초록 ▼

GPS satellite (4) ranging signals (6) received (32) on comm1, and DGPS auxiliary range correction signals and pseudolite carrier phase ambiguity resolution signals (8) from a fixed known earth base station (10) received (34) on comm2, at one of a plurality of vehicles/aircraft/automobiles (2) are co

GPS satellite (4) ranging signals (6) received (32) on comm1, and DGPS auxiliary range correction signals and pseudolite carrier phase ambiguity resolution signals (8) from a fixed known earth base station (10) received (34) on comm2, at one of a plurality of vehicles/aircraft/automobiles (2) are computer processed (36) to continuously determine the one's kinematic tracking position on a pathway (14) with centimeter accuracy. That GPS-based position is communicated with selected other status information to each other one of the plurality of vehicles (2), to the one station (10), and/or to one of a plurality of control centers (16), and the one vehicle receives therefrom each of the others' status information and kinematic tracking position. Objects (22) are detected from all directions (300) by multiple supplemental mechanisms, e.g., video (54), radar/lidar (56), laser and optical scanners. Data and information are computer processed and analyzed (50,52,200,452) in neural networks (132, FIGS. 6-8) in the one vehicle to identify, rank, and evaluate collision hazards/objects, an expert operating response to which is determined in a fuzzy logic associative memory (484) which generates control signals which actuate a plurality of control systems of the one vehicle in a coordinated manner to maneuver it laterally and longitudinally to avoid each collision hazard, or, for motor vehicles, when a collision is unavoidable, to minimize injury or damage therefrom. The operator is warned by a heads up display and other modes and may override. An automotive auto-pilot mode is provided.

대표청구항 ▼

1. A computer controlled collision avoidance and warning method comprising the acts of:receiving continuously from a network of satellites on a first communication link at one of a plurality of vehicles GPS ranging signals for initially accurately determining the one vehicle's position on a surface;

1. A computer controlled collision avoidance and warning method comprising the acts of:receiving continuously from a network of satellites on a first communication link at one of a plurality of vehicles GPS ranging signals for initially accurately determining the one vehicle's position on a surface; receiving continuously at the one vehicle on a second communication link from one of a plurality of stations having a known fixed position on the surface DGPS auxiliary range signals, including correction signals for correcting propagation delay errors in the GPS ranging signals and pseudolite signals for assistance in making further measurements for still further improving the accuracy of the GPS ranging signals and of determining the one vehicle's position on the surface; determining continuously at the one vehicle from the GPS, DGPS, and pseudolite signals the one vehicle's kinematic tracking position on the surface with centimeter accuracy, providing information descriptive of particular hazards and objects in the pathway of the one vehicle derived from conventional image analysis systems carried on the one vehicle; communicating the one vehicle's status information including the information descriptive of particular hazards and objects in the pathway of the one vehicle and the kinematic tracking position to each other one of the plurality of vehicles and to the one station or one of a plurality of control centers; analyzing the information descriptive of the particular hazards and objects and analyzing the kinematic tracking positions and the status information to identify and evaluate the particular hazards and objects in the pathway of the one vehicle; determining in a fuzzy logic associative memory the one vehicle's expert driving response relative to the particular hazards and objects in the pathway of the one vehicle; generating expert driving response control signals for actuating a plurality of control systems of the one vehicle in a coordinated manner; intelligibly indicating a warning of the particular hazards and objects in the pathway of the one vehicle; and coordinating actuating the control systems of the one vehicle with the control signals to operated the one vehicle laterally and longitudinally in real time to avoid contact with the particular hazards and objects in the pathway.