Autonomous vehicle localization system

Patent metadata

Field	Value
Publication number	US-10816635-B1
Application number	US-201916390219-A
Country	US
Kind code	B1
Filing date	Apr 22, 2019
Priority date	Dec 20, 2018
Publication date	Oct 27, 2020
Grant date	Oct 27, 2020

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.

First claim

What is claimed is:

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 energy 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, the second localization signal comprising pulsed energy 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 second localization signal, and to associate the second localization signal with the second wireless message;

wherein the processor is further configured to perform one or more of the following steps:
determine which particular vehicle, among a plurality of other vehicles, is the second vehicle according to the direction determined from the second localization signal;
decode the second identification code by analyzing the second localization signal;
identify the second vehicle by comparing an image of the second vehicle and the direction toward the second vehicle;
form a plurality of successive images of the second vehicle at successive times, and to calculate an updated direction toward the second vehicle according to each of the plurality of images;
communicate with the second vehicle after determining both a direction toward the second vehicle and an identification code associated with the second vehicle;
avoid, in cooperation with the second vehicle, an imminent collision;
cause the second vehicle to avoid an imminent collision, at least in part by communicating with the second vehicle;
determine, based at least in part on one or more communications with the second vehicle, whether an imminent collision is avoidable or unavoidable;
mitigate a traffic collision by communicating wirelessly with the second vehicle after detecting the second localization signal and determining which vehicle, among a plurality of vehicles proximate to the first vehicle, is the second vehicle;
determine the second identification code, and then to transmit, specifically to the second vehicle, a wireless message that includes both the first and second identification codes;
determine whether the second vehicle is an autonomous vehicle;
prepare, in cooperation with the second vehicle, a first sequence of actions comprising a plurality of sequential positive accelerations, active or passive decelerations, waiting times, or steering actions of the first vehicle, and a second sequence of actions comprising a plurality of sequential positive accelerations, active or passive decelerations, waiting times, or steering actions of the second vehicle;
avoid a collision, at least in part by communicating with the second vehicle after determining a direction toward the second vehicle and an identification code associated with the second vehicle;
communicate with the second vehicle, and to prepare, at least in part based on communications with the second vehicle, one or more sequences of actions configured to avoid the collision or to minimize the harm of an unavoidable collision, and to implement a selected one of the sequences of actions;
determine, at least in part based on communications with the second vehicle, whether an imminent collision is avoidable or unavoidable;
wait, after receiving a wireless message from the second vehicle, for a predetermined waiting interval, and then to prepare a gate interval, and to emit the first localization signal at a randomly selected time during the gate interval; and
delay emitting the first localization message while another wireless message is in progress.

2. The system of claim 1 , wherein the processor is configured to wait, after receiving a wireless message from the second vehicle and determining that another wireless message has been transmitted during the predetermined waiting interval, for a second waiting interval, and then to prepare a second gate interval, and to emit the first localization signal during the second gate interval.

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

Assignees

• Newman David E
• Massengill R Kemp
• Autonomous Roadway Intelligence Llc

Inventors

• Newman David E
• Massengill R Kemp

Classifications

• H04W4/90

  Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS] · CPC title

• H04W4/029

  Location-based management or tracking services · CPC title

• H04W4/12

  Messaging; Mailboxes; Announcements · CPC title

• H04W4/40

  for vehicles, e.g. vehicle-to-pedestrians [V2P] · CPC title

• G01S2205/01

  specially adapted for specific applications · CPC title