Motor vehicle warning and control system and method

• US 20040022416A1
• Filed: 04/21/2003
• Published: 02/05/2004
• Est. Priority Date: 08/11/1993
• Status: Active Grant

• Current Assignee: Dorothy Lemelson, Jerome H. Lemelson, Robert D. Pedersen
• Original Assignee: Dorothy Lemelson, Jerome H. Lemelson, Robert D. Pedersen
• Inventors: Lemelson, Jerome H., Pedersen, Robert D., Lemelson, Dorothy
• Granted Patent: US 6,906,639 B2
• Time in Patent Office: Days
• US Class Current: 382/104
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2201/024 Collision mitigation systems
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/082 using alarm actuation
• CPC Class Codes: B60T 2201/083 using active brake actuation
• CPC Class Codes: B60T 2201/085 using several actuators; Coordination of the lane keeping system with other control systems
• CPC Class Codes: B60T 2201/087 using active steering actuation
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 19/11 wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2013/9318 Controlling the steering
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9319 Controlling the accelerator
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9322 using additional data, e.g. driver condition, road state or weather data
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2013/9325 : for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 5/009 : Transmission of differential positioning data to mobile
• CPC Class Codes: G07C 5/0891 : Video recorder in combination with video camera
• CPC Class Codes: G08G 1/164 : Centralised systems, e.g. external to vehicles
• CPC Class Codes: G08G 1/165 : for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A system and method assists the driver of a motor vehicle in preventing accidents or minimizing the effects of same. In one form, a television camera is mounted on a vehicle and scans the roadway ahead of the vehicle as the vehicle travels. Continuously generated video picture signals output by the camera are electronically processed and analyzed by an image analyzing computer, which generates codes that serve to identify obstacles. A decision computer mounted in the controlled vehicle receives such code signals along with code signals generated by the speedometer or one or more sensors sensing steering mechanism operation and generates control signals. Such code signals may be displayed, and a synthetic speech or special sound generating and warning means used, to warn the driver of the vehicle of approaching and existing hazards. The system may also use the control signals, particularly through application of fuzzy logic, to control the operation of the brakes and steering mechanism of the vehicle to avoid or lessen the effects of a collision. In a particular form, the decision computer may select the evasive action taken from a number of choices, depending on whether and where the detection device senses other vehicles or obstacles.

Claims

1. A method for controlling the travel of a motor vehicle comprising:

a) scanning the roadway along which a motor vehicle is traveling with a video scanning means supported by said motor vehicle and generating a train of video signals as the vehicle travels said roadway,

b) computer processing and analyzing each video signal as it is generated and generating a first train of first code signals which first code signals define information relating to the identification of objects ahead of said motor vehicle, such as at least one other vehicle traveling in the same direction as said motor vehicle,

c) employing said first code signals to control the operation of a first intelligible indicating means to cause it to indicate to the driver of said motor vehicle the identification and distance to the object directly ahead of said vehicle.

2. A method in accordance with claim 1 wherein step (c) includes computer processing the information defined by said first video signals in a manner to generate second code signals indicative of distances between said motor vehicle and an the object directly ahead of said vehicle.

3. A method in accordance with claim 2 wherein the object directly in front of said motor vehicle is a motor vehicle traveling in the same direction as the vehicle there behind containing said video scanning means, said method including computer identifying said motor vehicle by its image shape and computer detecting the distant to said vehicle by intermittently scanning the image of the rear view of said vehicle and computer processing the video signals generated to determine the size of the vehicle scanned.

4. A method in accordance with claim 1 wherein step (a) is effected by means of a television camera which scans a field in front of said motor vehicle, including said roadway, at a constant scanning rate.

5. A method in accordance with claim 4 wherein said television camera is operable to generate full-frame video picture signals on its output.

6. A method in accordance with claim 5 wherein selected of said first code signals define at least a portion of the rear view shape of a motor vehicle directly ahead of said vehicle, further comprising computer processing said selected first code signals to calculate and indicate the distance between the two motor vehicles.

7. A method in accordance with claim 6 wherein second code signals are generated and employed to control said intelligible indicating means to intelligibly indicate the distance between said two motor vehicles on a continuous basis.

8. A method in accordance with claim 7 wherein said second code signals are generated by computer processing and analyzing said first code signals, and said second code signals are employed to control a braking means to slow the foreword travel of said motor vehicle when said second code signals indicate that a select distance between said two vehicles has been exceeded.

9. A method in accordance with claim 8 further including a sensing means to sense the speed of said motor vehicle and generating third code signals indicative of said speed and employing said second and third code signals to generate fourth code signals to control said braking means when the closing speed and distance between the two vehicles is such as to cause a collision between the two vehicles if the brakes of said motor vehicle are not properly applied.

10. A method in accordance with claim 9 which includes employing said fourth code signals to operate a warning means selected from a group including a warning light, a flashing light, a sound generating means, an intermittent sound generating means, a speech signal generating and select speech generating means to intermittently warn the driver of said vehicle to immediately slow the forward travel of his vehicle to avoid a collision of the two vehicles.

11. A method in accordance with claim 1 which includes operating said intelligible indicating means to generate a warning to the driver of said motor vehicle when an unsafe driving condition develops on said roadway.

12. A method in accordance with claim 1 wherein said intelligible indicating means is controlled in its operation in response to a computerized expert system employing information generated by an electro-optical image scanning means scanning ahead of said motor vehicle.

13. A method in accordance with claim 12 wherein scanning is effected of an image field ahead of said vehicle which image field includes both vehicles traveling the roadway ahead of said vehicle and objects to both sides of said roadway and said expect system is operable to discriminate between moving and stationary objects on and adjacent said roadway and to detect and respond to objects in the path of said vehicle in a manner to effect the avoidance of collisions between said vehicle and the objects detected.

14. A method in accordance with claim 12 wherein said intelligible indicating means is controlled in its operation in response to a computing means employing neural networks.

15. A method in accordance with claim 1 employing a computer having neural network means and an expert system operable to control said braking means to slow or stop the travel of said motor vehicle to avoid or lessen the effects of an accident involving said motor vehicle.

16. A method in accordance with claim 1 which includes employing a computing means employing fuzzy logic circuit means to effect the computer processing and analyzing of the video signals generated by said video scanning means.

17. A method in accordance with claim 1 which includes employing a computing means employing a plurality of software systems selected from the group including an expert system based on safe driving conditions, neural network means and fuzzy logic means for controlling the operation of said motor vehicle to avoid accidents.

18. A method in accordance with claim 17 wherein said computing means is operable to control the speed of travel of said motor vehicle to avoid hazardous driving conditions such as collisions with other motor vehicles ahead of said motor vehicle.

19. A method in accordance with claim 17 wherein said computing means is operable to control the steering mechanism of said motor vehicle to avoid hazardous driving conditions such as collisions with other vehicles and stationary objects.

20. A method in accordance with claim 17 wherein said computing means is operable to control both the speed and steering mechanism of said motor vehicle to avoid hazardous traveling conditions of said vehicle such as collisions with other vehicles and stationary objects.

21. A method in accordance with claim 17 which includes sensing the slowing down of said motor vehicle when the brakes thereof are applied by the driver of said vehicle or under the control of the computing means of said vehicle or both and generating further code signals, and applying said further code signals to modify the control of said braking means to properly slow down or stop said vehicle to avoid a collision with an object in the path of travel of said vehicle.

22. A method in accordance with claim 21 which also includes sensing the steering of said vehicle and generating still further code signals and employing the latter code signals to control the steering means of the vehicle and the braking means to avoid an accident.

23. A method in accordance with claim 17 which includes operating a restraining means for a person in said motor vehicle to restrain the movement of said person in the event of an accident in response to certain of said code signals.

24. A method in accordance with claim 23 which includes programming a decision computing means to receive feedback signals as streams of data as said motor vehicle is driven which streams of data include data codes defining distances between said motor vehicle and a vehicle in its path of travel and also the closing speed between said motor vehicle and said vehicle in its path and at least one or a plurality of codes indicative that a collision between the two vehicles will occur if the speed of said motor vehicle is not slowed or the motor vehicle is not stopped, and operating said decision computer to cause it to control a means for power operating the brakes of said motor vehicle in a manner to controllably slow down or stop said motor vehicle.

25. A method for operating a motor vehicle comprising:

a) driver controlling the operation of a motor vehicle to cause it to travel in traffic along a roadway having other vehicles traveling in the same direction as said motor vehicle and approaching said motor vehicle in an adjacent lane,

b) scanning the images of both vehicles traveling in the same and opposite directions ahead of said motor vehicle with a video scanning means supported by said vehicle to continuously generate full-frame video picture signals on the output of said scanning means,

c) computer processing said video picture signals and generating trains of first digital code signals,

d) computer analyzing said first digital code signals by comparing said first code signals with codes recorded in a memory and identifying the objects scanned ahead of said vehicle including at least one object in the path of travel of said vehicle,

e) detecting the distance between said motor vehicle and an object immediately ahead of said vehicle and generating a train of second code signals each of which indicates said distance at a different time,

f) computer analyzing said first and second code signals and generating third code signals, and

g) employing said third code signals to control a warning device to intelligibly indicate to the driver of said vehicle to take a corrective action, such as effect deceleration or apply the brakes of the vehicle to avoid a collision with the object ahead of his vehicle.

26. A method in accordance with claim 25 wherein step (g) is effected by means of intermittently operating a warning device such as a sound generator, a flashing light or both.

27. A method in accordance with claim 25 wherein step (g) is effected by controlling the operation of a synthetic speech generating computer to cause it to generate speech signals defining sounds of select words of speech and to warn the driver of the motor vehicle with such speech sounds of a developing hazardous condition and, when the circumstance requires it, to generate further speech signals and corresponding sounds and speech which suggest a corrective action by the driver to avoid or reduce the possibility of an accident.

28. A method in accordance with claim 27 which includes employing selected of said third code signals to controllably operate decelerating or braking means for said vehicle and, if necessary, a steering means for said vehicle if a collision with an object ahead of said vehicle is imminent.

29. A method in accordance with claim 27 which includes employing selected of said third code signals to operate a means for overriding the accelerator of the vehicle if the closing distance between said vehicle and another vehicle in the path of said vehicle and traveling in the same direction as said vehicle becomes hazardous.

30. A system for operating a motor vehicle comprising:

a) a motor vehicle having a vehicle body, motor means and driver operated means including an accelerator for said motor means, braking and steering means,

b) first means supported by said vehicle for scanning ahead of said vehicle as it travels a roadway and generating first image signals modulated with information relating to objects and obstacles such as other vehicles, pedestrians, animals, road dividers, and other obstacles with which said vehicle may collide,

c) means for generating scanning signals on the output of said scanning means which scanning signals are modulated with image information relating to the identification of obstacles in or approaching the path of travel of said vehicle,

d) first computer means for receiving and analyzing said scanning signals as the vehicle travels and generating first code signals,

e) means for generating second code signals indicative of the distances between said vehicle and obstacles ahead of said vehicle which are in the path of said vehicle,

f) second computer means for analyzing said first and second code signals and generating third code signals,

g) means for receiving and utilizing said third code signals to control the operation of said vehicle to avoid collisions between said vehicle and objects in its path of travel.

31. A system in accordance with claim 30 wherein said latter means comprises a visual display means for the driver of said vehicle controllably operated by said third code signals to intelligibly indicate road conditions ahead of said vehicle as it is driven.

32. A system in accordance with claim 31 wherein said visual display means comprises a heads-up display means operable to project images of intelligible information on the windshield of said vehicle within the direct line of vision of said driver of said vehicle.

33. A system in accordance with claim 30 wherein said later means comprises a synthetic speech generating computer operable to generate sounds of select words of speech which may be heard by the driver of said vehicle and which inform or warn the driver of hazardous driving conditions, such as objects in the path of travel or about to intersect the path of travel of said vehicle.

34. A system in accordance with claim 30 wherein said latter means comprises a synthetic speech generating computer and a visual display means both of which are simultaneously controllable by selected of said third code signals to warn the driver of said vehicle of hazardous conditions ahead of said vehicle.

35. A system in accordance with claim 30 wherein said latter means is a vehicle travel control means controlled in its operation by selected of said third code signals to effect the braking of said vehicle to avoid collision with an obstacle ahead of said vehicle.

36. A system in accordance with claim 35 including a decision computing means operable to analyze said first, second and third control signals and generate fourth code signals for use in effecting the braking of said motor vehicle.

37. A system in accordance with claim 30 wherein said latter means is a directional control means including the steering mechanism for said vehicle, said steering mechanism being controlled in operation by selected of said third code signals to avoid collision with an obstacle in the path of said vehicle.

38. A system in accordance with claim 30 including object identification means responsive to said first code signals for identifying and intelligibly indicating to the driver of said vehicle the identification of said vehicle, and further means for generating fourth code signals and employing said fourth code signals in intelligibly indicating distances between said vehicle and objects in the path of said vehicle.

39. A system in accordance with claim 38 wherein said object identification means is operable to identify objects, such as other vehicles traveling at an angle to the roadway said vehicle is traveling and pedestrians in movement in the road ahead and to the side of said vehicle.

40. A system in accordance with claim 39 including means operable in response to selected of said third code signals for controlling the operation of said vehicle to avoid or lessen the effects of collision with any obstacle in the path of said vehicle if the driver of said vehicle does not properly or quickly enough respond to indication by said intelligible indicating means that obstacles are in the path of travel of said vehicle.

41. A system in accordance with claim 40 including a decision computing means for analyzing said third code signals and generating control signals, when necessary, to avoid or lessen the effects of a collision, to override or cooperate with the driver of said motor vehicle in controlling the operation of said vehicle.

42. A system in accordance with claim 41 wherein said decision computing means is operable to control the operation of the braking means for said motor vehicle when necessary to avoid or lessen the effects of an accident.

43. A system in accordance with claim 41 wherein said decision computing means is operable to control the operation of the steering means or said vehicle.

44. A method for controlling the operation of a motor vehicle.

a) scanning the area in front of a driven, moving motor vehicle with a forwardly directed scanning means, and generating first image signals,

b) computer processing and analyzing said first image signals and generating first code signals,

c) employing said first code signals to intelligibly indicate and define the condition of the road in front of said vehicle including the presence, direction and speed of travel of obstacles of such as other moving vehicles and stationery obstacles in front of said vehicle,

d) scanning the area on front of said vehicle and detecting distance between said vehicle and said objects such as moving vehicles travelling in the direction of said vehicle and approaching the path of travel of said vehicle from a side road and generating second code signals indicative of said distances,

e) computer processing and analyzing said first and second code signals and generating third code signals and

f) employing selected said third code signals to intelligibly indicate to the driver of said vehicle information relating to the approach of another motor vehicle along a roadway angulated to the road along which said vehicle is travelling.

45. A method in accordance with claim 44 wherein said third code signals are employed to indicate the direction said other motor vehicle is approaching the path of travel of said motor vehicle.

46. A method for controlling the operation of a motor vehicle.

a) scanning the area in front of a driven, moving motor vehicle with a forwardly directed scanning means, and generating first image signals,

b) computer processing and analyzing said first image signals and generating first code signals,

c) employing said first code signals to intelligibly indicate and define the condition of the road in front of said vehicle including the presence, direction and speed of travel of obstacles of such as other moving vehicles and stationery obstacles in front of said vehicle,

d) scanning the area on front of said vehicle and detecting distance between said vehicle and said objects such as pedestrians or bicyclists in the path of travel of said vehicle and approaching the path of travel of said vehicle from a side road and generating second code signals indicative of said distances,

e) computer processing and analyzing said first and second code signals and generating third code signals and

f) employing selected said third code signals to intelligibly indicate to the driver of said vehicle information relating to the approach of said objects from said side road.

47. The method of claim 46 wherein said method includes a warning device such as a light or horn to warn said pedestrian or bicyclist of the approaching vehicle.

48. A method for controlling the operation of a motor vehicle comprising:

a) operating a first motor vehicle by driving said vehicle along a road,

b) scanning with a first scanning means an area in front of said first motor vehicle as it travels said road and generating first information signals modulated with first information relating to objects such as other vehicles travel ahead of said motor vehicle in the same direction said motor vehicle is traveling,

c) computer processing said first information signals and generating first code signals,

d) employing said first code signals to generate second code signals indicative of the distance between said first motor vehicle and a second motor vehicle traveling in the same direction as said first motor vehicle on said road and the closing speed between said first motor vehicle and said second motor vehicle,

e) scanning with a second scanning means an area behind said first motor vehicle as it travels said road and generating second scanning signals modulated with information relating to a third vehicle traveling behind said first motor vehicle in the same direction as the direction of travel of said first motor vehicle,

f) computer processing said second information signals and generating third code signals,

g) employing said third code signals to generate fourth code signals indicative of the closing speed and distance between said first and third motor vehicles,

h) computer analyzing said second and fourth code signals and generating fifth code signals, and

i) employing said fifth code signals to control the operation of an intelligible indicating means in said first motor vehicle to intelligibly indicate to the driver of said first motor vehicle to slow the speed of said first motor vehicle to avoid a hazardous driving condition with respect second motor vehicle.

49. A method in accordance with claim 48, further including employing said fifth code signals to control a further indicating means to intelligibly indicate to the driver of said third motor vehicle that said first motor has been warned to slow down.

50. A method in accordance with claim 49 including generating sixth code signals when the computer processing in steps (c) and (f) indicate that a collision between said first and second motor vehicles may take place and employing said sixth code signals to control the operation of a braking means for said first motor vehicle to slow the speed and controllably stop said first motor vehicle if necessary to avoid collision with said second motor vehicle.

51. A method in accordance with claim 50 which includes also employing said sixth code signals to operate a warning means on said vehicle to warn the driver of said third motor vehicle that said first motor vehicle is being braked to stop.

52. A method in accordance with claim 50 wherein said sixth code signals are operable to effect braking of said first motor vehicle in an anti-locking mode.

53. A method for controlling the operation of a motor vehicle comprising:

a) operating a first motor vehicle by employing a human operator to drive said first motor vehicle along a multiple lane roadway,

b) scanning with a first scanning means an area in front of said first motor vehicle as it travels said roadway and generating first information signals modulated with information relating to objects ahead of said first motor vehicle such as a second vehicle traveling said roadway ahead of said vehicle,

c) computer processing said first information signals and generating a first chain of digital signals,

d) computer analyzing said first chain of digital signals and generating first code signals indicative of the distance between said first and second motor vehicles and the closing speed therebetween,

e) scanning areas to the left and right sides of said first motor vehicle with a second scanning means as it travels said roadway and generating respective second and third chains of digital signals,

f) computer analyzing said second and third chains of digital signals and generating second and third code signals when vehicles to the left and right sides of said first motor vehicle are detected by the scanning of step (e),

g) computer analyzing said first, second and third code signals as they are generated and generating fourth code signals indicative that a collision may occur between said first motor vehicle and one of said vehicles ahead of or to one of the sides of said first motor vehicle is imminent, and

h) employing said fourth code signals to effect control of the operation of said first motor vehicle to prevent such collision.

54. A method in accordance with claim 53 wherein step (h) is effected by employing said fourth code signals to operate an intelligible indicating means within said first motor vehicle to warn the driver thereof to control the operation of said first motor vehicle in a manner to avoid a collision.

55. A method in accordance with claim 54 wherein the intelligible indicating means operates to visually indicate to the driver of said first motor vehicle the hazardous condition.

56. A method in accordance with claim 54 wherein the intelligible indicating means operates to visually indicate by lighted display to the driver of said first motor vehicle the hazardous condition.

57. A method in accordance with claim 54 wherein the intelligible indicating means operates to visually indicate by heads-up display on the windshield of said first motor vehicle to the driver of said first motor vehicle the hazardous condition.

58. A method in accordance with claim 54 wherein the intelligible indicating means operates to visually indicate to the driver of said first motor vehicle the relative positions between said first motor vehicle, one or more vehicles ahead of and, if present, to either or both sides of said first motor vehicle.

59. A method in accordance with claim 54 wherein the intelligible indicating means operates to visually indicate to the driver of said first motor vehicle the relative closing speeds between at least two of said motor vehicles.

60. A method in accordance with claim 54 wherein the intelligible indicating means operates to indicate by generating sounds of select speech which may be heard by the driver of said first motor vehicle, which speech provides details of the hazardous condition.

61. A method in accordance with claim 54 wherein the intelligible indicating means operates to indicate by generating sounds of select speech which may be heard by the driver of said first motor vehicle, which speech provides details of the hazardous condition and informs said driver of corrective actions to take to avoid an accident.

62. A method in accordance with claim 54 wherein the intelligible indicating means operates to indicate by generating sounds of select speech which may be heard by the driver of said first motor vehicle, which speech provides details of the hazardous condition and informs said driver of corrective actions to take to avoid an accident using such words as “

slow down”

, “

slow down and stop”

, “

swerve left”

, “

swerve right”

, etc.

63. A method in accordance with claim 53 wherein step (h) is effected by employing said fourth code signals to control the operation of the brakes of said first motor vehicle to avoid collision with the vehicle ahead of said first motor vehicle.

64. A method in accordance with claim 53 wherein step (h) is effected by employing said fourth code signals to control the operation of the steering mechanism of said first motor vehicle to avoid collision with the vehicle ahead of said first motor vehicle.

65. A method in accordance with claim 53 wherein step (h) is effected by employing said fourth code signals to control the operation of both the brakes and the steering mechanism of said first motor vehicle to avoid collision with the vehicle ahead of said first motor vehicle.

66. A method in accordance with claim 53 wherein step (h) is effected by employing said fourth code signals to control the operation of the steering mechanism of said first motor vehicle to avoid collision between said first motor vehicle and a vehicle at one side of said first motor vehicle when the steering mechanism of said first motor vehicle is so controlled.

67. A method for controlling the operation of a motor vehicle comprising:

a) operating a motor vehicle by employing a human operator to drive said motor vehicle along a multiple lane roadway,

b) scanning with scanning means selected areas around said motor vehicle and generating first information signals modulated with information relating to objects detected in the said vehicle vicinity,

c) computer processing said first information signals and generating second information signals containing characteristic information defining objects in said scanning areas,

d) computer analyzing said second information signals and generating third information signals defining the presence of hazards and objects in the vicinity of said motor vehicle,

e) Further analyzing said second information signals and generating fourth information signals indicative of relative motion of said motor vehicle and detected hazards,

f) computer processing third and fourth information signals to generate fifth information signals used to warn the driver of hazardous conditions

68. The method of claim 67 wherein said fifth information signals of step (f) are used to control the operation of said motor vehicle.

69. The method of claim 67 wherein said fifth information signals are used to both warn the driver of hazardous conditions and to control the operation of said motor vehicle.

70. The method of claim 67 wherein said scanning means of step (b) includes video scanning means.

71. The method of claim 67 wherein said scanning means includes radar/lidar scanning means.

72. The method of claim 67 wherein the vicinity scanned includes the front, back, and right and left sides of the vehicle.

73. The method of claim 67 wherein the computer processing includes the use of neural networks for image analysis.

74. The method of claim 67 wherein the derivation of control signals for warning the driver and controlling the operation of the motor vehicle includes the use of fuzzy logic algorithms with defined membership grades for fuzzy variables.

75. The method of claim 74 wherein the fuzzy logic algorithms make use of fuzzy associative memories (FAM'"'"'s) to define expert system driving control responses to control the operation of the motor vehicle for different encountered hazards.

76. The method of claim 75 wherein the expert system control responses include control signals for braking the motion of the vehicle.

77. The method of claim 75 wherein the expert system control responses include control signals for steering the vehicle.

78. A motor vehicle control system for a self propelled motor vehicle having a driver operable accelerator, brake and steering means for said vehicle, comprising in combination:

a) motor means for operating said accelerator, brake and steering means,

b) control means for said motor means,

c) master computing means for controlling the operation of said control means to variably control the operation of said accelerator, brake and steering means,

d) first means for operating said master computing means to cause it to control said accelerator and steering means to cause said vehicle to travel a select lane of a highway,

e) second means for operating said master computing means to cause it to control said brake to slow said vehicle, if necessary, to prevent collisions between said vehicle and other vehicles travelling said highway,

f) first override control means for allowing the driver of said motor vehicle to override said first means,

g) second override control means for allowing the driver of said motor vehicle to override said second means.

79. A motor vehicle control system in accordance with claim 78 wherein said first override control means is operative when the driver of said motor vehicle operates either the accelerator or the steering means of said motor vehicle.

80. A motor vehicle control system in accordance with claim 78 wherein said second override control means is operative when the driver of said motor vehicle operates the brakes of said motor vehicle.

81. A motor vehicle control system in accordance with claim 78 including means for sensing hazardous driving conditions of said motor vehicle as it travels a roadway and generating code signals indicative of such hazardous conditions, and means for employing said code signals to permit said master computing means to operate said control means to control said motor means to operate said brake and steering mean to avoid collisions between said motor vehicle and obstacles such as moving vehicles and stationary objects in the path of travel of said motor vehicle.

82. A motor vehicle control system in accordance with claim 81 wherein said master computing means is operable to also control said motor means to operate said accelerator to in driving conditions where it is necessary to controllably accelerate to prevent a collision.

83. A motor vehicle control system in accordance with claim 78 including an electronic display means supported within said motor vehicle for displaying information to the driver of said vehicle, said display means being operable in response to signals generated by said master computing means to display information relating to the travel of said vehicle.

84. A motor vehicle control system in accordance with claim 83 wherein said master computing means is operable to control said display means to graphically display a map which includes the road along which said vehicle is travelling and said vehicle thereon.

85. A method for operating a motor vehicle comprising:

a) operating a motor vehicle in a first mode which includes driver controlling the movement of said vehicle along a first section of roadway,

b) monitoring the travel of said vehicle and other vehicles with a first computer means and generating first control signals,

c) employing said first control signals to intelligibly indicate to the driver of said motor vehicle driving conditions with respect to other vehicles,

d) generating second control signals when a hazardous condition develops during the movement of said vehicle and employing said second control signals to effect the temporary control of said vehicle to prevent or lessen the effects of an accident involving said vehicle and another vehicle or obstacle in the path of said vehicle.

87. A method in accordance with claim 85 including operating said motor vehicle in a second mode wherein said first computing means includes means for automatically controlling the operation of said motor vehicle in normally driving said vehicle along a second section of roadway without driver control of said vehicle.

88. A method in accordance with claim 87 which includes overriding the computer control of the operation of said motor vehicle during said second mode of operation to permit the driver of said vehicle to take control of its operation reverting to control of the operation of said motor vehicle by said computing means when the driver thereof ceases to manually control said vehicle.

89. A method in accordance with claim 87 which includes overriding the computer control of the operation of said motor vehicle driving said second mode of operation to permit the driver of said vehicle to take control of its operation and automatically reverting to control of the operation of said motor vehicle by said computing means when the driver thereof ceases to manually control said vehicle.

90. A method in accordance with claim 87 which includes overriding the computer control of the operation of said motor vehicle during said second mode of operation to permit the driver of said vehicle to take control of its operation reverting to control of the operation of said motor vehicle by said computing means when the driver thereof fails to control said vehicle to avoid an accident.

91. A method in accordance with claim 85 which includes employing selected of said first control signals to control a display means to display indicia to the driver of said motor vehicle indicative of the relative positions of said motor vehicle and at least one other motor vehicle which is in movement along the route of travel of said motor vehicle.

92. A method in accordance with claim 85 which includes employing selected of said first control signals to control a heads-up windshield display means to display indicia to the driver of said motor vehicle indicative of the relative positions of said motor vehicle and at least one other motor vehicle which is in movement along the route of travel of said motor vehicle.

93. A method in accordance with claim 85 which includes employing selected of said first control signals to control a display means to display indicia to the driver of said motor vehicle indicative of the relative positions of said motor vehicle and at least one other motor vehicle which is in movement ahead of the route of travel of said motor vehicle.

94. A method in accordance with claim 85 which includes employing selected of said first control signals to control a display means to display indicia to the driver of said motor vehicle indicative of the relative positions of said motor vehicle and at least one other motor vehicle which is in movement along the route of travel of said motor vehicle and providing on said display means an indication of the distance between the two vehicles.

95. A method in accordance with claim 85 which includes employing selected of said first control signals to control a display means to display a graphical indication of the distance at any instant to the driver of said motor vehicle indicative of the relative positions of said motor vehicle and at least one other motor vehicle which is in movement along the route of travel of said motor vehicle.

96. A method in accordance with claim 85 which includes employing selected of said first control signals to control a display means to display a numerical indication of the distance between said motor vehicle and at least one other motor vehicle which is in movement along the route of travel of said motor vehicle.

97. A method in accordance with claim 85 which includes employing selected of said first control signals to control a display means to display a colored indication of the distance between said motor vehicle and at least one other motor vehicle which is in movement along the route of travel of said motor vehicle.

98. A method in accordance with claim 85 which includes employing selected of said first control signals to control a display means to display a flashing light indication of the distance between said motor vehicle and at least one other motor vehicle which is in movement along the route of travel of said motor vehicle.

99. A method in accordance with claim 85 which includes employing selected of said first control signals to control a verbal indication in synthetic speech of the distance between said motor vehicle and at least one other motor vehicle which is in movement along the route of travel of said motor vehicle.

86. A method for operating a motor vehicle comprising:

a) operating a motor vehicle in a first mode which includes driver controlling the movement of said vehicle along a first section of roadway,

b) monitoring the travel of said vehicle and other vehicles with a first computer means and generating first control signals,

c) employing said first control signals to intelligibly indicate to the driver of said motor vehicle driving conditions with respect to other vehicles and stationary obstacles,

d) generating second control signals when a hazardous condition develops during the movement of said vehicle and employing said second control signals to effect the temporary control of said vehicle to prevent or lessen the effects of an accident involving said vehicle and another vehicle or obstacle in the path of said vehicle.