Traffic control system having deadlock avoidance functionality

• US 9,858,819 B2
• Filed: 02/03/2016
• Issued: 01/02/2018
• Est. Priority Date: 02/03/2016
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Povey, Dean G., Siemer, Michael
• Primary Examiner(s): Trivedi, Atul
• Application Number:
  US15/014,917
• Publication Number:
  US 20170221364A1
• Time in Patent Office: 699 Days
• Field of Search: 701117, 701301
• 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 1/0965 responding to signals from another vehicle, e.g. emergency vehicle
• CPC Class Codes: G08G 1/163 involving continuous checking
• CPC Class Codes: G08G 1/164 Centralised systems, e.g. external to vehicles
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A traffic control system is disclosed as having a locating device configured to generate a location signal indicative of a location of each of a plurality of machines. The traffic control system may also have an onboard controller configured to regulate operation of the plurality of machines based on the location signal, a communication device, and a worksite controller. The worksite controller may be configured to determine a first route for a first of the plurality of machines, and to determine if a first lane of the first route is blocked by a second of the plurality of machines. The worksite controller may also be configured to determine if a second lane of the first route intersects with a second route of the second of the plurality of machines, and to selectively grant permission for travel of the first of the plurality of machines through the second lane.

Claims

1. A traffic control system for use with a plurality of mobile machines at a worksite, the traffic control system comprising:

a locating device positioned onboard each of the plurality of mobile machines and configured to generate a location signal indicative of a location of a corresponding one of the plurality of mobile machines at the worksite;

an onboard controller positioned onboard each of the plurality of mobile machines and configured to regulate operation of a corresponding one of the plurality of mobile machines based on the location signal;

a communication device positioned onboard each of the plurality of mobile machines; and

an offboard worksite controller in communication with the locating device and the onboard controller via the communication device, the worksite controller being configured to;

determine a first route for a first of the plurality of mobile machines from a current location to a final destination based on the location signal, the first route including multiple lanes sequentially joined end to end;

determine if a first lane of the first route is blocked by a second of the plurality of mobile machines;

determine if a second lane of the first route intersects with a second route of the second of the plurality of mobile machines; and

selectively grant permission to the onboard controller for travel of the first of the plurality of mobile machines through the second lane prior to reaching the first lane while the first lane is blocked.

2. The traffic control system of claim 1, wherein the worksite controller is further configured to:

determine if a third lane of the first route intersects a third route of a third of the plurality of mobile machines that is currently blocking the second route; and

selectively grant permission to the onboard controller for travel of the first of the plurality of mobile machines through the third lane prior to reaching the first lane while the first lane is blocked.

3. The traffic control system of claim 1, wherein the worksite controller is further configured to:

determine a closest lane in the first route that is suitable for the first of the plurality of mobile machines to stop in; and

selectively grant permission to the onboard controller for travel to only the closest lane.

4. The traffic control system of claim 3, wherein the onboard controller is further configured to:

determine, based on the location signal, a braking location within the closest lane at which the first of the plurality of mobile machines should begin slowing travel in order to stop at an end of the closest lane; and

selectively request permission for further travel before the first of the plurality of mobile machines reaches the braking location.

5. The traffic control system of claim 3, wherein the worksite controller is configured to determine if the closest lane is suitable to stop in based on a length of the closest lane and a known length of the first of the plurality of mobile machines.

6. The traffic control system of claim 5, wherein the worksite controller is configured to determine if the closest lane is suitable to stop in based further on at least one of a required stopping distance of the first of the plurality of mobile machines, a slope of the closest lane, and a ground condition of the closest lane.

7. The traffic control system of claim 1, wherein the worksite controller is configured to stop granting permission to the onboard controller for travel of the first of the plurality of mobile machines when a next lane in the first route is blocked by another of the plurality of mobile machines or is unsuitable for the first of the plurality of mobile machines to stop in.

8. A method for controlling traffic of a plurality of mobile machines operating at a worksite, the method comprising:

generating location signals indicative of locations of the plurality of mobile machines;

determining a first route for a first of the plurality of mobile machines from a current location to a final destination based on the location signals, the first route including multiple lanes sequentially joined end to end;

determining if a first lane of the first route is blocked by a second of the plurality of mobile machines;

determining if a second lane of the first route intersects with a second route of the second of the plurality of mobile machines; and

selectively granting permission for travel of the first of the plurality of mobile machines through the second lane prior to reaching the first lane while the first lane is blocked.

9. The method of claim 8, further including:

determining if a third lane of the first route intersects a third route of a third of the plurality of mobile machines that is currently blocking the second route; and

selectively granting permission for travel of the first of the plurality of mobile machines through the third lane prior to reaching the first lane while the first lane is blocked.

10. The method of claim 8, further including:

determining a closest lane in the first route that is suitable for the first of the plurality of mobile machines to stop in; and

selectively granting permission to the onboard controller for travel to only the closest lane.

11. The method of claim 10, wherein determining the closest lane suitable to stop in includes comparing a length of the closest lane with a known length of the first of the plurality of mobile machines.

12. The method of claim 10, wherein determining if the closest lane is suitable to stop in further includes determining a required stopping distance of the first of the plurality of mobile machines, a slope of the closest lane, and a ground condition of the closest lane.

13. The method of claim 10, further including:

determining, based on the location signals, a braking location within the closest lane at which the first of the plurality of mobile machines should begin slowing travel in order to stop at an end of the closest lane; and

selectively requesting permission for further travel before the first of the plurality of mobile machines reaches the braking location.

14. The method of claim 8, further including stopping the granting of permission for travel of the first of the plurality of mobile machines when a next lane in the first route is blocked by another of the plurality of mobile machines or is unsuitable for the first of the plurality of mobile machines to stop in.

15. A non-transitory computer readable medium containing computer-executable programming instructions for performing a method of traffic control for a plurality of mobile machines operating at a worksite, the method of traffic control comprising:

generating location signals indicative of locations of the plurality of mobile machines at the worksite;

determining a plurality of routes for the plurality of mobile machines based on the location signals, each of the routes including multiple lanes sequentially joined end to end;

determining if a first lane of a first route associated with a first of the plurality of mobile machines is blocked by a second of the plurality of mobile machines;

determining if a second lane of the first route interferes with a second route of the second of the plurality of mobile machines; and

selectively causing the first of the plurality of mobile machines to stop in a lane of the first route other than the second lane prior to reaching the first lane while the first lane is blocked.

16. The non-transitory computer readable medium of claim 15, wherein the method further includes:

determining if a third lane of the first route intersects a third route of a third of the plurality of mobile machines that is currently blocking the second route; and

selectively granting permission for travel of the first of the plurality of mobile machines through the third lane prior to reaching the first lane while the first lane is blocked.

17. The non-transitory computer readable medium of claim 15, wherein the method further includes:

determining a closest lane in the first route that is suitable for the first of the plurality of machines to stop in; and

selectively granting permission to the onboard controller for travel to only the closest lane.

18. The non-transitory computer readable medium of claim 17, wherein determining the closest lane suitable to stop in includes comparing a length of the closest lane with a known length of the first of the plurality of mobile machines.

19. The non-transitory computer readable medium of claim 18, wherein determining if the closest lane is suitable to stop in further includes determining a required stopping distance of the first of the plurality of mobile machines, a slope of the closest lane, and a ground condition of the closest lane.

20. The non-transitory computer readable medium of claim 17, wherein the method further includes:

determining, based on the location signals, a braking location within the closest lane at which the first of the plurality of mobile machines should begin slowing travel in order to stop at an end of the closest lane; and

selectively requesting permission for further travel before the first of the plurality of mobile machines reaches the braking location.