US 12,322,294 B2
Autonomous transportation system and methods
Charles J. Jacobus, Brighton, MI (US); Douglas Haanpaa, Ann Arbor, MI (US); Eugene Foulk, Ann Arbor, MI (US); Pritpaul Mahal, Ann Arbor, MI (US); Steve Rowe, Grass Lake, MI (US); Charles J. Cohen, Ann Arbor, MI (US); and Glenn J. Beach, Ann Arbor, MI (US)
Assigned to Cybernet Systems Corporation, Ann Arbor, MI (US)
Filed by Cybernet Systems Corp., Ann Arbor, MI (US)
Filed on Nov. 25, 2020, as Appl. No. 17/105,004.
Application 17/105,004 is a continuation of application No. 16/180,739, filed on Nov. 5, 2018, granted, now 10,909,866.
Claims priority of provisional application 62/701,152, filed on Jul. 20, 2018.
Prior Publication US 2021/0104165 A1, Apr. 8, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G08G 9/02 (2006.01); B60W 10/04 (2006.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 30/09 (2012.01); G05D 1/00 (2006.01); G05D 1/247 (2024.01); G05D 1/249 (2024.01); G05D 1/646 (2024.01); G05D 1/81 (2024.01); H04L 67/125 (2022.01); H04W 4/02 (2018.01); H04W 4/38 (2018.01); H04W 4/44 (2018.01); H04W 4/46 (2018.01); H04W 4/40 (2018.01)
CPC G08G 9/02 (2013.01) [B60W 10/04 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 30/09 (2013.01); G05D 1/0088 (2013.01); G05D 1/0212 (2013.01); G05D 1/0246 (2013.01); G05D 1/0257 (2013.01); G05D 1/247 (2024.01); G05D 1/249 (2024.01); G05D 1/646 (2024.01); G05D 1/81 (2024.01); H04L 67/125 (2013.01); H04W 4/02 (2013.01); H04W 4/026 (2013.01); H04W 4/027 (2013.01); H04W 4/38 (2018.02); H04W 4/44 (2018.02); H04W 4/46 (2018.02); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01); H04W 4/40 (2018.02)] 20 Claims
OG exemplary drawing
 
1. A transportation system that manages the behavior of autonomous and manually driven vehicles (AVs and MVs) within a driving environment, the system comprising:
a wireless communications interface that supports messaging between proximate AVs or MVs, infrastructure devices, pedestrians and any other active moving object in the driving environment;
wherein the wireless communications interface is operative to send and receive encoded messages to and from vehicles, over an available radio-frequency band, in the driving environment enabling a subsystem of each AVs and a subsystem of each MVs to modify driving behavior including navigational adjustments along a planned driving path to improve traffic flow and avoid collisions based on a location of other AVs, MVs, pedestrians and moving objects in a proximal driving area of the AVs and MVs on roads in the driving environment, wherein the location is determined based on the encoded messages received over the available radio-frequency band and direct obstacle measurements by sensors,
wherein the encoded messages include information regarding driving rules, the driving rules comprising route priority where the messages exchanged between vehicles determine a higher priority roadway and a lower priority roadway, and
wherein for merging into a roadway, to enter the higher priority roadway, the vehicle on the lower priority roadway generates and encodes a request message, sends the encoded request message to AVs and MVs on the higher priority roadway over the available radio-frequency band, and waits to receive an acknowledgement message over the available radio-frequency band before entering the higher priority roadway;
controlling the vehicle based on the received message to enter the higher priority roadway from the lower priority roadway.