Patent ID: 8060295
Filing Date: 2011-11-15
Classification: G05D,G08G

Abstract:
1. A method for maintaining a safe separation distance between vehicles, comprising: receiving time-referenced position and state data for vehicles including a control vehicle and a relevant vehicle, the vehicles having initial locations within a time-space zone of interest; determining maneuver characteristics for the vehicles within the time-space zone of interest; calculating a probabilistic position zone for each vehicle within the time-space zone of interest for a plurality of time intervals, the probabilistic position zone based on a received time-referenced position, speed and direction data, the vehicle maneuver characteristics, and attitude data; rerouting the control vehicle when the distance between the probabilistic position zone of the control vehicle is less that a specified distance from the probabilistic position zone of the relevant vehicle; selecting a reference point for the control vehicle when the control vehicle is rerouted; and calculating a plurality of homotopically distinct paths between the time-referenced position of the control vehicle and the reference point based on the maneuvering characteristics of the control vehicle and the probabilistic position zone of interest for the vehicles.