On-ground vehicle collision avoidance utilizing shared vehicle hazard sensor data

• US 9,892,647 B2
• Filed: 12/17/2015
• Issued: 02/13/2018
• Est. Priority Date: 12/17/2015
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Papageorgiou, George, Ceccom, Christophe
• Primary Examiner(s): PATEL, SHARDUL D
• Application Number:
  US14/973,411
• Publication Number:
  US 20170178520A1
• Time in Patent Office: 789 Days
• Field of Search: 701 3, 701 9, 701301, 342 30, 342 29, 340961, 340435, 340901
• CPC Class Codes: G08G 5/0013 with a ground station
• CPC Class Codes: G08G 5/0021 located in the aircraft
• CPC Class Codes: G08G 5/04 Anti-collision systems
• 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

Systems and methods for on-ground vehicle collision avoidance utilizing shared vehicle hazard sensor data are provided. In one embodiment, a system comprises: a ground based hazard data aggregation system comprising at least one memory storing a hazard position database; and at least one vehicle-ground communications electronics system coupled to the aggregation system; wherein the aggregation system is communicatively coupled to an onboard ground hazard collision avoidance system of at least a first on-ground subscriber vehicle through a wireless datalink established via the vehicle-ground communications electronics system; wherein the hazard position database stores vehicle collected hazard position data generated by a first on-ground contributing vehicle; and wherein the ground based hazard data aggregation system transmits to the first on-ground subscriber vehicle aggregated hazard position data from the hazard position database, the aggregated hazard position data including the vehicle collected hazard position data generated by the first on-ground contributing vehicle.

Claims

1. An on-ground collision avoidance system, the system comprising:

a ground based hazard data aggregation system comprising at least one memory storing a hazard position database; and

at least one vehicle-ground communications electronics system coupled to the ground based hazard data aggregation system;

wherein the ground based hazard data aggregation system is communicatively coupled to an onboard ground hazard collision avoidance system of at least a first on-ground subscriber vehicle through a wireless datalink established via the vehicle-ground communications electronics system;

wherein the hazard position database stores vehicle collected hazard position data generated by a first on-ground contributing vehicle, wherein the first on-ground contributing vehicle collects hazard position data about on-ground hazards detected by at least the first on-ground contributing vehicle using a vehicle mounted object detection sensor; and

wherein the ground based hazard data aggregation system transmits to the first on-ground subscriber vehicle aggregated hazard position data from the hazard position database, the aggregated hazard position data including the vehicle collected hazard position data generated by the first on-ground contributing vehicle.

2. The system of claim 1, the ground based hazard data aggregation system further coupled to at least one baseline obstacle database, wherein the hazard position database stores baseline obstacle data received from the baseline obstacle database;

and

wherein the aggregated hazard position data further includes obstacle position data from the baseline obstacle data.

3. The system of claim 1, the ground based hazard data aggregation system further coupled to at least one baseline ground traffic database, wherein the hazard position database stores baseline ground traffic data received from the baseline ground traffic database;

and

wherein the aggregated hazard position data further includes ground traffic position data from the baseline ground traffic data.

4. The system of claim 1, wherein the aggregated hazard position data includes position data for stationary obstacles and position data for ground traffic.

5. The system of claim 1 further comprising the onboard ground hazard collision avoidance system of the first on-ground subscriber vehicle, wherein the onboard ground hazard collision avoidance system of the first on-ground subscriber vehicle comprises:

an onboard collision logic processor;

an onboard ground hazard position data storage device coupled to the onboard collision logic processor;

a collision warning display coupled to the onboard collision logic processor; and

at least one datalink transceiver communicatively coupled to the at least one vehicle-ground communications electronics system;

wherein the onboard collision logic processor receives the aggregated hazard position data as an uplink from the ground based hazard data aggregation system and stores the aggregated hazard position data in the onboard ground hazard position data storage device; and

wherein the onboard collision logic processor generates an alert on the collision warning display when the first on-ground subscriber vehicle becomes within a threshold proximity to a hazard identified by the vehicle collected hazard position data generated by the first on-ground contributing vehicle.

6. The system of claim 1 further comprising an onboard ground hazard collision avoidance system of the first on-ground contributing vehicle, wherein the onboard ground hazard collision avoidance system of the first on-ground contributing vehicle comprises:

an onboard collision logic processor;

an onboard ground hazard position data storage device coupled to the onboard collision logic processor;

one or more onboard ground hazard sensors coupled to the onboard collision logic processor; and

at least one datalink transceiver communicatively coupled to the at least one vehicle-ground communications electronics system;

wherein the onboard collision logic processor receives sensor data from the one or more onboard ground hazard sensors and stores hazard position data in the onboard ground hazard position data storage device based on the sensor data; and

wherein the onboard collision logic processor generates the vehicle collected hazard position data from the sensor data and transmits the vehicle collected hazard position data to the ground based hazard data aggregation system via the at least one datalink transceiver.

7. The system of claim 1, wherein the vehicle collected hazard position data generated by the first on-ground contributing vehicle comprises one of:

data obtained from an aircraft mounted LIDAR device;

data obtained from an aircraft mounted RADAR device;

data obtained from an aircraft mounted infra-red imaging device;

or

data obtained from an aircraft mounted visual spectrum imaging device.

8. The system of claim 1, wherein the ground based hazard data aggregation system processes raw sensor data received from the first on-ground contributing vehicle to generate at least part of the aggregated hazard position data.

9. The system of claim 1, wherein either one or both of the first on-ground subscriber vehicle and the first on-ground contributing vehicle comprise either:

an airplane;

a helicopter;

an aerial drone;

or

a ground vehicle.

10. An onboard ground hazard collision avoidance system for vehicle, the system comprising:

an onboard collision logic processor;

an onboard ground hazard position data storage device coupled to the onboard collision logic processor, the onboard ground hazard position data storage device including a ground obstacle position database and traffic position data;

a collision warning display coupled to the onboard collision logic processor; and

at least one datalink transceiver communicatively coupled to the at least one vehicle-ground communications electronics system;

wherein the onboard collision logic processor receives aggregated hazard position data as an uplink from a ground based hazard data aggregation system and stores the aggregated hazard position data in the onboard ground hazard position data storage device, the aggregated hazard position data including vehicle collected hazard position data generated by at least one on-ground contributing vehicle, wherein the vehicle collected hazard position data comprises hazard position data collected for on-ground hazards detected by any on-ground contributing vehicle using a vehicle mounted object detection sensor;

wherein the onboard collision logic processor generates an alert on the collision warning display when the vehicle becomes within a threshold proximity to a hazard identified by the vehicle collected hazard position data generated by the at least one on-ground contributing vehicle.

11. The system of claim 10, wherein the onboard collision logic processor is configured to sort data from the onboard ground hazard position data storage device into obstacle positions verses traffic positions.

12. The system of claim 11, wherein the onboard collision logic processor transmits to the ground based hazard data aggregation system, via the at least one datalink transceiver:

the traffic position data; and

ground obstacle position data not included in the received aggregated hazard position data.

13. The system of claim 10, further comprising:

one or more onboard ground hazard sensors coupled to the onboard collision logic processor;

wherein the onboard collision logic processor receives sensor data from the one or more onboard ground hazard sensors and stores hazard position data in the onboard ground hazard position data storage device based on the sensor data; and

wherein the onboard collision logic processor transmits a downlink comprising vehicle collected hazard position data to the ground based hazard data aggregation system via the at least one datalink transceiver, the vehicle collected hazard position data generated from the sensor data.

14. The system of claim 10, wherein the vehicle mounted object detection sensor comprises at least one of:

a LIDAR device;

a radar device;

an infra-red imaging device;

or

a visual spectrum imaging device.

15. The system of claim 10, wherein the aggregated hazard position data includes position data for stationary obstacles and position data for ground traffic.

16. The system of claim 10, wherein the onboard collision logic processor is further configured to store in the onboard ground hazard position data storage device vehicle collected hazard position data received via a peer-to-peer datalink connection with the at least one on-ground contributing vehicle.

17. The system of claim 10, wherein the at-least one on-ground contributing vehicle is an vehicle comprising either:

an airplane;

a helicopter;

an aerial drone;

or

a ground vehicle.

18. A method for on-ground collision avoidance, the method comprising:

establishing a first wireless communication link between a ground based hazard data aggregation system and one or more hazard data contributing vehicles equipped with a vehicle-ground communications electronics system;

receiving at the ground based hazard data aggregation system vehicle collected hazard position data via a downlink from the one or more hazard data contributing vehicles, wherein the vehicle collected hazard position data comprises hazard position data collected for on-ground hazards detected by the one or more on-ground contributing vehicles using a vehicle mounted object detection sensor;

receiving at the ground based hazard data aggregation system baseline hazard position data from one or more ground based hazard detection systems; and

combining the vehicle detected hazard position data with the baseline hazard position data in a hazard position database;

establishing a second wireless communication link between a ground based hazard data aggregation system and one or more hazard data subscriber vehicles with the vehicle-ground communications electronics system;

transmitting aggregated hazard position data from the hazard position database as an uplink to the one or more hazard data subscriber vehicles.

19. The method of claim 18, wherein the one or more hazard data contributing vehicles and the one or more hazard data subscriber vehicles comprise aircraft, the method further comprising:

receiving aircraft collected ground traffic position data and Automatic Dependent Surveillance (ADS) traffic surveillance information from the one or more hazard data contributing aircraft;

receiving Advanced Surface Movement Guidance &

Control System (A-SMGCS) traffic surveillance information from the one or more ground based hazard detection systems;

correlating the aircraft collected ground traffic position data with the A-SMGCS traffic surveillance information to update baseline traffic data in the hazard position database; and

transmitting aggregated ground traffic position data from the hazard position database as an uplink to the one or more hazard data subscriber aircraft.

20. The method of claim 18, wherein the one or more hazard data contributing vehicles and the one or more hazard data subscriber vehicles comprise aircraft, the method further comprising:

receiving aircraft collected obstacle position data via a downlink from the one or more hazard data contributing aircraft;

comparing the aircraft collected obstacle position data with baseline obstacle position data from the one or more ground based hazard detection systems;

updating obstacle data in the hazard position database by consolidating the aircraft collected obstacle position data with the baseline obstacle position data while discarding duplicate or stale obstacle position data;

transmitting aggregated obstacle position data from the hazard position database as an uplink to the one or more hazard data subscriber aircraft.