(19) United States
`:12; Patent Application Publication (10] Pub. No.: US 2007/0152804 A1
`(43) Pub. Date: Jul. 5, 2007
`
`Breed et a].
`
`US 20070152804A1
`
`{541
`
`(75)
`
`ACCIDENT AVOTDANCE SYSTEMS AND
`METHODS
`
`Inventors: David 5. Breed. Miami Beach. lI'l.
`{US}: Wilbur E. DuVall. Reeds Spring.
`MD (US): Wendell C. Johnson.
`Kanoohe. I-ll (US)
`
`Correspondence Address:
`BRIAN ROFFE. ESQ
`ll SUNRISE PLAZA. SUITE 303
`VALLEY STREAM. NY 11580-6111 (US)
`
`{73)
`
`Assighce;
`
`'l‘PlCllN()l.()(illiIS
`IN‘I'EI.1..IGl-IN’I'
`INTERNATIONAL. INC.. Denville. NJ
`(US)
`
`1’21)
`
`Appl. No.:
`
`111681.817
`
`{22)
`
`Filed:
`
`Mar. 5.. 2007
`
`{531
`
`Related U .5. Application Data
`
`CTootinnation-in-parl ol‘ application No. 11f034.325.
`filed on Jan. 12. 2005. now Pat. No. 7.202.776. which
`is a continuation-impart of application No. 100522.
`445. filed on Apr. 12. 2004. now Pat. No. 7.085.637.
`which is a continuatiomin—part of application No.
`103118.858.
`filed on Apr. 9, 2002. now Pat. No.
`6.720.920. which is a continuation-in-part of appli-
`cation No. 091'127041. filed on Oct. 22. 1998. now
`Pat. No. 6.370.475.
`Said application No. [Of] 18,858 is a continuation—in—
`part of application No. 09f6?9.3l7, filed on Oct. 4,
`2000. now Pat. No. 6.405.132. which is a continua-
`tion—impart of application No. 091523.559. filed on
`Mar. 10. 2000. now abandoned.
`Said application No. 10;If 1 13,858 is a continuation-in-
`part of application No. 09f909.466. filed on Jul. 19.
`2001. now Pat. No. 6.526.352.
`Said application No. 101822.445 is a continuation—in—
`part' ol‘application No. 10f216.633. filed on Aug. 9.
`2002. now Pat. No. 6.768.944.
`Cfootinnation-in-pan of application No. 111461.619.
`filed on Aug. 1. 2006. and which is a continuation-
`
`in—part of application No. 108224-15. filed on Apr.
`12. 2004. now Pat. No, 7.085.637. and which is a
`continuation—in—pzu't of application No.
`ltlz‘028.386.
`filed on Dec. 21. 200].
`
`Continuation-impart of application No. 10464335.
`filed on Aug. 1-1. 2006. and which is a continuation—
`in—part of application No. l 1t028.386_. filed on Jan. 3.
`2005. now Pat. No. 7.110.880.
`
`(60} Provisional application No. 601062.729. filed on Oct.
`22. 1997. Provisional application No. 60:” 123.882.
`filed on Mar.
`]1_. 1999. Provisional application No.
`60f7‘ll.452.1iled on Aug. 25. 2005. Provisional appli-
`cation No. 60!?11352. filed on Aug. 25. 2005.
`
`Publication Classification
`
`Int. (II.
`3609 1/00
`G036 1/16
`
`(2006.01)
`(2006.01)
`
`34016135; 701E301
`
`ABSTRAC T
`
`(511
`
`(52}
`
`(57)
`
`Accident avoidance system for a host vehicle includes a
`global positioning system residing on the host vehicle for
`determining the host vehicle‘s location as the host vehicle
`travels based on signals received li'ont one or more satellites.
`a map database having digital maps corresponding to an area
`including the location of the host vehicle as determined by
`the global positioning system. a velncle-lo-vehicle commu-
`nication system residing on Ihe host vehicle operative for
`receiving signals including location inlbmialion acquired by
`global positioning systems
`residing on other vehicles
`directly from the other vehicles indicating the locations of
`the other vehicles. and a navigation system including a
`display residing on the host vehicle for displaying images to
`an occupant ol’the host vehicle showing the digital maps and
`indications of the locations of the host vehicle and the other
`
`vehicles on the digital maps. The navigation system also
`updates the images shown on the navigation system display
`to reflect changes in die locations of the host vehicle and the
`other vehicles.
`
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`
`OWNER EX. 2024, page 1
`
`OWNER Ex. 2024, page 1
`
`

`

`Patent Application Publication
`
`Jul. 5, 2007 Sheet 1 of 20
`
`US 2007f0152804 Al
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`
`OWNER EX. 2024, page 2
`
`OWNER Ex. 2024, page 2
`
`

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`Patent Applicah’on Publication
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`Jul. 5, 2007 Sheet 2 of 20
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`US 2007l0152804 Al
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`GPS & DGPS
`
`PROCESSING
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`SYSTEM
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`DRIVER WARNING
`SYSTEM
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`OWNER EX. 2024, page 3
`
`OWNER Ex. 2024, page 3
`
`

`

`Patent Application Publication
`
`Jul. 5. 2007 Sheet 3 of 20
`
`US 200710152804 Al
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`U1N
`
`GPS
`Receiver
`
`DGPS
`Receiver
`
`Inter-Vehicle
`communication
`
`Infrastructure
`C mmunication
`
`1:
`
`54
`
`56
`
`OJC:
`
`Cameras
`
`52
`
`Radar
`
`6
`
`Laser Radar
`
`56
`
`6 3
`
`70
`
`1,2
`
`74
`
`7
`
`Warning
`LightlSound
`
`0.1 '0
`Database
`
`Brake
`Servo
`
`Steering
`Servo
`
`Throttle
`Servo
`
`Velocity
`Sensor
`
`100
`
`Central Processor 6. Circuits:
`
`GPS Ranging
`DGPS Corrections
`
`Image Analysis. 150
`— Radar Analysis
`Laser Radar Scanning Control
`and Analysis of Received
`Information
`
`Warning Message Generation
`Map Communication
`Vehicle Control
`
`Inertial Navigation System
`Calibrations and Control
`
`Displayr Control
`Precise Positioning
`Calculations
`Road Condition Predictions
`And Other Functions.
`
`Accelerometers
`
`Gyroscopes
`
`Display
`
`Memory
`
`MIR, RFID
`
`Weather
`Sensors
`
`Vehicle
`
`Diagnostics
`
`Stoplight
`Sensor
`
`Accurate
`Clock
`
`58
`
`7'8
`
`80
`
`82
`
`84
`
`86
`
`88
`
`90
`
`92
`
`
`
`
`
`Controls
`
`Fig. 5
`
`OWNER EX. 2024, page 4
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`OWNER Ex. 2024, page 4
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`

`

`Patent Applicah’on Publication
`
`Jul. 5, 2007 Sheet 4 of 20
`
`[IS 2007;0152804 Al
`
`Fig. 5A
`
`Fig. 6
`
`61
`
`
`
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`
`
`
`11
`
`OWNER EX. 2024, page 5
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`Patent Application Publication
`
`Jul. 5, 2007 Sheet 5 of 20
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`US 2007;“0152804 Al
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`
`
`OWNER EX. 2024, page 6
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`

`

`Patent Application Publication
`
`Jul. 5, 2007 Sheet 6 of 20
`
`US 20071'0152804 Al
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`
`OWNER EX. 2024, page 7
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`OWNER Ex. 2024, page 7
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`

`

`Patent Application Publication
`
`Jul. 5, 2007 Sheet 7 of 20
`
`US 2007;“0152804 A]
`
`E\; 3\
`
`
`
`OWNER EX. 2024, page 8
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`OWNER Ex. 2024, page 8
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`

`

`Patent Application Publication
`
`Jul. 5, 2007 Sheet 8 of 20
`
`US 2007l0152804 A]
`
`130
`
`132
`
`Determine Absolute
`Position of Vehicle
`
`I
`
`Data on Edges of Roadways
`Yellow lines and Stoplights
`
`Compare Absolute Position
`
`
`
`ls
`
`Absolute Position of
`
`Vehicle Approaching Close to Edge
`of Roadway
`
`136
`
`to Edges of Roadway
`
`
`Fig. 12a
`
`Sound Alarm andlor
`Giude Vehicle to Shoulder
`
`140
`
`130
`
`132
`
`Determine Absolute
`Position of Vehicle
`
`Data on Edges of Roadways
`Yellow lines and Stoplights
`
`
`
`
`Compare Absolute Position
`to Position of Yellow Lines
`
`ls
`
`Absolute Position of
`
`
`Vehicle Approaching Close to
`a Yellow Line
`
`Fig. 12b
`
`Sound Alarm andior
`Guide Vehicle away from Yellow Line
`or to Shoulder
`
`__140
`
`OWNER EX. 2024, page 9
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`OWNER Ex. 2024, page 9
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`Patent Applicafion Publication
`
`Jul. 5, 2007 Sheet 9 of 20
`
`US 200710152804 Al
`
`130
`
`132
`
`
`Determine Absolute
`Position of Vehicle
`
`Data on Edges of Roadways
`Yellow lines and Stoplighls
`
`
`Compare Absolute Position
`to Edges of Roadway And
`Posilion of Stoplight
`
`150
`
`
`
`
`
`
`
`-- 154
`
`Determine Color
`of Stoplight
`
`Is
`
`Absolute Position of
`
`Vehicle Approaching Close to
`a Red Stoplight?
`
` 140
`
`.
`F lg . 1 20
`
`Yes
`
`_
`
`Sound Alarm andior
`Giude Vehicle to Shoulder
`
`Fig.1
`
`174)
`
`25
`
`fl
`
`2%
`
`OWNER EX. 2024, page 10
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`OWNER Ex. 2024, page 10
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`

`

`Patent Application Publication
`
`Jul. 5, 2007 Slleet ll} of 2|]
`
`US 2007;0152804 Al
`
`172
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`180
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`180
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`
`OWNER EX. 2024, page 11
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`OWNER Ex. 2024, page 11
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`

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`Patent Application Publication
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`Jul. 5, 2007 Sheet 1] of 20
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`US 200710152804 Al
`
`
`
`26
`
`Fig. 15
`
`OWNER EX. 2024, page 12
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`OWNER Ex. 2024, page 12
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`Patent Application Publication
`
`Jul. 5, 2007 Sheet 12 of 20
`
`US 2007;“0152804 A]
`
`218
`
`
`202
`
`200
`
`OWNER EX. 2024, page 13
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`OWNER Ex. 2024, page 13
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`

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`Patent Applicah’on Publication
`
`Jul. 5, 2007 Sheet 13 of 20
`
`US 200710152804 Al
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`Lefi “EYE”
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`
`OWNER EX. 2024, page 14
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`OWNER Ex. 2024, page 14
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`

`

`Patent Applicah’on Publication
`
`Jul. 5, 2007 Sheet 14 of 20
`
`US 2007l0152804 Al
`
`2
`
`210
`
`Fig. 17A
`
`Linear Array
`camera
`
`224/
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`Data acquisition module
`
`
`
`OWNER EX. 2024, page 15
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`OWNER Ex. 2024, page 15
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`

`

`Patent Application Publication
`
`Jul. 5, 2007 Sheet 15 of 20
`
`US 200710152804 A]
`
`
`
`
`
`Data _on
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`
`Transmission
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`
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`244
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`
`242
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`
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`
`244
`
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`
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`
`246
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`
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`Device
`
`Fig. 20
`
`OWNER EX. 2024, page 16
`
`OWNER Ex. 2024, page 16
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`

`

`Patent Application Publication
`
`Jul. 5, 2007 Sheet 16 of 20
`
`US 2007;“0152804 A]
`
`260
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`OWNER EX. 2024, page 17
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`OWNER Ex. 2024, page 17
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`

`

`Patent Application Publication
`
`Jul. 5, 2007 Sheet 17 of 20
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`US 2007;“0152804 Al
`
`
`
`OWNER EX. 2024, page 18
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`OWNER Ex. 2024, page 18
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`Patent Application Publication
`
`Jul. 5, 2007 Sheet 18 of 20
`
`US 2007;“0152804 A]
`
`276- -
`
`266
`
`
`
`
`
`OWNER EX. 2024, page 19
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`OWNER Ex. 2024, page 19
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`Patent Applicafion Publication
`
`Jul. 5, 2007 Sheet 19 of 20
`
`US 2007l0152804 A1
`
`116
`
`I
`
`DIRECT LASER BEAM
`INTO ENVIRONMENT
`
`
`
`AROUND VEI I ICLL‘
`
`
`_ DETERMINE LOCATION OF
`VEHICLE ON MAP
`
`DEFINE SCANNING FIELD
`OF LASER BEAM BASED
`
`ON VEIIICLE‘S POSITION
`
`AND MAP
`
`-
`
`Flg. 25
`
`OWNER EX. 2024, page 20
`
`102
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`\ LASER BEAM lN'DlCATWI-L 01:
`PRESENCE OF OBJECT IN I’A’l‘ll
`
`OF LASER BEAM
`1
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`RANGE [EAI'E REFLECTIONS
`
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`FROM WIIICII REFLECTIONS
`ARE PROCESSED
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`
`OWNER Ex. 2024, page 20
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`Patent Applicah’on Publication
`
`Jul. 5, 2001I Sheet 20 of 20
`
`US 200710152804 Al
`
`GENERATE
`INFORMATION FROM
`
`m
`
`SOURCEIS)
`
`‘
`DIRECT SOURCE
`TO VEHICLE
`TRANSMISSION
`
`m
`
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`
`DIRECT
`
`INFORMATION TO
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`NETWORK
`
`GATl-IER
`INFORMATION AT
`DATA STORAGE
`FACILITY
`
`
` 284
`PROVIDERS
`
`CENTRAL DATA STORAGE AND
`PROCESSING FACILITY
`
`TRAFFIC
`CONTROL.
`DEVICES
`
`EMERGENCY
`RESPONSE
`FACILITY
`
`INTERNET
`CONTENT
`
`OWNER EX. 2024, page 21
`
`OWNER Ex. 2024, page 21
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`

`

`US 2007/0152804 A1
`
`Jul. 5. 2007
`
`ACCIDENT AVOIDANCE SYSTEMS AND
`METHODS
`
`[0001] This application is:
`
`1. a continuation-impart (C‘IP)ol‘ 11.5. patent appli-
`[0002]
`catiott Ser. No. 11t034.325 filed Jan. 12. 2005 which is a ('11J
`of 1.1.8. patent application Ser. No. 101822445 filed Apr. 12.
`2004. now US. Pat. No. 7.085.637. which is:
`
`[0003] A) a CIP of US. patent application Ser. No.
`107113.358 filed Apr. 0. 2002. now 11.3. Pat. No.
`6.720.920. which is:
`
`1) a (TIP of 1.1.3. patent application Ser. No.
`[0004]
`097177041 filed Oct. 22. 1998. now U.S. Pat. No.
`6.370.475. which claitus priority wider 35 U.S.C.
`§119{e) of US. provisional patent application Ser.
`No. 601062.729 tiled Oct. 22. 1997:
`
`2) a C [P of U.S. patent application Ser. No.
`[0005]
`091679.317 filed Oct. 4. 2000. now US. Pat. No.
`6.405.132. which is a ClP of U.S. patent application
`Ser. No. 081523.559 filed Mar. 10. 2000. now Ethan-
`doned. which claims priority tlnder 35 U.S.C. §
`119(e] of U.S. provisional patent application Ser. No.
`607123.882 filed Mar. 11. 1999: and
`
`3) a C'IP of U.S. patent application Ser. No.
`[0006]
`097909.466 filed Jul. 19. 2001. now 11.3. Pat. No.
`6.526.352: and
`
`13] a (‘ll’ of 11.3. patent application Ser. No.
`[0007]
`111910.633 filed Aug. 9. 2002. now U.S. Pat. No.
`6.768.944: and
`
`2. a CTP ofU.S. patent application Ser. No. 111461.
`[0008]
`619 tiled Aug. 1 . 2006 which claims priority under 35 U.S.C‘.
`§]10(ei 01' US. provisional patent application Ser. No.
`(107711.452 tiled Aug. 25. 2005 and is:
`
`[0009] A) a (‘IP o.l‘ 1.1.5. patent application Ser. No.
`107822.445 filed Apr. 12. 2004. now LLS. Pat. No.
`7,085,637. the history of which is set forth above; and
`
`13] a ('II’ of U.S. patent application Ser. No.
`[0010]
`111023.386 filed Jan. 3. 2005. now US. Pat. No.
`7.110.880: and
`
`3. a CIPofU.S. patent application Ser. No. 111464.
`[0011]
`385 filed Aug. 14. 2006 which claims priority under 35
`11.3.(7. § 119(e} of U.S. provisional patent application Ser.
`No. 601711.452 filed Aug. 25. 2005 and is a ("11’ 13111.5.
`patent application Ser. No. 111028.386 filed Jan. 3. 2005.
`now US. Pat. No. 7.110.880. the history ofwhich is set forth
`above.
`
`[0012] This application is related to U.S. patent applica-
`tion Ser. No. 117562.730 filed Nov. 22. 2006 on the grounds
`that they contain common subject matter.
`
`[0013] All of the above applications are incorporated by
`reference herein.
`
`FIELD OF THE INVENTION
`
`[0014] The present invention relates generally to accident
`avoidance or elimination systems for vehicles.
`
`BACKGROUND ()1T T1 IE MENTION
`
`[01115] A detailed discussion of background information is
`set 031111 in parent applications, [1.3. patent application Ser.
`
`Nos. 091679.317, 107822.445 and 11.034325. all of which
`are incorporated by reference herein. Some tnore pertinent
`background is set forth below. All of the patents. patent
`applications.
`technical papers and other references men-
`tioned below and in the parent applications are incorporated
`lterein by reference in their entirety. No admission is made
`that any or all of these references are prior an {aid indeed.
`it is contemplated that they tnay not be available as prior art
`when interpreting 35 11.5.6. § 102 in consideration of the
`claims of the present application.
`
`“Pattern recognition" as used herein will generally
`[0016]
`mean any system which processes a signal that is generated
`by an object (e.g.. representative of a pattern of returned or
`received impulses. waves or other physical property specific
`to andror characteristic of andi’or representative of that
`object) or is modified by interacting with an object, in order
`to determine to which one ol‘a set of classes that the object
`belongs. Such a system might determine only that the object
`is or is not a member of one specified class. or it might
`attempt to assign the object to one at“ a larger set of specified
`classes. or find that it is not a member of any of the classes
`in the set. The signals processed are generally a series of
`electrical signals coming from transducers that are sensitive
`to acoustic (ultrasonic) or electromagnetic radiation (cg-
`visible light. infrared radiation. capacitance or electric and“
`or magnetic fields}. although other sources of information
`are frequently included. Pattern recognition systems gener—
`ally involve the creation of a set of rules that permit the
`pattern to be recognized. These rttles can be created by 0me
`logic systems. statistical correlations. or
`through sensor
`fusion methodologies as well as by trained pattern recogni-
`tion systems such as neural networks. combination neural
`networks. cellular neural networks or
`support vector
`machines.
`
`“Neural network" as used herein. unless stated
`[0017]
`otherwise. will generally mean a single neura] network. a
`combination neural network. a cellular neural netwark. a
`
`support vector machine or any combinations thereof. For the
`purposes herein. a “neural network" is defined to include all
`such learning systents including cellular neural networks.
`support vector machines and other kentel-hased learning
`systems and methods. cellular automata and all other pattern
`recognition methods and systetns that learn. A "combination
`neural network" as used herein will generally apply to any
`combination of two or tnore neural networks as most
`broadly defincd that are either connected together or that
`analyze all or a portion of the input data.
`
`[0018] A “combination neural network" as used herein
`will generally apply to any combination of two or more
`neural networks that are either connected together or that
`analyze all or a portion of the input data. A combination
`neural network can be used to divide up tasks in solving a
`particular object sensing and identification problem. For
`example. one neural network can be used to identify an
`object occupying a space at the side of an automobile and a
`second neural network can be used to determine the position
`of the object or its location with respect to the vehicle. for
`example.
`in the blind spot.
`In another case. one neural
`network can be used merely to determine whether the data
`is similar to data upon which a tnain neural network has been
`trained or whether there is something significantly diil'erent
`about this data and therefore that the data should not be
`analyzed. Combination neural uetwmks can sometimes be
`
`OWNER EX. 2024, page 22
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`OWNER Ex. 2024, page 22
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`US 2007/0l52804 Al
`
`Jul. 5. 2007
`
`implemented as cellular neural networks. What has been
`described above is generally referred to as modular neural
`networks with and withottt feedback. Acntally. the feedback
`does not have to be from the output to the input of the satue
`neural network. ”the feedback from a downstream neural
`network could be input to an Upstream neural network. for
`example. The neural networks can be cottthined in other
`ways. For example in a voting situation. Sometimes the data
`upon which the systetn is trained is stifliciently complex or
`imprecise that dille ant views of the data will give different
`results. For example. a subset of transducers may be used to
`train one neural network and another subset to train a second
`neural network etc. The decision can then be based on a
`
`voting oi' the parallel neural networks, sometimes known as
`an ensemble neural network. In the past. neural networks
`have usually only been used in the lbrm ot' a single neural
`network algori Ilun for identifying the occupancy state of the
`space near an automobile.
`
`[0019] A trainable or a trained pattern recognition system
`as used herein generally means a pattern recognition system
`that is taught to recognize various patterns constituted within
`the signals by subjecting the system to a variety ol’examples.
`The most successful such system is the neural network used
`either singly or as a combination of neural networks. Thus,
`to generate the pattern recognition algorithm. test data is first
`obtained which constitutes a plurality of sets of retumed
`waves, or wave patterns. or other information radiated or
`obtained from an object (or from the space in which the
`object will be situated in the passenger compartment. i.e..
`the space above the seat) and an indication of the identify of
`that object. A number of dinerent objects are tested to obtain
`the unique patterns from each object. As such. the algorithm
`is generated. and stored in a computer processor. and which
`can later be applied to provide the identity ol‘an object based
`on the wave pattern being received dttrittg use by a receiver
`connected to the processor and other information. For the
`purposes here. the identity of an object sometimes applies to
`not only the object
`itself but also to its location andfor
`orientation and velocity in the vicinity of the vehicle. For
`exatttple, a vehicle that is stopped but pointing at the side of
`the host vehicle is dilferent from the same vehicle that is
`
`approaching at sttclt a velocity as to impact the host vehicle.
`Not all pattern recognition systems are trained systems and
`not all trained systems are neural networks. Other pattern
`recognition systems are based on fuzzy logic. sensor fusion.
`Kalntan filters. correlation as well as linear and non—linear
`regression. Still other pattern recognition systems are
`hybrids of more than one system such as neural-fuzzy
`systems.
`
`[0020] A pattern recognition algorithm will Elms generally
`mean an algorithm applying or obtained using any type of
`pattent recognition system. e.g.. a nettral network. sensor
`fusion. fuzzy logic. etc.
`
`[0021] To “identify” as used herein will generally mean to
`determine that the object belottgs to a particular set or class.
`The class may be one containing. for example. all motor—
`cycles. one containing all trees. or all trees in the path of the
`host vehicle depending on the purpose of the system.
`
`[0022] To “ascertain the identity oi“ as used herein with
`reference to an object will generally mean to determine the
`type or nature ol‘the object [obtain inlorination as to what
`
`the object is]. i.c.. that the object is an car. a car on a collision
`course with the host vehicle. a truck. a tree. a pedestrian. a
`deer etc.
`
`[0023] A “rear seat" of a vehicle as used herein will
`generally mcatt any seat behind the front seat on which a
`driver sits. Thus. in minivans or other large vehicles where
`there are more than two rows of seats. each row of seats
`behind the driver is Considered a rear seat and thus there may
`be more than one “rear seat" in such vehicles. The space
`behind the front seat includes any number ofsuch rear seats
`as well as any trunk spaces or other rear areas sttch as are
`present in station wagons.
`
`In the description herein on anticipatory sensing.
`[0024]
`the term “approaching“ when used in connection with the
`mention of an object or vehicle approaching another will
`usually mean the relative motion of the object toward the
`vehicle having the anticipatory sensor system. Thus. in a
`side impact with a tree,
`the tree will be considered as
`approaching the. side of the vehicle and impacting the
`vehicle.
`In other words.
`the coordinate system ttsed in
`general will he a coordinate system residing in the target
`vehicle. The “target" vehicle is the vehicle that
`is being
`impacted. This convention permits a general description to
`cover all of the cases such as where (i) a moving vehicle
`impacts into the side of a stationary vehicle. (ii) where both
`vehicles are moving when they impact. or [iii] where a
`vehicle is moving sideways into a stationary vehicle. tree or
`wall.
`
`“Vehicle“ as used herein includes any container
`[0025]
`that is movable either under its own power or using power
`from another vehicle.
`It
`includes. but
`is not
`limited to.
`automobiles. trttcks. railroad cars. ships. airplanes. trailers.
`shipping containers. barges. etc. The word “container“ will
`frequently be used interchangeably with vehicle however a
`container will generally mean that pan of a vehicle that
`separate from and ill some cases may exist separately and
`away from the source of motive power. Thus. a shipping
`container may exist iii a shipping yard and a trailer may be
`parked in a parking lot without the tractor. The passenger
`compartment or a trunk of an automobile. on the other hand.
`are compartments of a container that generally only exists
`attaches to the vehicle chassis that also has an associated
`
`engine for moving the vehicle. Note a container can have
`one or a plurality of compartments.
`
`“Transducer“ or “transceiver" as used herein will
`[0026]
`generally mean the combination of a transmitter and a
`receiver. ln come cases. the same device will serve both as
`the transmitter and receiver while in others two separate
`devices adjacent to each other will be used. In sotne cases.
`a transmitter is ttot used and iii such cases transducer will
`mean only a receiver. Transducers include. for example,
`capacitive. inductive. ultrasonic. electromagnetic (antenna1
`(‘Cll CMDS arrays. laser. radar transmitter. terahertz. trans-
`mitter attd receiver. focal plane array, pin or avalanche
`diode. etc). electric field. weight measuring or sensing
`devices. in some cases. a transducer will be a single pixel
`either acting alone,
`in a linear or an array of some other
`appropriate shape. in some cases. a transducer may comprise
`tWo pans such as the plates ofa capacitor or the antemias of
`an electric field settsor. Sometimes. one antenna or plate will
`communicate with several other antennas or plates and thus
`for the purposes herein. a transducer will be broadly dclincd
`
`OWNER EX. 2024, page 23
`
`OWNER Ex. 2024, page 23
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`

`

`US 2007f0l52804 Al
`
`Jul. 5. 2007
`
`to refer. in most cases. In any one ot‘lhe plates ofa capacitor
`or antennas of a field sensor and in some other cases a pair
`of such plates or antemias will comprise a transducer as
`determined by the context in which the term is used.
`
`[0027] A “wave sensor" or “wave transducer“ is generally
`any device which senses either ultrasonic or electromagnetic
`waves. Art electromagnetic wave sensor.
`for example.
`includes devices that sense any portion of the electromag—
`netic spectrum ti'om ultraviolet dowrt to a few hertz. The
`most commonly used kinds ol'clectromagnetic wave sensors
`include (TD and C'MCJS arrays lior sensing visible andfor
`infrared waves. millimeter wave and microwave radar, and
`capacitive or electric HDCUGI‘ magnetic field monitoring sen—
`sors that rely on the dielectric constant of the object occu—
`laying a space but also rely on the time vtu'iation of the field,
`expressed by waves as defined below. to determine a change
`in state.
`
`[0028] A "CCU" will be defined to include all devices.
`including CMOS arrays. APS arrays. QWIP arrays or
`equivalent. artificial retinas atid particularly HDRC‘ arrays.
`which are capable of converting light frequencies. including
`infrared. visible and ultraviolet. into electrical signals. The
`particular C(‘IJ array used For many of the applications
`disclosed herein is implemented on a single chip that is less
`than two centimeters on a side. Data from the CCD array is
`digitized and sent serially to an electronic circuit [at times
`designated 120 herein) containing a microprocessor For
`analysis of the digitised data.
`In order to minimize the
`amount of data that needs to be stored. initial processing of
`the image data takes place as it is being received from the
`(‘('D array. as discussed in more detail above. In some cases.
`some image processing can take place on the chip such as
`described in a Kage et a1. artificial retina article referenced
`in patent applications.
`
`[0029] An “occupant protection apparatus“ is any device.
`apparatus. system or component which is actuatable or
`deployable or includes a component which is actuatable or
`dcployablc liar the purpose of attempting to reduce intury to
`the occupant
`in the event of a crash. rollover or other
`potential injurious event involving a vehicle
`
`Inertial measurement unit [lMlJ]. inertial naviga-
`[0030]
`tion system {INS} and inertial reference tmit (IRU) will in
`general be used be used interchangeably to mean a device
`having a plurality of accelerometers and a plurality of
`gyroscopes generally within the same package. Usually such
`a device will contain 3 accelerometers and 3 gymscopes. In
`some cases a distinction will he made whereby the INS
`relates to an [MU or an [RU plus additional sensors and
`software such as a UPS. speedometer. odometer or other
`sensors pltts optimizing software which may be based on a
`Kalman filter.
`
`[0031] A precise positioning system or PPS is a system
`based on some information. Usually ot'a physical nature. in
`the infrastructure that determines the precise location of a
`vehicle independently of a OPS—based system or the IMU.
`Such a system is employed as a Vehicle is traveling and
`passes a particular location. A PPS can make use of various
`technologies including radar.
`laser radar.
`terahenz radar.
`RFID tags located in the infiasmtcntre. MIR transmitters
`and receivers. Such locations are identified on a map data~
`base resident Within the vehicle. In one case. for example,
`the map database contains data from a terahcrtz radar
`
`continuous scan of the environment to the side of a vehicle
`from a device located on a vehicle and pointed 45 degrees
`up relative to the horizontal plane. The map database con—
`tains the exact location ofthc vehicle that corresponds to the
`scan. Another vehicle can then determine its location by
`comparing its scan data with that stored with the map
`database and when there is a match. the vehicle knows its
`location. Of course many other technologies can be used to
`accomplish a similar result.
`
`[0032] Unless stated otherwise. laser radar. lidar and ladar
`will he considered equivalent herein.
`In all cases,
`they
`represent a projected laser beam, which can be in the visual
`part of the electromagnetic spectrum btlt generally will he
`the infrared pan oi‘t‘lte electromagnetic spectntm and usually
`in the near infrared wavelengths. The projected laser beam
`can emanate from the optics as a nearly parallel beam or as
`a beam that diverges all any desired angle from less than zero
`degrees to ten or more of degrees depending on the appli—
`cation. A particular implementation may use a laser beam
`that at one time diverges at an angle less titan one degree and
`at another time may diverge at several degrees using adjust-
`able optics. "l'he laser beam can have a diameter as it leaves
`the vehicle ranging from less than a millimeter to several
`centimeters. The above represent typical or representative
`ranges ol' ditiiensions but this invention is not limited by
`these ranges.
`
`OBJECTS AND SUMMARY OF THE
`INVENTION
`
`]t is an object of the present invention to provide
`[0033]
`new and improved methods and systems for preventing
`accidents between vehicles.
`
`In order to achieve this object and others. an
`[0034]
`accident avoidance system for a host vehicle in accordance
`with the invention includes a global positioning system
`residing on the host vehicle for determining the ltost vehi-
`cle’s location as the host vehicle travels based on signals
`received from one or more satellites. a map database cont—
`prising digital maps corresponding to an area comprising the
`location of the host vehicle as determined by the global
`positioning system. a vchicle-to-vehicle communication
`system residing oil the host vehicle operative for receiving
`signals comprising location inl'onnatiou acquired by global
`positioning systems residing on other vehicles directly from
`the other vehicles indicating the locations of the other
`vehicles, and a navigation system comprising a display
`residing on the host vehicle for displaying images to an
`occupant of the host vehicle showing the digital maps and
`indications of the locations of the [test vehicle and the other
`vehicles on the digital maps. and for updating the images
`shown on the navigation system display to reflect changes in
`the locations of the host vehicle and the other vehicles.
`
`[0035] The signals received by the vehicle-to-Veliiclc
`communication system may be indications of the velocities
`and directions of travel of tile other vehicles. The global
`positioning system may inclttde a dill'crential correction
`signal receiver operable For receiving global positioning
`difl'erential correction signals from a global positioning
`augmentation system. Accordingly. the global positioning
`system may use the global positioning ditt'erential correction
`signals in the determination of the location of the host
`vehicle.
`
`OWNER EX. 2024, page 24
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`OWNER Ex. 2024, page 24
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`US 20072’0l52804 A1
`
`Jul. 5. 2007
`
`In one embodiment. a processor determines that a
`[0036]
`potential collision is likely to occur between the host vehicle
`and one ofthe other vehicles and a wanting system operative
`for alerting an operator of the host vehicle of the potential
`collision. The processor can reside on the host vehicle or
`apart from the host vehicle.
`
`[0037] When the host vehicle has an assigned corridor of
`travel. a processor can determine that the host vehicle will
`potentially exit its assigned corridor of travel and alert an
`operator of the host vehicle of the potential exit from the
`assigned corridor of travel via a waming system.
`’Ilte
`wanting system may generate an audible warning andlor
`cause the navigation system display to indicate an alarm.
`
`[0038] The tttap database may include one or more digital
`maps indicating at least one edge and surface shape of a
`roadway on which the host vehicle is traveling. indicating an
`elevation ot'a roadway which the host vehicle is traveling.
`indicating an edge of a roadway on which the host vehicle
`is traveling HIKlJ'IUI' indicating a character of land beyond the
`edge of the roadway.
`
`[0039] When the host vehicle includes a radar system. and
`while the host vehicle is traveling. the radar system can
`acquire a location of an obiect in the area comprising the
`location of the host vehicle and the navigation system is
`operative for indicating the location ol‘ the object on a map
`shown on the navigation system display.
`
`[0040] When the host vehicle includes a data acquisition
`system. and while the host vehicle is traveling.
`the data
`acquisition system may receive a digital map transmitted
`from a site remote ti'om the host vehicle and the navigation
`system displays the received digital map on the navigation
`system display. Additionally or alternatively. the data acqui—
`sition system receives weather condition lltlttmmlifll‘l per-
`taining to the area where the host vehicle is located traits-
`mitted item a site remote from the host vehicle and the
`navigation system indicates t