Note: Descriptions are shown in the official language in which they were submitted.
Field of the Invention
The present invention relates to the gudiance of automonus vehicles and in
particular, relates to
guiding an automonus vehicle along a roadway by means of active devices [dl]
during normal
and inclement weather that will work under any luminous conditions.
Background
The Proposed sensor devices are strategically placed in or on the vehicle that
will detect active
devices [d1]. The Devices [dl] could be self-powered by solar and/or batteries
with active
electronics to process approaching vehicles or/and pedestrians for where
powers are not readily
available. This self-contained or/and networked device[dl] will either receive
a discovery signal
from the approaching vehicle or self-detect the vehicle/pedestrian or even
provided by the
network. Once either vehicle or pedestrian is known then the device[dl] will
either reply with the
predetermined information to the vehicle or/and has already display the
"status" (ie: stop sign)
or/and it displays the information.
Currently, the autonomous vehicles are helpless and can't or don't know the
signs or road
details without aid of camera system or detailed pre-mapped system of
navigation. In use
today, the navigation system is either GPS based for obtaining details of the
roads or/and uses
LiDAR, or/and optical (Camera) based for mapping of the road network sign(s)
in conjunction
with pre-mapped extremely detailed road information. This pre-mapping of the
road is inefficient
and, in most cases, impractical if there are continual changes to the roadways
(especially with
the rate of change ranging from daily to hourly). These constant changes can
create havoc to
autonomous vehicles on the road if they do not have the latest updates or if
there are changes
of the road networks. This could potentially result in a big catastrophe. Even
if feasible, the
amount of changes will require a multitude of road networks to be re-mapped.
This will not give
the autonomous vehicles the information it needs to navigate the roadway in a
timely manner.
Furthermore, current technologies such as camera (optical), LiDAR, and other
roadway
interpretation systems fail under severe weather conditions and under certain
luminous
conditions. As such, the present invention claims will help evolve the self-
driving, autonomous
vehicles to navigate the road in a more effective manner under normal or
severe weather
condition and any luminous conditions.
Road way information detections systems consists of sensors on the autonomous
vehicles and devices for the road.
Application No: 2.941455 By: Peter Yeung pg. 1 of 18
CA 2941455 2017-12-07
Based on the preliminary research of the current technologies that are
deployed or proposed to
solve the navigation for the autonomous vehicles on our roads today, all fail
to navigate under
inclement weather conditions and are costly to implement. However, the present
invention
below represents a more economical and efficient way to implement a self-
assisted navigation
system. For example, one of the claims is to modify the existing passive
signage(s) to an active
device so that sensors on the autonomous vehicle can accurately pick up the
information ahead
before it traverse the road. These details of the road could be a simple stop
sign(s) or parking
spaces available ahead on the road and can be even adapted to provide
information from pass
stop to approaching autonomous bus¨ especially under (inclement weather and
any luminous)
conditions.
Summary of Invention
This disclosure relates to an autonomous vehicle and a system for controlling
the vehicle, more
specifically, the present disclosure is directed towards autonomous vehicles
with a plurality of
sensor devices to read road information then to navigate along the roadway.
It is the objective of the present disclosure to provide an improved
autonomous vehicle and a
system of sensor devices for detecting the road information from passive
signage(s)/traffic
cone(s) which can be read/received when in severe weather conditions and/or
luminous
conditions.
According to an aspect of the disclosure it is to provide an autonomous
vehicle, comprising:
A system of sensor devices strategically placed on an autonomous vehicle to
read/receive road information whereby this information is then processed by a
hub, then
passed onto either an autonomous control system and/or 3D map navigation
database
system to decide on how to navigate the road safely in a real-time manner, the
system
comprises of:
= The hub includes processing and storage capability;
= Sensor devices on the vehicle consisting of components that will transmit
a
discovery signal, and received information from active devices on the
roadway;
Road way information detections systems consists of sensors on the autonomous
vehicles and devices for the road.
Application No: 2.941.455 By: Peter Yeung pg. 2 of 18
CA 2941455 2017-12-07
= Wherein the h ub, once the roadway information is processed it is
then
communicated back to the autonomous control system and/or 3D map
navigation database system where a roadway path is formulated for
navigation; and
= Wherein road information is captured and mapped in real-time for use and
updated to the network.
In another aspect of the disclosure it is to provide an autonomous vehicle
comprising:
A non-transitory computer readable storage medium storing instructions for
controlling a
system of sensor devices strategically placed on an autonomous vehicle to
read/receive
road information whereby this information is then processed by a hub, then
passed onto
either an autonomous control system and/or 3D map navigation database system
to
decide on how to navigate the road safely in a real-time manner, the system
comprises
of:
= The hub includes processing and storage capability;
= Sensor devices consisting of components that will transmit a discovery
signal,
where the discovery signal will be transmitted from the vehicle to the active
devices [dl] then the active devices either display or transmit it's
information
back to the vehicle or display it's information;
= Wherein the hub, once the roadway information is processed it is then
communicated back to the autonomous control system and/or 3D map
navigation database system where a roadway path is formulated for
navigation; and
= Wherein road information is captured and mapped in real-time for use and
updated to the network.
In another aspect of the disclosure it is to provide an autonomous vehicle
comprising:
A method for sensor devices strategically placed on an autonomous vehicle to
read road
information whereby this information is then processed by a hub and then
passed onto
either an autonomous control system and/or 3D map navigation database system
to
decide on how to navigate the road safely in a real-time manner, the method
comprises
of: Providing the hub with processing and storage capability;
Road way information detections systems consists of sensors on the autonomous
vehicles and devices for the road.
Application No: 2.941.455 By: Peter Yeung pg. 3 of
18
CA 2941455 2017-12-07
= Including sensor devices consisting of components that will transmit a
discovery signal, where the discovery signal will be transmitted from the
vehicle where devices on the roadway can be discovered through reply to the
discovery signal or/and acquired by means of reading the display of the
devices;
= Processing roadway information in the hub which is then communicated back
to the autonomous control system and/or 3D map navigation database
system, where a roadway path is formulated for navigation; and
= Capturing and mapping road information in real-time for use and updated
to
the network.
Additional objects, features and advantages of the present invention will
become more
readily apparent from the following embodiments when taken in conjunction with
the
drawings wherein the reference numerals refer to the corresponding parts in
the several
views.
Description of Drawings
The description herein makes reference to the accompanying drawings below
wherein like
reference numerals refer to like parts throughout the several views, and
wherein:
Fig. 1 - A scenario for autonomous vehicle on a road way- is a diagram
representing the various
devices [dl] that an autonomous vehicle may encounter in a scenario. Each of
the red box
representing devices[d1] such as the one directional sign, or the no entry
sign, traffic signal
lights, person walking on the street, to the person riding a bicycle on the
roadways and other
cars can be view as devices. Where the autonomous vehicle is represented by
the red dot on
roof of the vehicle are sensor(s). The sensor(s) may be strategically place on
the vehicle and
may not be necessary on the roof top.
Fig. 2 - Showing discovery signal are sent out by the autonomous vehicle,
illustrates how the
sensors will pick up the signal from the devices around the autonomous vehicle
with discovery
signal being sent out. Either by active reply or reflected signal from the
devices.
Fig. 3 - Various road signs/cone and etc, All the passive device(s) signs,
cones and other
devices are deployed today and in the future can be converted and/or co-exist
with the into the
Road way information detections systems consists of sensors on the autonomous
vehicles and devices for the road.
Application No: 2.941.455 By: Peter Yeung pg. 4 of 18
CA 2941455 2017-12-07
embodiment of the invention. These are some of the sample of the roads
signs/cones/bus stop
that can be converted from passive to active devices that will allow the
autonomous vehicle to
be aware of while it is travelling the road way network to a destination.
Fig. 4 - Sample of stop signs being converted from passive to active devices
it illustrates a stop
sign that can be converted from passive device to active devices with powered
active
electronics powered by solar arrays and/or batteries. There could be a
combination power
sources that power this device. In this figure, we have 1. Solar array -
collects power from sun
light; either is fed directly to the active electronic or via battery. 2.
Various sizes or shape of the
current passive or/and active information display. 3. Various degrees of
movement the solar
array can be set to best collect sun energy. 4. Pivot point holding the solar
array and/or various
sensors and/or antenna. Can be place anywhere that is best to collect maximum
power or best
reception or transmission. 5. This represents the active electronic housing.
6. A post that is
placed on the ground to hold the devices. This is only a representation of
device as a sign(s).
The device can also be a parking space indicator/information system for the
autonomous
vehicle where the parking spaces are free or occupied within the road way.
Where there are
sensor that will detect if there is a vehicle occupying the space or not. Or
traffic lights,
pedestrian, traffic light(s). The holy grail of this invention is a road side
information(device)
active or passive being alerted by the autonomous vehicle (sensor) in real
time and in any
weather or luminous conditions.
Devices (could have all the below components or part of it and other future
components that are
not identified below. It depends on the application):
Electronics
= Active network connection
o Wired
O wireless
= Power source
O Batteries
O Solar panel
O On site electrical power from utilities grid
o Temporary power from autonomous vehicles
Road way information detections systems consists of sensors on the autonomous
vehicles and devices for the road.
Application No: 2.941.455 By: Peter Yeung pg. 5 of 18
CA 2941455 2017-12-07
= Camera or RF technology
= Receiver(s)
= Transmitter(s)
= Antenna(s)
= Sensors for various application (ie. Inferred, audio and etc.)
= Push button
= GPS capabilities
= Sound Generating device(s)
= All Weather and All Tempering proofing
= May have active electronic/static display to pedestrians or visual aid
for autonomous
vehicles
Detailed Description
The embedded devices [dl] are either powered up by itself by itself solar or
small long lasting
batteries or a combination of all of above and/or can be powered by the car by
sending energy
sources such as microwaves and etc. The sign information is transmitted back
to the
approaching vehicles by a common frequency that all autonomous vehicles
understand and can
interpret and process. Both the sign and the autonomous vehicle sensors and
devices can
potentially work on a dedicated short-range communication (DSRC) but not
limited to DSRC.
DSRC works in 5.9 GHz band with bandwidth of 75 MHz and approximate range of
1000 m.
Vehicular sensors[s2] and road network devices[D1]
Fig. 1 demonstrates a scenario where the RF transmits energy from red dot on
the vehicle
rooftop to the surrounding area to discover the create a map of the road way
and objects around
itself. Where the active devices are actively listening to this signal they
will either reply or
display the information for the vehicle. The sensor can either be a complete
unit system with an
integrated sectorized antenna (a ruggedized design suitable for withstanding
severe weather
condition while strategically placed on the inside or outside of the vehicle),
or it can simply be
the sensor installed inside the vehicle (1) while a ruggedized, sectorized
antenna (connected to
the sensor via a RF cable) is strategically mounted on the vehicle exterior.
Road way information detections systems consists of sensors on the autonomous
vehicles and devices for the road.
Application No: 2.941.455 By: Peter Yeung pg. 6 of 18
CA 2941455 2017-12-07
Based on the information read or received, a detail of the environment could
be gathered. In
order to have sufficient data points to formulate detail of the devices or
objects of the roadway,
the transmitted signal needs multitudes of samples per second.
Note in order to cover the front, back, and sides of the vehicle, multiple
sensors (and their
associated antennas) maybe required to be installed. The number of sensors
required is
dictated by the achievable data point resolution to accurately generate a 3-D
map of the road.
As such, the sensor antenna coverage beamwidth and gain (to resolve and
coherently receive
the reflected signal) performance will contribute to the number of sensors
required.
Fig. 2 illustrates how the sensors has to continually send out discovery
signals as it traverses
the road, so that it has total awareness of the device (objects) of the road
it is travelling on in
order to make a sound and safe decision in real time. The constant changes in
the road
information will need to be fed to the vehicle or actively seek for it.
Figure 3 is the embodiment of the invention. This is a representation of a
static sign being
converted or co-existing with the active electronic that provide the
information to travelling
autonomous vehicle(s). This also can be adapted to inform the autonomous
autobus that there
are passenger waiting at the bus stop.
Once the information is processed and the information is parsed and identified
then it is sent to
the Autonomous Control System (ACS) and/or the 3D map navigation database
system. Below
briefly explains the function of each entity and how each interacts with one
another.
The sensor sends out the discovery signal from the autonomous vehicle to
discover the all the
devices on the road as it travel.
All the received data from the sensors are processed by the hub. The main goal
of the system
is to identify all the device(s) on the road that are within certain distance
from itself. After the
device(s) are identified and processed, this information is passed to the
Autonomous Control
System and/or the 3D map navigation system. This has to happen in real time
and in advance
of the path the vehicle is traveling on.
The 3D map navigation database system, where the road networks are detailed
and created
into three dimensional images so that the autonomous vehicle can use to
traverse to its
destination or simply find a suitable parking space. In the scenario where the
autonomous
Road way information detections systems consists of sensors on the autonomous
vehicles and devices for the road.
Application No: 2.941.455 By: Peter Yeung pg. 7 of 18
CA 2941455 2017-12-07
vehicle relies on using the 3D detailed mapping database system to obtain the
devices on the
road as it is traveling, then the proposed system will compare the device(s)
information on the
3D map to see if it is up to date with the newly acquired information. In the
event there are
discrepancies and devices are permanently in nature, the system thus flags the
changes for the
3D mapping system to make the updated changes. In the event the device(s) are
temporary like
traffic cones, then the system utilized this real-time information to
navigate.
In a scenario where the autonomous vehicle is acquiring the road information
in real time, the
identified device(s) information is passed directly to the Autonomous Control
System (ACS) for
use in navigating the roadway. Once the autonomous vehicle has successfully
navigated the
roadway, then this information is passed to the 3D mapping system to compare
and update the
information for future use via locally stored or, via other 3D mapping systems
on the network.
Figure 4 sample of stop signs being converted from passive to active devices
it illustrates a stop
sign that can be converted from passive device to active devices with powered
active
electronics powered by solar array and/or battery. There could be a
combination of solar and
constant reliable power, powering this active device. In this figure, we have
1. Solar array -
collect power from sun light, either is fed directly to the active electronic
or via battery. 2.
Various sizes or shapes of the current passive or/and active information
display. 3. Various
degrees of movement that the solar array can be set to best collect sun
energy. 4. Pivot point
holding the solar array and/or various sensors and/or antenna. 5. This
represents the active
electronic housing. 6. A post that is placed on the ground to hold the
devices. This is only a
representation of device as a sign(s). The device can also be a parking space
indicator/information system for the autonomous vehicle where the parking
spaces are free or
occupied within the road way, where there are sensor that will detect if there
is a vehicle
occupying the space or not. Or traffic lights, pedestrian, traffic light(s).
The holy grail of this
invention is a road side information(device) that is active or passive
alerting the autonomous
vehicle (sensor) in real time and in any weather or luminous conditions.
As all the device(s) are learnt from all sides of the vehicle, this
information can be stored in a
3D map navigation database, or the autonomous control system depending on
which database
is being used. Further, with the mapping the vehicle can update the mapping
process for other
Road way information detections systems consists of sensors on the autonomous
vehicles and devices for the road.
Application No: 2.941.455 By: Peter Yeung pg. 8 of 18
CA 2941455 2017-12-07
vehicles in real time if there have been changes to the road due to
construction or other such
adjustments.
Based on the above, in the referred embodiment depicted, the system will work
even under
severe adverse weather conditions. The active sensor devices in the autonomous
vehicle
continue to read the device(s) on the roadway information at certain frequency
intervals in real-
time. The sensor in the autonomous vehicle can function independently as a
stand-alone
system or in conjunction with other existing navigation system (such as the
GPS or Lidar
systems for example) to give it finer details of the roadway that it is
travelling on. The proposed
system is superior to other existing systems because, unlike other existing
systems, this system
will continue to work autonomously even under severe weather conditions such
as heavy
snowstorm, ice, fog or any other inclement weather.
It is important for the autonomous vehicle to have the latest road network
details to navigate.
These sensors can be strategically placed in, or mounted on, the vehicle to
enable them to read
the most accurate road information for either a straight or bent road.
Note that the proposed system does not require modification to the existing
road networks, with
the exception of changing or installing co-exiting active electronics. Thus,
to summarize, the
following is a sequence of steps that must happen for the autonomous vehicle
to navigate the
roadway in the most effective manner:
1. The sensor would send a discovery signal ahead using sonar like technology
for
example.
2. The road side device(s) either send a reply or display information back to
the source.
3. The sensor in the vehicle receives the discovered information signal and
passes it on to
the processing hub.
4. The hub interprets/processes the information as it receives it in real
time.
5. The processed information is translated to a format that is consumable by
the
autonomous control system or 3D map navigation database system.
6. The autonomous control system or 3D map navigation database system
processes the
information and makes decision based on the received discovered signals from
the
proposed device(s).
Road way information detections systems consists of sensors on the autonomous
vehicles and devices for the road.
Application No: 2.941.455 By: Peter Yeung pg. 9 of 18
CA 2941455 2017-12-07
In order to have the most effective and accurate road information, the sensors
would read the
information from ahead and from both sides of the vehicle to determine the
road way structures
and objects. Each side of the road may provide different information as the
vehicle travels
ahead. Once the information is obtained by the autonomous control system
and/or 3D map
navigation database system, it then processes it and formulates a decision on
how to best
navigate. The proposed system will work under any weather condition.
Although described with reference to referred embodiments of the invention, it
should be readily
understood that various changes and/or modifications can be made to the
invention without
departing from the spirit thereof. In general, the invention is only intended
to be limited by the
scope of the following claims.
Thus, the following outlines a set of claims that will help or evolve the self-
driving, autonomous
vehicles to navigate the road in a more effective manner under normal or sever
weather and
luminous condition:
Road way information detections systems consists of sensors on the autonomous
vehicles and devices for the road.
Application No: 2.941.455 By: Peter Yeung pg. 10
of 18
CA 2941455 2017-12-07
