0289 with means for avoiding collisions between vehicles vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A method, system, and apparatus to detect when one or more moving vehicles are close to a first vehicle, and to take necessary actions to maintain a minimum distance between vehicles in a dynamic environment by automatic navigation. A computer method and apparatus for automobile accident reduction by maintaining a minimum distance with respect to all nearby vehicles on the road. In addition, methods to synchronously move a group of vehicles on a highway through a swarming action where each vehicle keeps a region immediately around it free of other vehicles while maintaining the speed of the vehicle immediately in front or nearby is also disclosed.

Claims

1. A method comprising:

using a first computer processor on a first vehicle to cause a first communication signal to be transmitted from the first vehicle to a second computer processor on a second vehicle;

monitoring a velocity and a distance from a first vehicle of one or more vehicles within a first distance of the first vehicle with a first computer processor on the first vehicle, while not monitoring any vehicles outside of the first distance of the first vehicle;

monitoring a velocity and a distance from a second vehicle of one or more vehicles within a second distance of a second vehicle with a second computer processor on the second vehicle, while not monitoring any vehicles outside of the second distance of the second vehicle;

wherein at least one of the one or more vehicles within the second distance of the second vehicle is outside of the first distance of the first vehicle;

wherein the first communication signal provides a first instruction to the second vehicle to move in a first manner; and

further comprising using the second computer processor on the second vehicle to cause the second vehicle to move in the first manner in response to the first instruction;

and in response to the first instruction, causing the second vehicle to instruct the at least one of the one or more vehicles within the second distance of the second vehicle but outside of the first distance of the first vehicle to move in the first manner.

2. The method of claim 1 wherein,

the first instruction to the second vehicle to move in the first manner instructs the second vehicle to slow down.

3. The method of claim 1 wherein,

the transmitting of the first communication signal from the first vehicle to the second computer processor on the second vehicle is done after and only if the first computer processor determines that the first vehicle is not allowed to move in a second manner.

4. The method of claim 1 wherein:

the first instruction to the second vehicle to move in the first manner instructs the second vehicle to accelerate.

5. The method of claim 1 wherein:

the first instruction to the second vehicle to move in the first manner instructs the second vehicle to change direction of movement of the second vehicle.

6. The method of claim 1 wherein,

the first instruction to the second vehicle to move in the first manner instructs the second vehicle to steer the second vehicle in a particular direction.

7. A method comprising:

using a first computer processor on a first vehicle to communicate with a second computer processor on a second vehicle;

monitoring a velocity and a distance from a first vehicle of one or more vehicles within a first distance of the first vehicle with a first computer processor on the first vehicle, while not monitoring any vehicles outside of the first distance of the first vehicle;

monitoring a velocity and a distance from a second vehicle of one or more vehicles within a second distance of a second vehicle with a second computer processor on the second vehicle, while not monitoring any vehicles outside of the second distance of the second vehicle;

wherein at least one of the one or more vehicles within the second distance of the second vehicle is outside of the first distance of the first vehicle;

using a common pre-determined protocol as programmed by computer software to decide a combined movement of the first vehicle and the second vehicle based on the communication of the first computer processor on the first vehicle with the second computer processor on the second vehicle;

and in response to the first instruction, causing the second vehicle to instruct the at least one of the one or more vehicles within the second distance of the second vehicle but outside of the first distance of the first vehicle to move in the first manner.

8. The method of claim 7 wherein,

the combined movement of the first vehicle and the second vehicle is determined so as to maintain an inner region for each of the first vehicle and the second vehicle free from the other vehicle of the first and the second vehicle and free from any other vehicle.

9. The method of claim 8 wherein,

the inner region of the first vehicle is an elliptical area having its center as the center of the first vehicle;

and wherein the inner region of the second vehicle is an elliptical area having its center as the center of the second vehicle.

14. The method of claim 9 wherein:

the second vehicle and the first vehicle are travelling on the same road, and in substantially the same direction; and

the second vehicle is ahead of the first vehicle on the road.

10. A method comprising:

monitoring a velocity and a distance from a first vehicle of one or more vehicles within a first distance of the first vehicle with a first computer processor on the first vehicle, while not monitoring any vehicles outside of the first distance of the first vehicle;

monitoring a velocity and a distance from a second vehicle of one or more vehicles within a second distance of a second vehicle with a second computer processor on the second vehicle, while not monitoring any vehicles outside of the second distance of the second vehicle;

wherein at least one of the one or more vehicles within the second distance of the second vehicle is outside of the first distance of the first vehicle;

further comprising causing the first vehicle to send a first request to the second vehicle to move in a first manner;

and in response to the first request, causing the second vehicle to request the at least one of the one or more vehicles within the second distance of the second vehicle but outside of the first distance of the first vehicle to move in the first manner.

11. The method of claim 10 wherein,

to move in the first manner includes to slow down.

12. A method comprising:

using communications between a first computer processor on a first vehicle and a second computer processor on a second vehicle to synchronize a speed of the first vehicle to be about equal to a speed of the second vehicle subject to a minimum distance requirement between the first vehicle and the second vehicle;

monitoring a velocity and a distance from a first vehicle of one or more vehicles within a first distance of the first vehicle with a first computer processor on the first vehicle, while not monitoring any vehicles outside of the first distance of the first vehicle;

monitoring a velocity and a distance from a second vehicle of one or more vehicles within a second distance of a second vehicle with a second computer processor on the second vehicle, while not monitoring any vehicles outside of the second distance of the second vehicle;

wherein at least one of the one or more vehicles within the second distance of the second vehicle is outside of the first distance of the first vehicle;

further comprising causing the first vehicle to send a first request to the second vehicle to move in a first manner;

and in response to the first request, causing the second vehicle to request the at least one of the one or more vehicles within the second distance of the second vehicle but outside of the first distance of the first vehicle to move in the first manner.

13. The method of claim 12 further comprising:

using communications between a third computer processor on a third vehicle and the second computer processor on the second vehicle to synchronize a speed of the third vehicle to be about equal to a speed of the second vehicle subject to a minimum distance requirement between the third vehicle and the second vehicle;

wherein communications, if any, between the first computer processor and the third computer processor are not used to synchronize the speed of the third vehicle to be about equal the speed of the second vehicle subject to the minimum distance requirement between the third vehicle and the second vehicle.

15. An apparatus comprising:

a first computer processor located on a first vehicle;

a second computer processor located on a second vehicle;

wherein the first computer processor is programmed to;

cause a first communication signal to be transmitted from the first vehicle to a the second computer processor on the second vehicle;

monitor a velocity and a distance from the first vehicle of one or more vehicles within a first distance of the first vehicle, while not monitoring any vehicles outside of the first distance of the first vehicle;

wherein the first communication signal provides a first instruction to the second vehicle to move in a first manner; and

wherein the second computer processor is programmed to;

cause the second vehicle to move in the first manner in response to the first instruction;

monitor a velocity and a distance from the second vehicle of one or more vehicles within a second distance of a second vehicle, while not monitoring any vehicles outside of the second distance of the second vehicle;

wherein at least one of the one or more vehicles within the second distance of the second vehicle is outside of the first distance of the first vehicle;

and in response to the first manner, the second computer processor is programmed to request the at least one of the one or more vehicles within the second distance of the second vehicle but outside of the first distance of the first vehicle to move in the first manner.

16. The apparatus of claim 15 wherein,

the first instruction to the second vehicle to move in the first manner instructs the second vehicle to slow down.

17. The apparatus of claim 15 wherein,

the transmitting of the first communication signal from the first vehicle to the second computer processor on the second vehicle is done after and only if the first computer processor determines that the first vehicle is not allowed to move in a second manner.

18. The apparatus of claim 15 wherein,

the first instruction to the second vehicle to move in the first manner instructs the second vehicle to accelerate.

19. The apparatus of claim 15 wherein,

the first instruction to the second vehicle to move in the first manner instructs the second vehicle to change direction of movement of the second vehicle.

20. The apparatus of claim 15 wherein,

the first instruction to the second vehicle to move in the first manner instructs the second vehicle to steer the second vehicle in a particular direction.

21. An apparatus comprising:

a first computer processor located on a first vehicle;

a second computer processor located on a second vehicle;

wherein the first computer processor is programmed to communicate with the second computer processor;

wherein the first computer processor is programmed to monitor a velocity and a distance from the first vehicle of one or more vehicles within a first distance of the first vehicle, while not monitoring any vehicles outside of the first distance of the first vehicle;

wherein the second computer processor is programmed to monitor a velocity and a distance from the second vehicle of one or more vehicles within a second distance of a second vehicle, while not monitoring any vehicles outside of the second distance of the second vehicle;

wherein at least one of the one or more vehicles within the second distance of the second vehicle is outside of the first distance of the first vehicle;

wherein the first and the second computer processors are programmed to use a common pre-determined protocol as programmed by computer software to decide a combined movement of the first vehicle and the second vehicle based on the communication of the first computer processor on the first vehicle with the second computer processor on the second vehicle;

wherein the first computer processor is programmed to send a first request to the second vehicle to move in a first manner;

and in response to the first request, the second computer processor is programmed to request the at least one of the one or more vehicles within the second distance of the second vehicle but outside of the first distance of the first vehicle to move in the first manner.

22. The apparatus of claim 21 wherein,

the combined movement of the first vehicle and the second vehicle is determined so as to maintain an inner region for each of the first vehicle and the second vehicle free from the other vehicle of the first and the second vehicle and free from any other vehicle.

23. The apparatus of claim 22 wherein,

the inner region of the first vehicle is an elliptical area having its center as the center of the first vehicle;

and wherein the inner region of the second vehicle is an elliptical area having its center as the center of the second vehicle.

24. An apparatus comprising:

a first computer processor located on a first vehicle;

a second computer processor located on a second vehicle;

wherein the first computer processor is programmed to monitor a velocity and a distance from the first vehicle of one or more vehicles within a first distance of the first vehicle, while not monitoring any vehicles outside of the first distance of the first vehicle;

wherein the second computer processor is programmed to monitor a velocity and a distance from the second vehicle of one or more vehicles within a second distance of a second vehicle, while not monitoring any vehicles outside of the second distance of the second vehicle;

wherein at least one of the one or more vehicles within the second distance of the second vehicle is outside of the first distance of the first vehicle;

wherein the first computer processor is programmed to send a first request to the second vehicle to move in a first manner;

and in response to the first request, the second computer processor is programmed to request the at least one of the one or more vehicles within the second distance of the second vehicle but outside of the first distance of the first vehicle to move in the first manner.

25. The apparatus of claim 24 wherein,

to move in the first manner includes to slow down.

26. An apparatus comprising:

a first computer processor on a first vehicle;

a second computer processor on a second vehicle; and

wherein the first computer processor is programmed to monitor a velocity and a distance from the first vehicle of one or more vehicles within a first distance of the first vehicle, while not monitoring any vehicles outside of the first distance of the first vehicle;

wherein the second computer processor is programmed to monitor a velocity and a distance from the second vehicle of one or more vehicles within a second distance of a second vehicle, while not monitoring any vehicles outside of the second distance of the second vehicle;

wherein at least one of the one or more vehicles within the second distance of the second vehicle is outside of the first distance of the first vehicle;

wherein the first computer processor and the second computer processor are programmed to use communications between the first computer processor and the second computer processor to synchronize a speed of the first vehicle to be about equal to a speed of the second vehicle subject to a minimum distance requirement between the first vehicle and the second vehicle;

wherein the first computer processor is programmed to send a first request to the second vehicle to move in a first manner;

and in response to the first request, the second computer processor is programmed to request the at least one of the one or more vehicles within the second distance of the second vehicle but outside of the first distance of the first vehicle to move in the first manner.

27. The apparatus of claim 26 further comprising:

a third computer processor on a third vehicle;

wherein the second computer processor on the second vehicle and the third computer processor on the third vehicle are programmed to use communications between the third computer processor and the second computer processor to synchronize a speed of the third vehicle to be about equal to a speed of the second vehicle subject to a minimum distance requirement between the third vehicle and the second vehicle; and

wherein communications, if any, between the first computer processor and the third computer processor are not used to synchronize the speed of the third vehicle to be about equal the speed of the second vehicle subject to the minimum distance requirement between the third vehicle and the second vehicle.

28. The apparatus of claim 26 wherein,

the second vehicle and the first vehicle are travelling on the same road, and in substantially the same direction;

and the second vehicle is ahead of the first vehicle on the road.