US Patent No. 10,585,158

AUTONOMOUS VEHICLE LOCALIZATION SYSTEM


Patent No. 10,585,158
Issue Date March 10, 2020
Title Autonomous Vehicle Localization System
Inventorship David E. Newman, Poway, CA (US)
R. Kemp Massengill, Palos Verdes, CA (US)
Assignee AUTONOMOUS ROADWAY INTELLIGENCE, LLC, Palo Verdes, CA (US)

Claim of US Patent No. 10,585,158

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.