Autonomous vehicle localization system

• US 10,816,636 B2
• Filed: 09/04/2019
• Issued: 10/27/2020
• Est. Priority Date: 12/20/2018
• Status: Active Grant

• Current Assignee: David E. Newman, Massengill R. Kemp
• Original Assignee: Autonomous Roadway Intelligence, LLC
• Inventors: Newman, David E., Massengill, R. Kemp
• Primary Examiner(s): Do, Truc M
• Application Number:
  US16/560,355
• Publication Number:
  US 20200200855A1
• Time in Patent Office: 419 Days
• CPC Class Codes: G01S 1/70 using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 1/7038 Signal details
• CPC Class Codes: G01S 2201/01 adapted for specific applications or environments
• CPC Class Codes: G01S 2205/01 specially adapted for specific applications
• CPC Class Codes: G01S 3/782 Systems for determining direction or deviation from predetermined direction
• CPC Class Codes: G01S 5/0072 Transmission between mobile stations, e.g. anti-collision systems
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves
• CPC Class Codes: G07C 5/008 communicating information to a remotely located station transmission systems for measured values G08C
• CPC Class Codes: G07C 5/0841 Registering performance data recording measured values G01D; information storage G11B
• CPC Class Codes: G08G 1/017 identifying vehicles G08G1/015, G08G1/054 take precedence
• CPC Class Codes: G08G 1/0175 by photographing vehicles, e.g. when violating traffic rules
• 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 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: H04W 4/029 Location-based management or tracking services
• CPC Class Codes: H04W 4/12 Messaging; Mailboxes; Announcements
• CPC Class Codes: H04W 4/40 for vehicles, e.g. vehicle-to-pedestrians [V2P]
• CPC Class Codes: H04W 4/46 for vehicle-to-vehicle communication [V2V]
• CPC Class Codes: H04W 4/90 Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS]

Abstract

Autonomous vehicles may communicate with each other to avoid hazards, mitigate collisions, and facilitate the flow of traffic. To enhance such cooperation, it would be highly advantageous if each vehicle were able to determine which vehicle in view corresponds to each communication message, which is generally unknown if a plurality of vehicles are in range. Systems and methods provided herein can enable autonomous vehicles to determine the spatial location of each proximate vehicle by detecting a pulsed localization signal emitted by each of the other vehicles. In addition, each vehicle can transmit a self-identifying code, synchronous with the emitted localization signal, so that other vehicles can associate the proper code with each vehicle. After such localization and identification, the vehicles can then cooperate more effectively in mitigating potential collisions.

Claims

1. A system, mounted on a first vehicle, for localizing a second vehicle, comprising:

a wireless transmitter configured to transmit a first wireless message;

a localization signal emitter configured to emit a first localization signal comprising pulsed visible or infrared light synchronized with the first wireless message;

a wireless receiver configured to receive a second wireless message from the second vehicle;

a localization signal detector configured to detect a second localization signal from the second vehicle and to measure an arrival direction of the second localization signal, wherein the second localization signal comprises pulsed visible or infrared light synchronized with the second wireless message; and

a processor configured to cause the localization signal emitter to emit the first localization signal synchronously with the first wireless message, to determine a direction of the second vehicle according to the arrival direction of the second localization signal, and to associate the second localization signal and the second wireless message with the second vehicle, wherein the processor is configured to avoid interfering with ongoing wireless messages by;

determining whether a first interfering wireless message is present;

responsive to determining that the first interfering message is present, waiting until the first interfering message has completed being received;

waiting, after the first interfering message has completed being received, for a first waiting interval;

preparing and commencing a first gate interval following the first waiting interval; and

determining, at a random time within the first gate interval, whether a second interfering wireless message is present.

2. The system of claim 1, wherein the processor is configured to avoid interfering with further ongoing wireless messages by:

responsive to determining that the second interfering message is present, waiting until the second interfering message has completed being received;

then continuing to wait for a second waiting interval;

then commencing a second gate interval; and

then

determining, at a random time within the second gate interval, whether a third interfering wireless message is present.

3. The system of claim 2, wherein the second waiting interval is shorter than the first waiting interval or the second gate interval is shorter than the first gate interval.

4. The system of claim 3, wherein the processor is configured to restore the waiting and gate intervals to their initial values after successfully transmitting a message.

5. The system of claim 1, wherein the processor is configured to avoid interfering with further ongoing wireless messages by;

waiting, responsive to determining that the second interfering message is present, for a second waiting interval;

then commencing a second gate interval; and

determining, at a random time within the second gate interval, whether a third interfering wireless message is present.

6. The system of claim 5, wherein the second waiting interval is shorter than the first waiting interval.

7. The system of claim 5, wherein the second gate interval is shorter than the first gate interval.

8. The system of claim 1, further including a camera configured to capture an image, using infrared or visible light, of vehicles proximate to the first vehicle.

9. The system of claim 1, wherein the second wireless message includes a second identification code associated with the second vehicle, and the processor is further configured to associate the second identification code with the second vehicle.

10. The system of claim 1, wherein the first localization signal comprises a first one or more pulses of visible or infrared light, and the second localization signal comprises a second one or more pulses of visible or infrared light.

11. The system of claim 1 wherein the first vehicle is associated with a first identification code, the localization signal comprises a plurality of pulses, and the localization signal emitter is configured to encode the first identification code in the first localization signal by modulating a width of each pulse of the plurality of pulses or by modulating intervals between pulses of the plurality of pulses.

12. The system of claim 1, wherein the first localization signal has azimuthal symmetry.

13. The system of claim 1, wherein the localization signal detector is configured to have higher angular resolution in a forward quadrant and a backward quadrant, relative to the first vehicle, than in lateral quadrants.

14. The system of claim 1, wherein the localization signal detector comprises an imaging detector.

15. The system of claim 1, wherein the localization signal comprises a plurality of pulses and the localization signal detector is configured to separately detect each pulse in the plurality of pulses.

16. The system of claim 1, wherein the localization signal detector is configured to form an image that includes both the second vehicle and the second localization signal.

17. The system of claim 1, further including a localization signal imager and a vehicle imager wherein:

the localization signal imager is configured to detect the second localization signal and to form an image indicating an arrival direction of the second localization signal; and

the vehicle imager is configured to form an image that includes the second vehicle.

18. The system of claim 17, wherein:

the processor is configured to determine a direction of the second vehicle according to a position of the second localization signal on the localization signal image; and

the processor is further configured to determine which particular vehicle, among vehicles in the vehicle image, has substantially the same direction as the second localization signal, and thereby identify the second vehicle'"'"'s location.

19. The system of claim 1, wherein the localization signal detector comprises at least one imaging detector mounted on a roof of the first vehicle or two or more imaging detectors, at least one each positioned at respective opposite ends of the first vehicle.

20. The system of claim 1, wherein the localization signal emitter comprises at least one electromagnetic energy emitter mounted on a roof of the first vehicle or two or more electromagnetic energy emitters, at least one each positioned at respective opposite ends of the first vehicle.

21. The system of claim 1, wherein the first wireless message includes a request for other vehicles to respond to the first wireless message.

22. The system of claim 1, wherein:

the first vehicle is;

an autonomous vehicle;

a human-operated vehicle with an automatic braking system;

a human-operated vehicle with an automatic lane-keeping system;

or

a human-operated vehicle with an automatic emergency intervention system; and

the second vehicle is;

an autonomous vehicle;

a human-operated vehicle with an automatic braking system;

a human-operated vehicle with an automatic lane-keeping system;

or

a human-operated vehicle with an automatic emergency intervention system.

23. The system of claim 1, wherein the processor is configured to emit the first localization signal coincident with or responsive to a particular feature in the first wireless message.