US 12,094,355 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. 17/104,982.
Application 17/104,982 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 2021/0082296 A1, Mar. 18, 2021
Int. Cl. B60W 30/09 (2012.01); B60W 10/04 (2006.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); G05D 1/00 (2006.01); G08G 9/02 (2006.01); 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); 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)] 19 Claims
OG exemplary drawing
 
1. An autonomous vehicle (AV) that operates within a transportation system that manages vehicular behavior, including manually operated vehicles (MVs) that share the transportation system with the AV, the AV comprising:
an electronic controller in communication with first set of sensors, a second set of sensors, at least one wireless communications interface, and a memory storing road maps with route plans including paths from starting points to destinations within a transportation system that includes roadways, intersections and infrastructure devices;
wherein the controller uses the first set of sensors to determine the location of the AV within the transportation system;
wherein the controller uses the second set of sensors to monitor an environment in the vicinity of the AV;
wherein the AV is in wireless communications with other AVs, MVs, and the infrastructure devices;
wherein the transportation system maintains a common set of driving rules, and wherein the rules, as well as changes to the rules, are disseminated through a common documentation process that is shared by AVs and MVs, and wherein the common set of driving rules at least include:
rules regarding lane changes and intersection behavior, and
procedures for reacting to emergency situations;
wherein the AV exchanges messages with other AVs, MVs, and the infrastructure devices within the environment using the wireless communications interface to perform the following functions:
determine the status of traffic conditions in the vicinity of the AV to execute the route plans in accordance with the common set of driving rules, and
update a route plan based upon exchanged messages, including messages exchanged with the infrastructure devices; and
including MVs exchange messages with other AVs, MVs, and the infrastructure devices and receive traffic flow indications based on the same V2I messages which are sent to automated vehicles.