COMPUTATIONALLY EFFICIENT INTERSECTION COLLISION AVOIDANCE SYSTEM
First Claim
1. A back propagating intersection collision avoidance system for preventing two vehicles from colliding at an intersection, said system comprising:
- a first vehicle and a second vehicle, said first and second vehicle each operable to approach an intersection at a definable velocity and acceleration;
said intersection having a collision zone in which said first and second vehicle will collide if present within said collision zone at a same time;
a microprocessor having an algorithm, said microprocessor with said algorithm operable to;
back propagate from said collision zone a capture set as a function of a position, velocity and acceleration of said first vehicle and said second vehicle, said capture set defining a plurality of locations that if occupied by said first vehicle and said second vehicle at a same time guarantee said first vehicle and said second vehicle will enter said collision zone at said same time;
determine if each of said first vehicle and said second vehicle is within said capture set; and
determine if each of said first vehicle and said second vehicle will enter said capture set given said position, velocity and acceleration of said first vehicle and said second vehicle;
a controller, said controller in communication with said microprocessor with said algorithm and operable to accelerate or de-accelerate each of said first vehicle and said second vehicle in order to prevent at least one of said first vehicle and said second vehicle from entering said capture set, if said at least one of said first vehicle and said second vehicle is determined not to be within said capture set by said microprocessor.
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Accused Products
Abstract
The present invention discloses a back-propagating intersection collision avoidance (ICA) system for preventing two or more vehicles from colliding at an intersection. The ICA system can calculate predicted positions of the two or more vehicles in the near future, and both the current and future positions can be broadcast to surrounding vehicles using vehicle-to-vehicle communication. For each vehicle, a set of states, for example position, speed, acceleration, and the like, where a collision is imminent can be identified using state information for a local vehicle, a remote vehicle, and a known collision zone for the intersection. If the current states of the vehicles are determined to be in danger of entering the collision zone, the ICA system can control the vehicles to perform evasive driving maneuvers and/or alert the drivers.
54 Citations
16 Claims
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1. A back propagating intersection collision avoidance system for preventing two vehicles from colliding at an intersection, said system comprising:
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a first vehicle and a second vehicle, said first and second vehicle each operable to approach an intersection at a definable velocity and acceleration; said intersection having a collision zone in which said first and second vehicle will collide if present within said collision zone at a same time; a microprocessor having an algorithm, said microprocessor with said algorithm operable to; back propagate from said collision zone a capture set as a function of a position, velocity and acceleration of said first vehicle and said second vehicle, said capture set defining a plurality of locations that if occupied by said first vehicle and said second vehicle at a same time guarantee said first vehicle and said second vehicle will enter said collision zone at said same time; determine if each of said first vehicle and said second vehicle is within said capture set; and determine if each of said first vehicle and said second vehicle will enter said capture set given said position, velocity and acceleration of said first vehicle and said second vehicle; a controller, said controller in communication with said microprocessor with said algorithm and operable to accelerate or de-accelerate each of said first vehicle and said second vehicle in order to prevent at least one of said first vehicle and said second vehicle from entering said capture set, if said at least one of said first vehicle and said second vehicle is determined not to be within said capture set by said microprocessor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A back propagating intersection collision avoidance system for preventing two vehicles from colliding at an intersection, said system comprising:
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a road intersection having a collision zone, said collision zone defining an area of said intersection where two or more vehicles will collide if said two or more vehicles enter at a same time; a first vehicle and a second vehicle, said first vehicle and said second vehicle each operable to approach said road intersection at a definable velocity and acceleration; said first vehicle having a first microprocessor with an algorithm and said second vehicle having a second microprocessor with an algorithm, said first and second microprocessor each operable to; back propagate from said collision zone a capture set as a function of a position, velocity and acceleration of said first vehicle and said second vehicle, said capture set defining a plurality of locations for said first vehicle and said second vehicle that will guarantee said first vehicle and said second vehicle will enter said collision zone at said same time; determine if at least one of said first vehicle and said second vehicle are in said capture set; and determine if at least one of said first vehicle and said second vehicle will enter said capture set given said position, velocity and acceleration of said at least one of said first vehicle and said second vehicle; a first controller and a second controller, said first controller in communication with said first microprocessor and said second controller in communication with said with said second microprocessor; said first controller operable to accelerate and de-accelerate said first vehicle and said second controller operable to accelerate and de-accelerate said second vehicle, for the purpose of preventing at least one of said first vehicle and said second vehicle from entering said capture set.
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10. A process for avoiding an intersection collision between two vehicles approaching the intersection, the process comprising:
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providing an intersection; providing a collision zone for the intersection, the collision zone defining an area of the intersection where two vehicles can not occupy without colliding with each other; providing a first vehicle approaching the intersection from a first direction and a second vehicle approaching the intersection from a second direction, the first vehicle and the second vehicle each having a position, velocity and acceleration at a given time t0; providing a microprocessor having an algorithm operable to; back propagate from the collision zone to a capture set as a function of the position, velocity and acceleration of the first vehicle and the second vehicle, the capture set defining a plurality of locations for the first vehicle and the second vehicle that will guarantee the first vehicle and the second vehicle will enter the collision zone at the same time; determine if at least one of the first vehicle and the second vehicle are in the capture set; and determine if at least one of the first vehicle and the second vehicle will enter the capture set based on the vehicle'"'"'s position, velocity and acceleration at time t0; determine if at least one the first vehicle and the second vehicle should accelerate or de-accelerate in order to avoid entering the capture set; providing a controller, the controller in communication with the microprocessor with the algorithm and operable to accelerate or de-accelerate each of the first and second vehicles in order to prevent at least one of the first and second vehicles from entering the capture set, if at least one of the first and second vehicles is not already within the capture set; back propagating the capture set for time t0; determining if the first vehicle and the second vehicle will enter the capture set; and de-accelerating the first vehicle or the second vehicle if the first vehicle or second vehicle is not already within the capture set and accelerating the first vehicle or the second vehicle if the first vehicle or second vehicle is already within the capture set. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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Specification