# US 12,112,650 B2 · Autonomous transportation system and methods > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,112,650 B2 - Document ID: US12112650B2 - Status: Granted - Kind: B2 - Application number: 17/105,066 - Filed: 2020-11-25 - Published: 2021-03-18 - Granted: 2024-10-08 - Earliest claimed: 2018-07-20 - Assignees: Cybernet Systems Corporation - Applicants: Cybernet Systems Corp. - Inventors: Charles J. Jacobus; Douglas Haanpaa; Eugene Foulk; Pritpaul Mahal; Steve Rowe; Charles J. Cohen; Glenn J. Beach - Web page: https://patentgrep.com/patent/US12112650B2 ## CPC - G08G 1/005: including pedestrian guidance indicator - G08G 9/02: Anti-collision systems - B60W 10/04: including control of propulsion units - B60W 10/18: including control of braking systems - B60W 10/20: including control of steering systems - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - G01C 21/20: Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence) - G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) - G05D 1/247: using signals provided by artificial sources external to the vehicle, e.g. navigation beacons - G05D 1/249: from positioning sensors located off-board the vehicle, e.g. from cameras - G05D 1/646: Following a predefined trajectory, e.g. a line marked on the floor or a flight path - G05D 1/81: Handing over between on-board automatic and on-board manual control - G08G 1/096716: {where the received information does not generate an automatic action on the vehicle control} - G08G 1/096725: {where the received information generates an automatic action on the vehicle control} - G08G 1/096783: {where the origin of the information is a roadside individual element} - G08G 1/096791: {where the origin of the information is another vehicle} - G08G 1/163: {involving continuous checking} - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - H04L 67/125: involving control of end-device applications over a network - H04W 4/02: Services making use of location information - H04W 4/026: {using orientation information, e.g. compass} - H04W 4/027: {using movement velocity, acceleration information} - H04W 4/38: for collecting sensor information - H04W 4/44: for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H] - H04W 4/46: for vehicle-to-vehicle communication [V2V] - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2420/408: Radar; Laser, e.g. lidar - B60W 2710/18: Braking system - B60W 2710/20: Steering systems - H04W 4/40: for vehicles, e.g. vehicle-to-pedestrians [V2P] - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - H04L: TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION (arrangements common to telegraphic and telephonic communication H04M) - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) ## Abstract Autonomous and manually operated vehicles are integrated into a cohesive, interactive environment, with communications to each other and to their surroundings, to improve traffic flow while reducing accidents and other incidents. All vehicles send/receive messages to/from each other, and from infrastructure devices, enabling the vehicles to determine their status, traffic conditions and infrastructure. The vehicles store and operate in accordance with a common set of rules based upon the messages received and other inputs from sensors, databases, and so forth, to avoid obstacles and collisions based upon current and, in some cases, future or predicted behavior. Shared vehicle control interfaces enable the AVs to conform to driving activities that are legal, safe, and allowable on roadways. Such activities enable each AV to drive within safety margins, speed limits, on allowed or legal driving lanes and through allowed turns, intersections, mergers, lane changes, stops/starts, and so forth. ## Claims ### Claim 1 A transportation system operative to manage the behavior of autonomous vehicles (AVs) and manually operated vehicles (MVs) sharing a common transportation environment including a road network and intersections, the system comprising: a traffic control infrastructure; a plurality of active, electronic tags, each being adapted to be worn or carried by pedestrians or moving objects within the transportation environment; a plurality of computer navigation and status servers, each server including a wireless communications interface and a memory; wherein the wireless communications interface of each server is in communication with the AVs, MVs, traffic control infrastructure, pedestrians and moving objects; wherein the memory of each server stores information relating to the position and movement of the AVs, MVs, pedestrians and moving objects; wherein the servers use their wireless communications interfaces to send and receive messages to and from the AVs and MVs to inform the AVs and MVs as to the current position and movement of the AVs, MVs, pedestrians and objects moving in a proximal driving area of the AVs and MVs on and along roads throughout the road network and through the intersections within the environment; and including servers that are operative to inform the AVs or MVs in the event that differential GPS corrections are unavailable. ### Claim 2 (depends on 1) The system of claim 1, wherein at least some of the messages from the servers to the AVs and MVs that include map segments for route planning. ### Claim 3 (depends on 1) The system of claim 1, wherein the servers are further operative to: (a) receive messages from governmental authorities or municipalities associated with one or more of the following: new roads, road maintenance areas, and closed roads; and (b) send messages to the AVs and MVs relating to (a). ### Claim 4 (depends on 1) The system of claim 1, wherein the servers are further operative to: (a) receive messages from governmental authorities or municipalities associated with one or more of the following: new roads, road maintenance areas, and closed roads; and (b) send messages to work crews relating to (a). ### Claim 5 (depends on 1) The system of claim 1, wherein at least some of the messages received by the servers from the AVs and MVs include information associated with one or more of the following: maximum, minimum, or average drive speeds, debris on the road, reports on adverse driving conditions, locations in need of roadway repair, and road blockages. ### Claim 6 (depends on 5) The system of claim 5, wherein the messages received by the servers from the AVs and MVs is used to modify current traffic flow conditions. ### Claim 7 (depends on 6) The system of claim 6, including servers that are operative to perform one or more of the following functions: reprogram intersection light sequencing, raise or lower speed limits, message the AVs or MVs with route replanning suggestions due to changes in traffic flow or road conditions. ### Claim 8 (depends on 1) The system of claim 1, including servers that are operative to provide software updates to vehicles, infrastructure, pedestrians and moving objects. ### Claim 9 (depends on 1) The system of claim 1, wherein: the AVs and the MVs operate in accordance with a shared set of driving rules; and including servers that are operative to provide updates to the shared set of driving rules. ### Claim 10 (depends on 1) The system of claim 1, wherein the wireless communications interface of each server is in communication with the AVs, MVs, traffic control infrastructure, pedestrians and moving objects through a wide area network (WAN). ### Claim 11 (depends on 1) The system of claim 1, including wherein the navigation and status servers are further operative to relay messages from AVs, MVs, the traffic control infrastructure, pedestrians and moving objects to other AVs, MVs, the traffic control infrastructure, pedestrians and moving objects to improve traffic flow or avoid collisions. ### Claim 12 (depends on 1) The system of claim 1, wherein the current position of the pedestrians and moving objects includes a GPS location transmitted by the plurality of tags. ### Claim 13 (depends on 1) The system of claim 1, wherein the servers are configured to compute pedestrian travel location, rate and direction into a projected path for use by AVs and MVs in the proximal driving area. ### Claim 14 (depends on 1) The system of claim 1, wherein the proximal driving area is a one to several second radius at current vehicle-to vehicle or vehicle-to-pedestrian closing velocity. ### Claim 15 (depends on 1) The system of claim 1, wherein messaging to any one of the plurality of tags is disabled in response to detecting that said tag is located in the AV or MV.