mu uuuu ui iiui iiui mil uui lull uui mil um uuii uu uii mi United States Patent (12) (1o) Patent No.: US 7,868,783 B2 Bachelder (45) Date of Patent: Jan. 11, 2011 (54) CELLULAR-BASED PREEMPTION SYSTEM (56) References Cited U.S. PATENT DOCUMENTS (75) Inventor: Aaron D. Bachelder, Irvine, CA (US) 5,043,736 A * 8/1991 Darnell et al. ........... 342/357.1 (73) Assignee: California Institute of Technology, 5,539,398 A * 7/1996 Hall et at . ................... 340/907 Pasadena, CA (US) 6,326,903 131 * 12/2001 Gross et at . ................. 340/988 2004/0196162 Al * 10/2004 Brooke ....................... 340/906 (*) Notice: Subject to any disclaimer, the term of this 2005/0035878 Al * 2/2005 Vassilevsky ................. 340/902 patent is extended or adjusted under 35 U.S.C. 154(b) by 0 days. * cited by examiner (21) Appl. No.: 12/420,023 Primary Examiner Phung Nguyen (22) Filed: Apr. 7, 2009 (74) Attorney, Agent, or Firm—Christie, Parker & Hale, LLP (65) Prior Publication Data (57) ABSTRACT US 2009/0189782Al Jul. 30, 2009 A cellular-based preemption system that uses existing cellu- Related U.S. Application Data lar infrastructure to transmit preemption related data to allow safe passage of emergency vehicles through one or more (63) Continuation of application No. 11/504,755, filed on intersections. A cellular unit in an emergency vehicle is used Aug. 14, 2006, now abandoned, which is a continua- to generate position reports that are transmitted to the one or tion-in-part of application No. 10/811,075, filed on more intersections during an emergency response. Based on Mar. 24, 2004, now Pat. No. 7,327,280. this position data, the one or more intersections calculate an estimated time of arrival (ETA) of the emergency vehicle, and (60) Provisional application No. 60/707,934, filed on Aug. transmit preemption commands to traffic signals at the inter- 12, 2005. sections based on the calculated ETA. Additional techniques may be used for refining the position reports, ETA calcula- (51) Int. Cl. tions, and the like. Such techniques include, without limita- G08G 1/07 (2006.01) tion, statistical preemption, map-matching, dead-reckoning, (52) U.S. Cl . ...................................................... 340/906 augmented navigation, and/or preemption optimization tech- (58) Field of Classification Search ................. 340/906, niques, all of which are described in further detail in the 340/902, 903, 907, 916, 917, 933, 994; 701/300, above-referenced patent applications. 701/301, 302 See application file for complete search history. 20 Claims, 7 Drawing Sheets U.S. Patent Jan. 11, 2011 Sheet 1 of 7 US 7,868,783 B2 Qb r-a U- ,I U.S. Patent Jan. 11, 2011 Sheet 2 of 7 US 7,868,783 B2 v -O 1 N NIt N N N N `d i wZ !E Arnim 2 1 1i ^^ r ^^ P3 I c a to u^ I O v $^ C 1 A w^z a c,^ a m I 1 c t a ^w : ^ C' J J :3 U -3 I NCV NN N N I O O r ^^ t^ L^ t^ t00 LO rl N v u ^ ob ^' 3 3 ^E C >c u C 3 I ^g so °► mO 'd Q ^ : 5N37 NA= ; f a°ww m -' C N O v O -^ U > moll 'II h ad A5, ^ d, C b 0> 5 ,€ s o.`^ S El UC ` aOs .^o m '^ i`S p i a ^ ^8 II i n N d O IWO WW D jwc jGW O Cr1 C C U. 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A V 1 1^° 0 Im 0^ 1 S a J 78 CIO y CC V $gM ^ r !1•i p 3^V _y _ M d 1 8' a 22 '0 s c c E M • E9368 X^ ,_ J 1 --^ ----~ rl' U.S. Patent Jan. 11, 2011 Sheet 6 of 7 US 7,868,783 B2 A 000 .. till 3 c.w b^^F 4 ^v z a U.S. Patent Jan. 11, 2011 Sheet 7 of 7 US 7,868,783 B2 Start Place Emergency Vehicle in Emergency Mode 5D -^^ Transmit a Trigger Signal 5V-2- to Cellular Unit Generate Position Data for Cellular Unit Process Other Silo Navigation Data Generate Vehicle Information Including Sfir Predicts Vehicle Heading/Position i Transmit Vehicle Info for a Forwarding to Intersection 5712, µode. p,ie^ US 7,868,783 B2 1 2 CELLULAR-BASED PREEMPTION SYSTEM sage of an emergency vehicle through an intersection con- trolled by traffic signals. The system includes a device, such CROSS-REFERENCE TO RELATED as, for example, a priority code box coupled to the emergency APPLICATION(S) vehicle, for placing the emergency vehicle in emergency 5 mode (e.g. Code-2, Code-3, etc.). The code box also transmits This application is a continuation application of U.S. appli- a trigger signal responsive to the emergency vehicle being cation Ser. No. 11/504,755, filed on Aug. 14, 2006, now placed in the emergency mode. A cellular unit in the emer- abandoned, which is a continuation-in-part of application Ser. gency vehicle receives the trigger signal and in response, No. 10/811,075, filed on Mar. 24, 2004, now U.S. Pat. No. generates position data for the cellular unit. A transmitter in 7,327,280, and claims the benefit of U.S. Provisional Appli- io the cellularunit or in a separate transponderbox in the vehicle cation No. 60/707,934, filed on Aug. 12, 2005, the content of is used to transmit the generated position data for forwarding both of which are incorporated herein by reference. This to the intersection controlled by the traffic signals. application also contains subject matter whichis related to the According to one embodiment of the invention, an inter- subject matter of U.S. Pat. No. 7,113,108, U.S. Pat. No. section module associated with the intersection is pro- 7,116,245, U.S. application Ser. No. 10/696,490, now aban- 15 grammed to receive the generated position data, calculate the doned, and U.S. Pat. No. 7,089,806, the content of all of estimated time of arrival of the emergency vehicle based on which are incorporated herein by reference. the position data, and transmit one or more preemption com- mands for preempting the traffic signals based on the esti- STATEMENT REGARDING FEDERALLY mated time of arrival. SPONSORED RESEARCH OR DEVELOPMENT 20 According to one embodiment of the invention, the inter- section module is further programmed to receive real time The invention described herein was made in the perfor- status information of the traffic signals, monitor timing of mance of work under a NASA contract, and is subject of the traffic signal phases based on the received real time status provisions of Public Law 96-517 (35 U.S.C. §202) in which information, and transmit the one or more preemption com- the Contractor has elected to retain title. 25 mands based on the monitored timing of the traffic signal phases. BACKGROUND OF THE INVENTION According to one embodiment of the invention, the cellular unit includes a global positioning system (GPS) receiver for There are various approaches for providing traffic signal generating the position data. priority for emergency vehicles (hereinafter referred to as "preemption") at an intersection. One approach uses strobe 30 According to one embodiment of the invention, the trans- mitter transmits the position data via a cellular network. The lights to activate optical receivers at the intersection. Another position data is transmitted without disabling use of the cel- approach uses noise pattern recognition to preempt based on lular unit for an active call. approaching sirens. Recent preemption systems make use of According to one embodiment of the invention, the trans- global positioning system (GPS) technology to predict the approach of the emergency vehicles at the intersection. 35 mittertransmits the position data to a vehicle transponder, and the vehicle transponder forwards the position data to the All of the above approaches, however, have their draw- intersection. backs. Strobe-based preemption generally requires an optical According to one embodiment of the invention, an on- line-of-sight which may be obstructed by hills, turns, and the board diagnostics circuitry coupled to the emergency vehicle like. Furthermore, strobe-based preemption requires expen- sive receiver units and installation of the strobe lights and 40 provides vehicle speed and acceleration. Preemption of the traffic signals is then based the vehicle speed and accelera- related equipment in the cars. The range of strobe-based tion. preemption may also be limited to only a few hundred feet. According to one embodiment of the invention, one or The drawbacks of preemption based on siren noises is that more navigation sensor units coupled to the emergency such noises may or may not be recognized depending on their direction and distance from the intersection. Their recogni- 45 vehicle provides vehicle navigation data. Preemption of the traffic signals is then based on the vehicle navigation data. tion may also be obstructed by ambient noises, such as, for According to one embodiment of the invention, instead of example, traffic sounds, horns, and the like. the cellular unit generating the position data, the cellular unit The drawbacks of a GPS-based preemption system is that transmits a location request to a cellular station and it is the the installation of the GPS devices in the emergency vehicles may be expensive. Even if installed, GPS position data may 50 cellular station that generates the position data of the cellular unit. not always be readily available. For example, although GPS systems are effective in providing position data in light met- BRIEF DESCRIPTION OF THE DRAWINGS ropolitan and rural areas, such positions may be occluded by buildings, bridges, and the like, in large cities. GPS systems may also not be available during emergencies such as, for 55 FIG.1 is a schematic diagram of an intersection subject to preemption according to one embodiment of the invention; example, a terrorist event. GPS receivers are also more sus- FIG. 2 is a more detailed block diagram of various inter- ceptible to jamming than most receivers. Nonetheless, a GPS section preemption modules operative for preempting an preemption system, when available, is very effective in terms intersection according to one embodiment of the invention; of timing and vehicle position determinations. Accordingly, what is desired is a preemption system and 60 FIG. 3A is a block diagram of various hardware and soft- ware modules in communication with a cellular unit in an method that helps overcome the drawbacks of prior preemp- emergency vehicle according to one embodiment of the tion systems. invention; SUMMARY OF THE INVENTION FIG. 3B is a block diagram of various hardware and soft- 65 ware modules in communication with a cellular unit in an According to one embodiment, the present invention is emergency vehicle according to an alternative embodiment of directed to a system for controlling traffic for allowing pas- the invention; US 7,868,783 B2 3 4 FIG. 3C is a block diagram of various hardware and soft- technology used by the cellular network may include, for ware modules in communication with a cellular unit in an example, Global System for Mobile communications (GSM), emergency vehicle according to yet another alternative General Packet Radio Service (GPRS), CDMA, TDMA, embodiment of the invention; 3GPP (3rd Generation Partnership Project), and 3GPP2 (3rd FIG. 4 is a schematic diagram illustrating various options 5 Generation Partnership Project). for using a cellular network for routing preemption related According to one embodiment of the invention, the cellular data as is contemplated by the embodiments in FIGS. 3B and unit 38 is configured with a GPS receiver which provides 3C; and position reports for the cellular unit in response to particular FIG. 5 is a flow diagram of a process for generating and trigger signals received by the cellular unit. The position transmitting vehicle information according to one embodi- io reports may include, for example, the cellular unit's position ment of the invention. in the form of latitude/longitude coordinates. According to another embodiment of the invention, the cellular unit's posi- DETAILED DESCRIPTION tion is determined by the cellular station 16 based on trian- gulation calculations. In this regard, the cellular unit trans- In general terms, the present invention is directed to a 15 mits a position request to the cellular station(s), and the cellular-based preemption system that uses existing cellular receiving cellular station(s) generate the position reports infrastructure to transmit preemption related data to allow based on the triangulation calculations. safe passage of emergency vehicles through one or more FIG. 2 is a more detailed block diagram of various inter- intersections. Specifically, a cellular unit in an emergency section preemption modules 102 operative for preempting an vehicle is used to generate position reports that are transmit- 20 intersection according to one embodiment of the invention. ted to the one or more intersections during an emergency The intersection preemption modules 102 include a traffic response. Based on this position data, the one or more inter- light control system 100 including the traffic light controller sections calculate an estimated time of arrival (ETA) of the 20 that controls the traffic and pedestrian signals at the inter- emergency vehicle, and transmit preemption commands to section as well as any pedestrian buttons. Specifically, the traffic signals at the intersections based on the calculated 25 traffic light controller 20 generates the appropriate sequence ETA. of on-time and off-time for the various traffic lights 24a, 24b, Additional techniques maybe used for refining the position 24c, and 24d and pedestrian lights 22a, 22b, 22c, and 22dthat reports, ETA calculations, and the like. Such techniques respectively control vehicular and pedestrian traffic at the include, without limitation, statistical preemption, map- intersection. The traffic light controller 20 also has the capa- matching, dead-reckoning, augmented navigation, and/or 3o bility to be forced by external signals into a preemption mode preemption optimization techniques, all of which are that activates "green" lights in a specified direction and "red" described in further detail in the above-referenced patent lights in all other directions, allowing safe passage for emer- applications. gency vehicles from the "green" direction. The traffic light FIG.1 is a schematic diagram of an intersection subject to controller 20 may be a micro-processing circuit driving iso- preemption according to one embodiment of the invention. 35 lated lamp drivers but discrete designs are also feasible. Some Located at the intersection are traffic signal lights 24a-24d intersections may be more complicated, controlling turn (collectively 24) controlled by a traffic light controller 20. An lanes with arrow lights, but the basic principles remain the intersection module 10 coupled to the traffic light controller same. 20 makes preemption criteria calculations and generates pre- The intersection control module 10 coupled to the traffic emption command(s) to give traffic signal priority to an 40 light controller 20 is a microprocessor operated via an inter- approaching emergency vehicle 12. In the illustrated section control program 35 stored in memory. The intersec- example, traffic signal light 24d is controlled to be green tion control module 10 receives information from the emer- while traffic signal lights 24a, 24b, and 24c are controlled to gency vehicles 12 approaching the intersection via a wireless be red, thereby allowing safe passage of the emergency RE transceiver 40 and antenna 41. This information contains vehicle 12 through the intersection. Pedestrian lights and 45 data about the predicted position, heading, and/or other navi- pedestrian buttons are also controlled to prevent pedestrian gation data of the emergency vehicle, and/or its priority-code traffic through the intersection when the emergency vehicle status 36 (i.e. Code-3, Code-2, or other) (collectively referred 12 has the right-of-way. to as vehicle information). The intersection control module According to one embodiment of the invention, one or 10 may receive the vehicle information over a cellular net- more emergency display panels 45 are activated to provide 50 work or any other wireless network conventional in the art. warning of the approaching emergency vehicle 12 to the The intersection control module 10 is further coupled to a surrounding vehicles and pedestrians. The display panels 45 real-time status monitor 42 which provides real time status are controlled to indicate the approach of the emergency information of the various traffic lights 24a-24d, pedestrian vehicle as is described in further detail in U.S. Provisional lights 22a-22d, and pedestrian buttons. That is, the real-time Application No. 60/798,156, the content of which is incorpo- 55 status monitor receives (i.e., "reads") the output from the rated herein by reference. traffic light controller 20, pedestrian lights 22a-22d, and traf- According to one embodiment of the invention, the emer- fic lights 24a-24d, and transmits the read information to the gency vehicle 12 includes a stationary cellular unit 38 intersection control module 10. The read information installed within the emergency vehicle 12. The cellular unit includes, for example, the timing and/or phasing of the traffic 38 is configured to communicate with a cellular station 16 6o and pedestrian lights to allow the intersection control module within a cell 18 of a cellular network. In another embodiment 10 to monitor the timing of the traffic/pedestrian signal phases of the invention, the cellular unit 38 is a portable unit carried to optimize preemption at the intersection. by an emergency responder in/on the emergency vehicle 12. In order to effectuate preemption at the intersection, the Whether stationary or portable, the cellular unit 38 may intersection control module 10 performs ETA calculations for take the form of a cellular phone, personal digital assistant 65 the approaching emergency vehicles based on the corre- (PDA), vehicle service system (e.g. On-Star(k), or any other sponding vehicle information including predicted vehicle device that uses cellular technology. The particular cellular position, heading, and the like. The intersection control mod-