Dual-mode automated public / private transport system

Abstract

It comprises a number of vehicles (6) that move by optical guidance by following a color strip, each of which integrates an inertial unit (1) capable of managing a set of parameters related to the movement of the vehicle, namely starting point, direction, acceleration, duration and any successive changes of these various parameters, and by processing said data, an on-board computer (2) calculates and defines the route of the vehicle, which is stored, said data of the route reproducing a virtual image of the color strip (10) of the sequence of points of this route, i.e. the route traveled. In this way, the on-board computer (2) continues the route using the virtual image of the color strip (10) even if the color strip (10) is no longer visible.

Description

[Technical Field]

[0001] The present invention relates to a public / private transport system consisting of a fleet of vehicles intended to transport one or more passengers from an origin to a destination in a city, metropolitan area or interurban region, similar to a private car.

[0002] The aim of the present invention is to provide a complementary solution to urban mass public transport such as buses, subways, trams, etc., the usefulness of which cannot be ignored. Other means of transport have been developed, such as bicycles, scooters, self-service vehicles, ride-sharing applications, etc., and offer some interesting solutions, but only partially.

[0003] Beacon-equipped routes will feature autonomous shuttles that travel at low speeds and stop at each stop to pick up and drop off passengers. This solution has been implemented on certain well-defined routes, especially on highways, but it does not allow travel from any starting point to any destination in the private and friendly atmosphere of a private car.

[0004] The invention presented herein overcomes all these disadvantages and further provides a suitable alternative to private cars, which congest and pollute cities and pose recurring and expensive parking problems.

[0005] The invention described herein provides a practical, rational, user-friendly, environmentally friendly, and economical solution, offering "plus" services. In fact, for the user, everything works as if everyone had a privately chauffeured vehicle at all times, and since each vehicle is used by many people every day, it costs much less than a private car. Furthermore, the system offers a carpooling system. Thus, the invention provides a real alternative to private cars, which conglomerate and pollute towns and urban areas.

[0006] The system of interest to this invention is dual mode because the vehicle has two modes of operation: 1- Electric and autonomous (driverless) mode in urban areas. This mode is used for most journeys. 2- Thermal and manual driving modes outside urban areas. Optionally, manual driving mode 2 can be operated electrically.

[0007] In automatic mode, the front and rear seats face each other. In manual driving mode, the driver's seat or the two front seats are rotated halfway, after which the user drives the vehicle as normal. The two front seats are designed to ensure this rotation function. [Background technology]

[0008] Large-scale developments implementing so-called self-driving cars have been tested in California by major US groups since 2009. These vehicles would eventually operate without a driver. For detection, the vehicles primarily used LIDAR (light detection and ranging) devices, i.e. laser distance detection and estimation, which emit multiple beams of infrared lasers, the reflections of which can generate an image of the environment.

[0009] However, after driving millions of kilometers in Level 2-3 autonomous driving mode, where the driver remains in control at the wheel, the American group, which had invested heavily, pulled out. In fact, at a press conference in November 2018, the president of this long-established operator acknowledged that the goal was very complex, announcing that 100% autonomous vehicles (Level 5) would never appear on the roads and that this goal seemed an ideal, even a bit of a myth.

[0010] Other major groups have followed the California first with similar driverless car goals, but to date, a Level 5 driverless car solution (no steering wheel or pedals) has yet to appear on the market, meaning that 100% self-driving cars (Level 5) remain a future aspiration.

[0011] While some experts predict that the arrival of this type of vehicle will occur in 2030, 2040, or even much further, many remain very cautious about the future reality of 100% autonomous vehicles (Level 5). Furthermore, if fully autonomous private cars were to emerge, many experts believe it would be a disaster for our cities and metropolises. This would lead to a massive increase in the number of private cars on the road and in parking spaces, creating inescapable traffic jams that would choke our cities.

[0012] The closest prior art to the present invention is European Patent EP 2310924 B1, which mainly describes an urban transport system capable of transporting one or more people from one point to another by tracking colored strips attached to the ground by optical guidance, the colored strips (10) incorporating RFID chips (Radio Frequency: an acronym for Radio Frequency Identification) that enable periodic and accurate location determination.

[0013] This new technology has a major drawback, since if the color strip (10) on the ground is obscured by snow, ice, sand or any other reason, the invention becomes inoperable as the color strip is no longer visible, and the vehicle stops after traveling a few meters. In fact, the invention described in the cited document does not integrate an inertial unit (1) and therefore does not have any means to digitize the color strip (10) and thus be able to track the virtual information processing strip (20) when the strip (10) becomes invisible.

[0014] The invention presented here overcomes this drawback and allows vehicles (6) to travel in complete safety, regardless of the visibility of the color strips (10) fixed or painted on the roadway, and regardless of the atmospheric conditions. Summary of the Invention

[0015] The invention is characterized by the fact that it comprises a number of vehicles capable of transporting one or more people from any starting point to a selected destination (door-to-door), in a driverless and fully automated manner by optical guidance, by following a color strip fixed to the roadway and incorporating an RFID chip or transponder. Each vehicle integrates an inertial unit with a dedicated calculation unit capable of managing all the parameters related to the vehicle's movement and defining the vehicle's route by identifying a series of points on the route, i.e., a virtual information processing image of the color strip of this route. The entire data of each vehicle's driving route is transmitted to an information processing system, which then transmits this driving route data to all on-board computers of each vehicle in the fleet. Thus, even if the color strip becomes invisible, the transportation system continues to operate normally by following the virtual information processing color strip. [Brief explanation of the drawings]

[0016] [Figure 1] It shows a virtual convoy (35) of vehicles communicating with each other by means (33) and with an information processing system (7) via an encrypted link (8). Figure 1 also shows a color strip (10) with an integrated RFID chip (9). [Figure 2] The figure shows an on-board computer (2) connected to an inertial unit (1) comprising an accelerometer (4), a gyroscope (5) and a compass. [Figure 3] Figure 1 shows the implementation of a tracking camera, multiple cameras (17) and RFID antenna (13) on a color strip (10). [Figure 3]A diagram showing a camera (12), an infrared sensor (14), an ultrasonic sensor (15), and a microwave radar (16) for monitoring a color strip (10), and an implementation of the color strip (10) and multiple cameras (17). [Figure 4] A diagram showing a camera (12), an infrared sensor (14), an ultrasonic sensor (15), and a microwave radar (16) for monitoring a color strip (10), and an implementation of the color strip (10) and multiple cameras (17). [Figure 5] The figure shows the implementation of the color strip (10) particularly at an intersection, particularly showing vehicles parked at the corner of the intersection for passenger loading and unloading, as well as other parked vehicles. Also visible is a line of vehicles (35) following a lead vehicle (36). [Figure 6] FIG. 1 shows a flowchart of a subset of the present invention. The information processing system (7) communicates via an encrypted 5G network (8) or other suitable network. The inertial unit (1) is connected to an onboard computer (2) equipped with a mass memory (41) and a dedicated computing unit (18) for processing information from the inertial unit. The onboard computer (2) is connected to at least one camera (12) designed to track a color strip (10), whose images are processed by the onboard computer (2), which then acts on the control unit (3) to actuate the steering member (40) so that the vehicle can accurately follow the color strip (10). An antenna (13) allows data exchange with RFID chips (9) and the reception of a unique identification code (11) associated with the coordinates (x, y, z) of each RFID chip the vehicle passes. A series of sensors (14), (15), (16) and a series of cameras (17) allow the vehicle to locate itself thanks to data processing by the onboard computer (2) with the aid of AI. The present invention cooperates with the terminals (19) to enable charging of the vehicle's battery (38) and the exchange of route data between the computer (2) and the information processing system (7) via the semi-rigid arm (24). [Figure 7]1 is a diagram showing a connection device between a charging terminal and a data transfer terminal; [Figure 8] 1 is a diagram showing a connection device between a charging terminal and a data transfer terminal; [Figure 9] Fig. 1 shows a connection device between a charging terminal and a data transfer terminal. A motor (27) acts on the belt to rotate a nut (29) cooperating with a screw (34), which translates a semi-rigid arm (24) connected to the screw (34) until the male plug (22) is connected to the female plug (25). [Figure 10] FIG. 1 is a perspective view showing details (30), (31), (32) that allow the male plug (22) to be guided towards the female plug (25). [Figure 11] FIG. 1 shows terminal (19) with semi-rigid arm (24) extended. [Figure 12] 1A and 1B are top and side views of a vehicle (6) connected to a terminal (19). DETAILED DESCRIPTION OF THE INVENTION

[0017] What characterizes the invention is the fundamental role of an inertial unit (1) equipped with a dedicated calculation unit (18) connected to an on-board computer (2) storing dedicated software.

[0018] This inertial unit is of the MEMS type (an acronym for Micro-Electro-Mecanical-System).

[0019] One example is the inertial unit MPU-6050 (registered trademark, "MPU" stands for memory protection unit), which is a combination of a dedicated Arduino board and appropriate servo motors connected to a control unit (3). This inertial unit is equipped with a 3-axis accelerometer (4), a 3-axis gyroscope (5), and a compass. Therefore, the basic element of the present invention is the inertial unit (1), which, with the help of a computer (2) and a dedicated calculation unit (18), is able to digitize the color strip (10) that the vehicle follows by optical guidance, generating a virtual information processing strip (20), i.e., an image of the color strip (10). This virtual information processing strip (20) is stored in the memory (41) of the onboard computer (2) and then retransmitted to all vehicles (6) according to the procedure described below. The method for digitizing the color strip (10) is described below.

[0020] The vehicle (6) moves along the color strip (10) by optical guidance, and the inertial unit (1) has access to all the parameters related to the movement of the vehicle (6), namely, starting point, direction, acceleration, duration, and all the continuous changes of these various parameters. Through the processing of all the aforementioned data, the inertial unit (1) with its dedicated calculation unit (18) and the on-board computer (2) with its memory (41) are able to define a set of successive points of the traveled route, thereby regenerating the virtual color strip (20) for information processing, which is an image of the actual color strip (10). Since velocity is the derivative of the route with respect to time and acceleration is the derivative of velocity with respect to time, it follows that by solving the double integral, the position of a point can be defined at each instant using the same initial constants, i.e., the initial velocity and starting point as mentioned above. In the present case, these constants are determined. This is because the starting point is the point of entry of one or more passengers, perfectly identified thanks to the precise coordinates (x, y, z) of the RFID chip (9) enhanced by odometry (distance traveled per wheel revolution), and the initial velocity is zero, corresponding to the moment of entry of one or more passengers. Thus, the data provided by the inertial unit, equipped with a dedicated calculation unit (18) and dedicated software and connected to the onboard computer (2), allows the identification of a series of points on the route. More precisely, the successive points on the route identified by the inertial unit (1) define successive segments, which, in conjunction with each other, define a virtual information processing image (20) of the color strip (10) on the traveled route.

[0021] Thus, the invention allows the vehicle to continue its programmed route by following the virtual information processing strip (20) stored in the memory (41) of the computer (2), even if the color strip (10) becomes invisible due to atmospheric reasons, snow, ice, sand or any other reason, by combining the inertial unit (1) with a dedicated calculation unit (18) and a computer (2) equipped with suitable servo motors connected to the control unit (3) and acting on the steering members (40).

[0022] The onboard computer (2) and information processing system (7) are equipped with an expert system associated with augmented intelligence software and algorithms, which are herein referred to as "AI" (also called artificial intelligence). The software and algorithms linked to the AI ​​allow the expert system to memorize all information related to the route and all possible situations and integrate the experience gained during use. This allows the AI, which integrates a series of software and advanced algorithms, to make the same decisions as a familiar human in all foreseeable situations. In practice, the role of the AI ​​integrated in this invention is significantly reduced, since the vehicle follows the color strip (10) by optical guidance or by following the virtual information processing strip (20). The AI ​​is implemented to respond to critical and / or extreme situations.

[0023] To optimize safety, it is preferable to increase the number of inertial units (1) operating simultaneously, so that the consistency of the data provided by each inertial unit (1) is controlled by the onboard computer (2) in combination with the AI, and the "decision theory" algorithms are stored so that the AI ​​can make the best possible decisions in all foreseeable situations. Such redundancy increases the reliability of the system.

[0024] For example, if three inertial units are operating simultaneously, the "decision making" algorithm can be programmed so that for a route to be valid, at least two of the inertial units will determine the same route.

[0025] As will be described later, when a vehicle wishes to charge at a particular charging terminal (19), the entire data of the route traveled by each vehicle is transmitted to the information processing system (7), which then transfers the entire data corresponding to each vehicle's route to all vehicles (6) of the fleet via the charging terminals (19). It is specified that the data of the route traveled constitutes the data of the virtual information processing strip (20) of the digitized color strip (10).

[0026] Therefore, all vehicles receive the entire virtual information processing image (20) of all routes traveled by each vehicle and store it in the memory (41) of the computer (2). To avoid unnecessary excessive data transfer, the information processing system (7) allocates to each vehicle the virtual information processing image (20) of the route that has not yet been stored in the memory (41) of the vehicle's on-board computer (2).

[0027] According to one embodiment of the present invention, when the vehicle (6) is moving, the inertial unit (1) coupled to the on-board computer (2) uses all the parameters related to the movement, i.e., the starting point, speed, acceleration, direction, and duration mentioned above, to identify all the points of the route every 100 milliseconds. For example, if the vehicle is traveling at 36 km / h, i.e., moving 10 meters per second, the vehicle will move 1 meter every 100 milliseconds. Therefore, between two consecutive points as mentioned above, the length of the segment will be 1 meter.

[0028] According to a more sophisticated embodiment, the frequency with which the inertial unit (1) identifies the points on the route is calculated relative to the speed so that the distance between two consecutive points on any one segment of the route is the same length. For example, if the vehicle (6) travels at 18 km / h and thus travels 5 meters per second, the frequency with which the points on the route are identified is every 200 milliseconds. Therefore, the length of the segment defined between two consecutive points is also 1 meter.

[0029] Therefore, as mentioned above, successive points of the route identified by the inertial unit (1) define successive segments, which, in conjunction with each other, define a virtual information processing image (20) of the color strip (10) on the traveled route.

[0030] A unique identification code (11) is stored in the memory of each RFID chip (9). Corresponding to each unique identification code of each RFID chip are the exact coordinates (x, y, z) of this RFID chip. The coordinates (x, y, z) of all RFID chips are stored in the on-board computer (2) of the vehicle (6).

[0031] Whenever the vehicle's (6) computer (2) identifies a deviation from the precise position determination provided by the RFID chip embedded in the color strip (10), the on-board computer (2) initiates action on the control unit (3), which in turn acts on the steering member (40) to make appropriate corrections, and the on-board computer then resets the inertial unit to the precise coordinates provided by the RFID chip.

[0032] For security reasons and to avoid any tampering, the virtual strip (20) obtained by linking the root segments, i.e., by reconstructing the root software, is authenticated by the blockchain, since each segment that makes up this virtual strip is itself authenticated by the blockchain. The blockchain is an authenticated, tamper-proof database with a high level of security, operating without a central control unit, but with control distributed among several servers that are constantly in control and mutually adhere to the blockchain's specific functions, making any tampering impossible. This is because every addition of a segment is subject to a cryptographic transaction control that is verified by all of these servers. Thus, every root is a history of additions of basic segments (possibly layered) and the validity of their existence is permanently controlled.

[0033] Each vehicle is fitted with an on-board computer (2) connected to an information processing system (7), and all communications (8) between the on-board computer and the information processing system (7) are encrypted and secure.

[0034] However, thanks to a driving simulator-type device with all the vehicle's control functions, a remote operator can remotely drive the vehicle if necessary via images transmitted by a camera (17) built into the vehicle. The interaction between the operator and the vehicle for which he is responsible is carried out by encrypted communication (8) between the information processing system (7) and the on-board computer (2). This communication can also be carried out via an encrypted 5G (acronym for fifth generation) link.

[0035] The information processing system (7) of each vehicle (6) associated with the AI ​​and the memory (41) of the on-board computer (2) store a map of the entire network of color strips (10), traffic laws, the recognition of traffic lights and their locations, and all traffic signs. The AI ​​interprets any kind of situation and reacts accordingly, always prioritizing safety. The vehicle automatically adjusts its speed and movement, taking into account road signs, speed limit zones, potential danger zones (schools, railroad crossings, etc.) stored in the memory (41) of the on-board computer (2) and also commands received in real time from the information processing system (7) via encrypted communication (8).

[0036] Each RFID chip (9) or transponder is integrated by punching a hole in a color strip (10), fixed or painted on the roadway, and stores a unique identification code (11). Each unique code (11) of each RFID chip is associated with the coordinates (x, y, z) of this RFID chip, which are stored in the on-board computer of every vehicle (6). Thus, the position of a vehicle can be determined at any time using the coordinates of each RFID chip (9) it passes. Between two RFID chips, the vehicle's position can be determined accurately to within a few centimeters by odometry (the distance traveled by the vehicle's wheel rotations).

[0037] Each vehicle includes means for identifying and monitoring the color strip using at least one camera (12), the images of which are processed by an on-board computer and act on a steering control unit (40) connected via a control unit (3) to accurately track the color strip (10).

[0038] The control unit (3) operates based on the commands of the on-board computer (2) and ensures all controls that enable the vehicle to be operated, such as steering, braking, acceleration, deceleration, audible alarms, turn signals, lane changes, and hazard lights.

[0039] The color strips (10) can consist of polymers that are heat-bonded to the roadway and colored in mass, and / or simple, inexpensive paint strips. This latter possibility allows for very rapid installation on entire roads in urban areas, as well as on the roads and paths they connect. The strips (10) can be continuous or discontinuous, depending on the zone involved.

[0040] Said colour strips incorporate RFID chips (9) or transponders and each vehicle (6) includes means (13) for reading said RFID chips. Whenever the on-board computer (2) identifies a deviation from the precise position determination provided by the RFID chips (9) incorporated in the colour strips (10), a trajectory correction is made by actuation of the steering members (40) via the control unit (3) and the inertial unit (1) is reset to the precise coordinates provided by the RFID chips.

[0041] The above coordinates (x, y, z) stored on the RFID chip are applicable to all geodetic reference frames.

[0042] The color strip (10) has a certain distinctive color, preferably blue, to distinguish it from conventional road signal strips while blending well into the urban landscape.

[0043] Each vehicle is equipped with means for detecting the RFID chips (9) integrated into the color strip. For this purpose, each vehicle is provided with a suitable antenna (13) that can read the unique code (11) stored in the RFID chip (9). For this purpose, a suitable radio frequency signal is transmitted by the antenna (13) towards the RFID chip or transponder, which receives on the return journey the unique identification code (11) of each RFID chip integrated into the color strip (10) that the vehicle has traveled.

[0044] Each vehicle is equipped with multiple cameras (17) installed at several strategic points on the vehicle, in particular the four above the passenger compartment, to provide a 360-degree field of view, allowing the on-board computer (2) to permanently monitor the vehicle's environment and record every movement on video for control and safety purposes, especially in the event of an incident or accident. Of course, the recordings are periodically erased and only used when necessary.

[0045] Each vehicle is equipped with a set of several types of sensors, including: -Infrared sensors (14) to determine the presence of nearby people, pedestrians and cyclists. These sensors are placed at multiple points around the vehicle. - Ultrasonic (15) sensors that can determine if another vehicle is approaching or if it is not observing a safe distance and can activate signals such as hazard lights via an on-board computer (2) connected to sensors and a control unit (3). These sensors are located on at least four sides of the vehicle (front, rear, and both sides). - Radar (16), (microwave). These sensors have a direct line of sight of approximately 100 meters. These sensors allow the vehicle's direction and speed to be determined from the echoes, and the AI ​​to predict the appropriate course of action. These sensors are primarily directed towards the front of the vehicle.

[0046] In summary, the invention as defined in claim 1 mainly consists of an automated public / personal transport system comprising a number of vehicles (6) and charging means (19) for said vehicles, each vehicle (6) equipped with communication means (8) for communicating with an on-board computer (2) and in particular with an information processing system (7), each vehicle being equipped with a set of safety sensors, and during movement the vehicles (6) follow by optical guidance a coloured strip (10) incorporating an RFID type chip (9) or transponder, each vehicle being equipped with means (13) for reading said RFID chip. In this system, when the vehicle (6) follows the color strip (10) by optical guidance, the inertial unit (1), typically equipped with a 3-axis accelerometer (4), a 3-axis gyroscope (5) and a compass, can process the movement parameters of the vehicle (6), i.e., starting point, initial speed, direction, acceleration, duration, and all successive changes of the above parameters, with the assistance of a computer (2) equipped with a dedicated calculation unit (18) and dedicated software for the inertial unit. Through the above data processing, the inertial unit (1), equipped with a dedicated calculation unit (18) and assisted by an on-board computer (2), can determine one of the vehicle's route. The inertial unit (1) is capable of calculating and defining successive points of the route, and by defining and linking segments by successive points of the route identified by the inertial unit (1), a virtual information processing strip (20) of the color strip (10) is defined, i.e., the driving route is digitized. The on-board computer (2) stores the data of the virtual information processing strip (20) in a memory (41), and even if the color strip (10) becomes invisible, the on-board computer (2) continues the programmed route using the virtual information processing strip (20) stored in the memory (41) of the on-board computer (2).

[0047] To optimize the automated vehicle system, the system has a collection of terminals (19) for automatic charging and data transfer, which are appropriately distributed throughout the territory.

[0048] When the vehicles (6) charge their batteries (38) at the charging terminals (19), the entire data of the routes traveled by each vehicle recreates a virtual information processing image (20) of the color strip (10) of the route traveled, and this entire data is transmitted to the information processing system (7), which then transfers the entire data corresponding to the route of each vehicle to all the vehicles (6) of the fleet via the charging terminals (19), so that all the vehicles receive and store the virtual information processing image (20) of the color strip (10) of all the routes traveled by all the vehicles.

[0049] The charging device consists of a terminal (19) fixed to the ground and equipped with electronics capable of communicating with nearby vehicles, managing the charging of their batteries and the transfer of route data defined by the computer (2).

[0050] Thanks to optical guidance and wheel chocks (39), the vehicle (6) can be positioned precisely in front of the terminal (19) with an error of approximately 10 millimeters.

[0051] The vehicle's on-board computer (2) interacts with the electronics of the terminal (19) to initiate the mechanical coupling between the terminal (19) and the vehicle (6).

[0052] First, access to the female plug (25) is released by moving the protective flap (21) with a mechanical device. The coupling device essentially consists of a male plug (22), a guide device (23), a semi-rigid movable arm (24) that slides in a cylindrical guide tube, and an actuation means of the device for connecting the movable male plug (22) to the fixed female plug (25) located at the bottom of the female guide (26).

[0053] The actuator for the semi-rigid movable arm (24) consists of an electric motor (27) with a pulley (28) on its shaft which drives a nut (29) via a belt that cooperates with a second pulley connected to the nut. Rotation of the motor (27) rotates the nut (29), which in turn translates a screw (34) connected to the semi-rigid connector arm (24), thereby driving said arm towards the female guide (26).

[0054] The male guide consists of a cylindrical part (30) to the front of which three semi-conical guides (31) are fixed, which at the rear become semi-cylindrical (32).The male guides therefore cooperate with corresponding female guides (26) which are provided with dedicated grooves to accommodate the semi-conical guides (31) which become semi-cylindrical (32) as described above.

[0055] The arm (24) is made of a semi-rigid polymer or composite material with some flexibility, allowing for a positioning error of several millimeters between the vehicle (6) and the terminal (19), and enabling the male plug (22) to be fully mated with the female plug (25) through cooperation of the male guide (30) and associated guides (31, 32) and the female guide (26). The semi-rigid arm (24) has a recess (36) in its central portion that accommodates a sheath (37) containing a conductor. The conductor allows for the flow of a strong current for battery charging and a weak current for data exchange.

[0056] Immediately after connection, essentially only data linked to the route, i.e., an image of the virtual information processing strip (20), is exchanged between the onboard computer (2) and the information processing system (7). The data exchange between the terminal (19) and the vehicle's computer (2) is carried out by contacts. The data received by the terminal is then stored in a dedicated memory of this terminal and then transmitted to the information processing system (7). For security reasons, a wired connection or a high-speed optical fiber connection is recommended. At a lower security level, encrypted 5G-type connections can also be considered.

[0057] Secondly, after the above data exchange, a strong current is activated for the purpose of charging the battery (38).

[0058] The vehicle (6) is provided with a second conventional charging socket so that it can be charged at a conventional charging terminal if required, but is not capable of transferring route data to a central computer.

[0059] Engine specifications: Typically, electric wheel motors are installed on each rear wheel with an output of 10 to 15 kW each for a moderate speed of about 35 to 45 km / h in autonomous mode in urban areas. On highways without intersections, speeds above about 70 km / h are permitted. The effective power of an electric vehicle varies roughly as the cube of the speed. Rolling resistance is linear, and aerodynamic resistance varies as the square of the speed. This means that the capacity (kW / H) of the onboard battery is reduced by about one-third, or about 20 kW / H, compared to a 100% electric vehicle for an autonomous driving distance of about 200 km. To date, the battery cost of an electric vehicle accounts for about one-third of the total cost of the vehicle.

[0060] Placing the thermal engine at the front allows for front-wheel drive. By selecting an engine with sufficient power, around 100 horsepower, the vehicle can cruise at the maximum permitted speed on the highway (typically 130 km / h) and is agile on mountain roads, all the while keeping carbon dioxide emissions low. In fact, in thermal mode, the vehicle is compatible with biofuels such as bioethanol, which can reduce carbon dioxide (CO2) emissions by 50% and particulates by 90%. Bioethanol is 85% non-fossil fuel and is therefore even more environmentally friendly.

[0061] The vehicle will be designed for shared use to reduce the number of vehicles on the road, and to ease congestion and pollution. Users can reserve a vehicle by specifying their departure and arrival points on their smartphone. The computer (2) communicates with the information processing system (7) to search for other users whose routes are compatible, in which case the vehicle will stop along the way to pick up a second passenger.

[0062] The vehicle is comfortable and attractive, has a spacious luggage compartment, is designed to accommodate four to five people, and can be used for family trips in manual driving mode.

[0063] When used in thermal mode, the battery can be charged. In electric mode, kinetic energy can be recovered by decelerating or braking, which charges the battery. Initial statistical estimates show that more than 90% of routes will be driven in electric mode, making it quiet and clean. The invention is designed to evolve towards future fuels, represented by hydrogen, thus providing a 100% clean vehicle.

[0064] An important feature of the present invention is that the vehicles are designed to operate in a virtual convoy mode (35). To do this, the vehicles communicate with each other according to a secure connection vector (33), i.e., a combination of digital hyper-frequency and infrared links when the vehicles are in close proximity.

[0065] When the vehicles are organized into a virtual convoy by following a color strip (10) or a corresponding virtual information processing strip (20), the leading vehicle becomes the master vehicle, which stores the entire destination of each vehicle in its on-board computer (2) and coordinates, via safety links (33), the acceleration, braking, obstacle avoidance and in particular the turning of one or more vehicles in a convoy, commanding the vehicles immediately behind the turning vehicle or vehicles to slow down so that the vehicles can safely change lanes and merge onto another color strip (10) or corresponding virtual information processing strip (20). According to a standard embodiment, the invention has the advantage that the color strips perform the function of rails and can therefore be treated like a modular tram.

[0066] The present invention also allows for intercity transport over distances up to about 25 km thanks to the combination of the inertial unit (1), the color strip (10) and the RFID chip (9).

[0067] To achieve this, on long distance routes outside urban areas, the RFID chips (9) are spaced further apart, at intervals of 100-1000 m, where they are integrated into short but clearly visible color strips (10), for example, 3-meter long sections every 100, 500 or 1000 meters depending on the road configuration (intersections, turns, roundabouts).

[0068] To obtain a virtual information processing image of the route, the authorized driver uses the vehicle (6) in manual driving mode, paying close attention, to drive the above-mentioned route only once on the section of the road where the color strip is located. Each time the driver sees a section of the color strip, he or she moves precisely over that section of the color strip (10), estimating the coordinates (x, y, z) from the unique identifier (11) of the RFID chip (9) that the vehicle (6) passes, and precisely resetting the inertial unit (1). In this way, the inertial unit (1) reconstructs the virtual information processing strip (20) for each route traveled. Note that the drift of the basic inertial unit (1) is small, capable of 16-bit accuracy, or a few centimeters for a 1000-meter route lasting approximately two minutes.

[0069] Thus, when the color strip (10) has portions spaced apart and each portion of this color strip (10) integrates an RFID chip (9), an authorized driver driving the vehicle (6) exactly once over the discontinuous color strip (10) causes the inertial unit (1) to reconstruct a continuous virtual color strip (20) of the route traveled and resets the inertial unit to the coordinates (x, y, z) of all the RFID chips (9) that the vehicle has passed.

[0070] In order for the system to function properly, when construction work is carried out in the metropolitan area in which the present invention is installed, the manager of the metropolitan area concerned will inform the information processing system (7) of factors that may affect the operation of the present invention, and the information processing system (7) will inform the on-board computer (2) of each vehicle of the above-mentioned construction factors, and each vehicle will take into account the information received.

[0071] The digitization of the color strip can be carried out by any type of vehicle or robot equipped with an inertial unit (1) and suitable computing means and is within the scope of the present invention.

[0072] A superior geolocation network, much more accurate than GPS (Global Positioning System), will be deployed and can be used by any kind of operator or application, especially in the field of transportation, in autonomous shuttles or in any type of vehicle, where an authorized operator can use an RFID antenna (13) in cooperation with a computer to read any unique identifier (11) of the RFID chip (13) and determine therefrom the coordinates (x, y, z). All variant embodiments of the invention in terms of shape, color, material, arrangement, subassembly and functional elements are within the scope of the invention.

[0073] Conclusion: The invention described herein is of such nature that it can create a new paradigm in the world of mobility. Such new technology brings many benefits, including: - the remarkable simplicity of the invention, so compared to fully autonomous vehicles (expected for more than 12 years) that have to find their way every moment, the invention is more reliable as the vehicle follows a colored strip on the ground by optical guidance or a virtual information processing strip. -This new technology will provide solutions to urban congestion, parking and pollution problems. - Studies carried out by transport industry businessmen and fleet managers have shown that the installation of the claimed vehicle system in urban areas will enable a significant reduction in the number of vehicles, resulting in a significant improvement in traffic mobility. The invention does not rely on an information processing system, which effectively prevents hacking: once the starting and destination points have been identified, the vehicle finds its direction independently thanks to the on-board electronics and the colored or virtual information processing strip. -The invention does not rely on satellite positioning systems, allowing vehicles to travel outdoors as well as in tunnels and underground. - Public self-driving vehicles can appear from anywhere, but the colored strips on the ground clearly indicate where the vehicles must pass, enhancing safety. Furthermore, fines can be imposed on vehicles that park on the colored strips to avoid any traffic disruption. - According to the same study mentioned above, user acceptance of the invention is much higher than that of the average 100% self-driving car: 76% compared to 14%, i.e. 5 times higher. -The new technology must meet tram standards (as the vehicles run on virtual rails), which will make insurance coverage much easier. -Because it is low cost to users, it can attract a significant proportion of the population who use private cars in cities and metropolitan areas. The low installation and operation costs of the invention will result in attractive profitability for the parties and the country, leading to strong deployment in many regions and ensuring the sustainability of the invention. -This new technology will help preserve the enjoyment of driving outside of cities for those who want it. - Finally, the invention offers a new quality of life while respecting the planet, and strongly promotes economic activity and leisure in cities.

Claims

1. 1. An automated public / personal transport system comprising a plurality of vehicles (6) and charging means (19) for said vehicles, each of said vehicles (6) equipped with communication means (8) for communicating with an on-board computer (2) and an information processing system (7), each of said vehicles (6) equipped with a set of safety sensors, said vehicles (6) adapted to follow a coloured strip (10) by optical guidance, said coloured strip integrating an RFID type chip (9) or transponder, each of said vehicles equipped with RFID chip reading means (13), When the vehicle (6) follows the color strip (10) by optical guidance, an inertial unit (1) equipped with a 3-axis accelerometer (4), a 3-axis gyroscope (5) and a compass can process the movement parameters of the vehicle (6), i.e., starting point, initial speed, direction, acceleration, duration and any successive changes of said parameters, with the help of a computer (2) equipped with a calculation unit (18) dedicated to the inertial unit and with dedicated software, and by such processing, the inertial unit (1) equipped with the calculation unit (18) and aided by the on-board computer (2) can calculate the successive points of the vehicle's route. and by defining segments by successive points of the route identified by the inertial unit (1), a virtual information processing strip (20) of the color strip (10) is defined, i.e., the travel route is digitized, and the data is stored in a memory (41) of an on-board computer (2), so that even if the color strip (10) becomes invisible, the vehicle (6) can continue the programmed route by following the virtual information processing strip (20) stored in the memory (41) of the on-board computer (2).

2. 2. The automated public / personal transport system according to claim 1, characterized in that when the vehicle (6) charges its battery (38) at the charging terminals (19), the entire data of the route traveled by the vehicle, which reproduces a virtual information processing strip (20) of the color strip (10) of the traveled route, is transmitted to the information processing system (7), which then transfers the entire data corresponding to the route of each vehicle to all the vehicles (6) of the fleet via the charging terminals (19).

3. 2. The automated public / personal transport system of claim 1, characterized in that the frequency of identification of the points of the route by the inertial unit (1) is calculated relative to the speed so that the distance between two consecutive points of any one segment of the route is the same length.

4. 2. The automated public / personal transport system of claim 1, wherein the virtual information processing strip (20) resulting from the association of the route segments is authenticated by the blockchain, as each of the segments that make it up is authenticated by the blockchain, and the addition of any segment is subject to cryptographic transaction control and verified by a set of servers.

5. 2. The automated public / personal transport system according to claim 1, characterized in that each time the on-board computer (2) identifies any drift of the vehicle (6) with respect to the precise position provided by the RFID chip integrated in the color strip (10), the on-board computer (2) initiates an action on the control unit (3), which in turn acts on the steering member (40) to carry out appropriate corrections, and the on-board computer then resets the inertial unit to the precise coordinates provided by the RFID chip.

6. 2. The automated public / personal transport system according to claim 1, characterized in that a unique identification code (11) is stored in the memory of each of the RFID chips (9), each of the unique identification codes (11) of each RFID chip corresponds to the exact coordinates (x, y, z) of the RFID chip, and the coordinates (x, y, z) of all the RFID chips are stored in the on-board computer (2) of the vehicle (6).

7. 7. The automated public / personal transport system according to claim 5 or 6, characterized in that outside urban areas the RFID chips (9) are further spaced every 100-1000 meters and are fixed on a short but highly visible discontinuous color strip (10) of 3 meters, and based on the driving on said discontinuous color strip (10) by an authorized driver, the inertial unit reconstructs the virtual information processing strip (20) of the route traveled and resets the inertial unit to the coordinates (x, y, z) of every chip passed by the vehicle.

8. 2. The automated public / personal transport system according to claim 1, characterized in that the on-board computer (2) and the information processing system (7) are equipped with an expert system associated with AI augmented intelligence software and algorithms, which stores all information related to the route and all information related to the driving situation and integrates the experience gained during use.

9. An automated public / private transport system as described in claim 1, characterized in that reliability is improved by increasing the number of inertial units (1) placed in multiple vehicles (6) and operating simultaneously, and for this purpose the on-board computer (2) manages the consistency of the data supplied from each of the inertial units (1) in combination with AI and stores decision-theoretic algorithms to enable the AI ​​to make the best decisions in all foreseeable situations.

10. When charging the vehicle (6) with a specific charging terminal (19), optical guidance and wheel chocks (39) allow the vehicle to be positioned accurately in front of the terminal (19), and the coupling device essentially consists of a male plug (22), a guide device (23), and a semi-rigid movable arm (24), and the actuating device of the arm (24) consists of an electric motor (27) with a pulley (28) on its axis, which cooperates with a second pulley coupled to a nut to engage the nut (29) via a belt, and the rotation of the motor (27) rotates the nut (29), and the rotation of the nut couples to the arm (24).

3. The automated public / personal transport system according to claim 2, characterized in that a screw (34) connected to the arm translates, the arm is geared towards a female guide (26), the male guide comprises a cylindrical portion (30) on which at least three guides (31) and (32) are fixed, the male guide cooperating with a corresponding female guide (26) having dedicated grooves for accommodating the guides (31) and (32), and when the plugs (22) and (25) are connected, the data of the route is first transmitted via a wired or optical fiber connection to a central computer (7), after which the battery (38) is charged.

11. An automated public / private transport system as described in claim 1 or 6, wherein the automated public / private transport system is capable of providing precise geographical location information via an RFID antenna (13) by means of a network of color strips in the roadway equipped with RFID chips, and the RFID antenna (13) cooperates with a computer that can read any unique identification code (11) on the RFID chip (13) and determine coordinates (x, y, z) therefrom.

12. 2. The automated public / personal transport system according to claim 1, characterized in that, if the color strip (10) becomes invisible due to atmospheric reasons, snow, ice, sand or any other reason, the inertial unit (1) combined with the computer (2) having a dedicated calculation unit (18) and suitable servo motors connected to a control unit (3) acting on steering members (40) allows the vehicle to continue its programmed route by following the virtual information processing strip (20) stored in the memory (41) of the computer (2).

13. The automated public / private transportation system of claim 1, characterized in that the automated public / private transportation system is dual-mode, having two operating modes: electric operation and automated operation in urban areas, and thermal operation and manual operation in non-urban areas, and in the manual operation mode, the front seats are configured to rotate halfway.

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