CA1338356C - Traffic signal preemption system - Google Patents

Abstract

When placed into operation by the occupants of an emergency vehicle, a vehicle transmission system having a directional antenna sends out a series of UHF
messages spaced apart by varying lengths of time and identifying the emergency vehicle, its priority, and its direction, or indicating that the vehicle is travelling along a pre-planned route. At each signal-controlled intersection, a vehicle detection, identification, and preemption system having an omnidirectional antenna and containing information identifying vehicles authorized to preempt the intersection and their pre-planned directions of travel receives these messages from plural vehicles and determines when and in favor of which direction and for how long the intersection is to be preempted.

Description

J 3~ ~5~

TRAFFIC SIGNAL PREEMPTION SYSTEM

Field O The Invention This invention relates to traffic control systems, and more particularly to systems that enable an emergency vehicle to preempt the normal operation of traffic signals which the vehicle approaches, forcing them to turn green for the emergency vehicle and red for other directions, or red for all directions.

Backqround U. S. patent No. 3,257,641 issued to Patsy C.
Campana and Thomas T. Chrysler on June 21, 1966 teaches the idea of equipping an emergency vehicle with a radio transmitter which, when actuated by the vehicle's occupants, causes the intersection's traffic control system to preempt the traffic signals at the intersection. The Campana patent proposes the use of a 255 megacycle, tone modulated transmitter in the emergency vehicle. When the vehicle's occupants press a pushbutton, t~is transmitter sends out a radio signal modulated with an audio tone. A receiver mounted on the traffic light, in response to receipt of the proper frequency and tone combination, causes a preemption controller unit to preempt the traffic signals at the intersection by forcing the intersection's traffic control 5y5te~ to present red signals in all directions.

The Campana patent proposes utilizing multiple tones in the transmitter to enable an emergency vehicle .~

,~,, ~ ~3~5~3 to control several functions, and U. S. Patent No.
3,638,179 issued to Edward T. Coll et al. on January 25, 1972 discloses such a system. The occupant of the vehicle sets a switch to indicate the direction of travel, and that switch selects a tone which corresponds to the direction selected. A radio signal modulated with the selected tone is then produced. A receiver mounted on the traffic light responds differently to different tones, causing the traffic control system at an intersection to present a green light in the direction of the approaching emergency vehicle and a red light in all other directions. U. S. Patent No. 4,443,783 issued to Wilbur L. Mitchell on April 17, 1984 discloses a transmitter that modulates with dual tones and thus provides improved noise and invalid (or counterfeit) signal immunity.

An improved preemption system is disclosed in u.S.
Patent No. 4,228,419 issued to George P. Anderson on October 14, 1980. Here, a directional transmitter on the emergency vehicle actually sends a message byte (or number) to the receiver at each intersection. One particular message byte (or number) informs the receiver that the vehicle's siren and warning lights are in operation, and the receiver responds by preempting the intersection for a fixed, predetermined length of time.
Another particular message byte (or number) informs the receiver that the vehicle's occupants have actuated a manual preemption switch, and the receiver responds by preempting the intersection for as long as the manual switch remains actuated. So two distinct preemption functions are possible. The patent teaches that other distinct functions may ~e selected by having the occupant of the vehicle depress one or more keys on a keyboard.
This patent teaches that a unique code can be assigned to each vehicle and transmitted so that the receiver at each , ...

intersection can forward to police headquarters the identity of the signalling vehicle and its location.
This patent teaches that the direction of emergency vehicle travel can be determined through the use of multiple directional receiving antennas, one for each possible emergency vehicle approach direction, with each directional receiving antenna having its own receiver, demodulator, and message byte decoder. At a four-way intersection, assumedly four receivers, demodulators, and decoders would be required.

Optical transmitters have been utilized in the design of preemption systems. u.s. Patent No. 4,230,992 issued to John A. Munkberg on October 28, 1980, for example, discloses a system utilizing separate north-south and east-west optical signal receivers designed to receive optical pulses whose energy content exceeds a predetermined threshold level, rejecting all pulses not generated at one of two predetermined, precise pulse repetition rates. This patent also teaches the use of first and second optical pulse repetition rates to signal respectively lower and higher priority vehicles, and it discloses a mechanism that preempts an intersection in favor of the higher-priority vehicle when two vehicles having different priorities approach the intersection simultaneously from different directions.

Optical systems such as that just described are 3n highly directional -- light cannot flow around trucks, trees, and other such obstacles. Weather conditions such as fog can interfere with the operation of an optical system.

All of the above systems initiate a preemption in response to the receipt of a standard signal selected from a small set of valid preemption signals which are the same for all the emergency vehicles within a given city. If a transmitter is stolen, there is no simple way to cause intersections to ignore the preemption signals from that one stolen transmitter without also causing them to ignore the preemption signals from all the other transmitters in the city.

Except through the use of multiple directional receivers, these systems are unable to process multiple signals received simultaneously from multiple vehicles and to select intelligently which vehicle should gain preemption. These systems cannot utilize a single omnidirectional receiving antenna without the possibility that one signal will drown out another or that two signals will interfere with each other and prevent either from being received.

These systems also determine the direction from which an emergency vehicle approaches an intersection 2n only through the use of multiple directional receiving antennas or, if a single omnidirectional antenna is used, through manual depression of a directional pushbutton by the vehicle's occupants. There is no way in which the direction of emergency vehicle travel can be determined fully automatically except through the use of multiple directional receiving antennas or actuation of manual switches by vehicle occupants at each intersection.

Summary Of The Invention Briefly described, the present invention eguips each emergency vehicle with a vehicle information transmission system. This system includes a directional, forward-facing UHF antenna that is fed by a transmitter which operates at a UHF frequency low enough to permit the signals to flow around trucks and tree limbs but high ~ 5 ~ t 3 3 8 3 5 6 enough to per~it the antenna to be both compact and also sufficiently directional to prevent the occurrence of accidental preemptions through radiation down side streets. The invention equips each intersection with a vehicle detection, identification, and preemption system. This system includes a single receiving antenna mounted on or near a traffic light or traffic light controller which receives signals from all directions.
Rather than having the emergency vehicle transmit a continuous signal, the present invention has the emergency vehicle transmit the same message repeatedly at periodic intervals. The time duration between successive transmissions is varied (made longer and shorter). The use of periodic transmissions separated by extended nontransmission intervals enables periodic transmissions to be received from several vehicles as they approach the same intersection so long as the transmissions are not simultaneous. If simultaneous transmissions from two emergency vehicles do interfere with each other, the transmitter mechanism that varies the time duration between successive transmissions insures that subsequent transmissions by the same two vehicles are not simultaneous and do not interfere with one another. Interference attributable to simultaneous transmissions is thus minimal and does not impair the ability of the present invention to identify the vehicles approaching an intersection and to determine, based upon preprogrammed preemption criteria, when and in favor of which vehicle and direction and for how long to preempt an intersection.

The information transmitted ~y an emergency vehicle includes information identifying the specific vehicle that is requesting preemption, vehicle priority information, and directional information. The directional information can take two different forms. If the occupants of a vehicle manually signal a particular direction of approach to an intersection, then the directional information simply identifies the direction of approach. But if the occupants of a vehicle manually signal that the vehicle is proceeding along a preplanned route, as is customary ~ith fire engines and many other emergency vehicles, then the direction information so indicates, and the vehicle detection, identification, and preemption system which receives the information retrieves the preplanned direction of approach from pre-stored data that associates at least one preplanned direction of approach with each vehicle's identification information at each intersection.

Within the vehicle detection, identification, and preemption system at each intersection, pre-stored data contains the vehicle identification information for all the vehicles that are authorized to preempt that particular intersection. The system at each intersection is therefore able to verify whether a particular vehicle is authorized to preempt the intersection, and it can prevent preemption if a vehicle does not have authority to preempt the intersection. The pre-stored data also associates at least one preplanned direction of travel with the identification information for each vehicle. In response to a vehicle signalling that it is following a preplanned route of travel, and by referring to this pre-stored data, the system at each intersection can determine from which direction the vehicle is approaching the intersection and can then preempt the intersection in favor of the preplanned direction of travel.
Accordingly, the vehicle occupants do not need to signal the actual direction of approach to each intersection, and multiple directional receiving antennas are not required at each intersection to determine a vehicle's direction of approach.
- B

- 7 - 1 ~3 ~

Both the information transmission system installed in each vehicle and the vehicle detection, identification, and preemption system installed at each intersection include provision for maintaining a log of all preemption events. The log includes the vehicle identification information, the direction of travel, the time duration of the preemption, and the time and date.
A portable computer programmed to function as a control panel and data base is used to gather this preemption log from each vehicle and from each intersection. The same computer can also be used to examine and to alter the information that is stored within each vehicle's information transmission system and within the vehicle detection, identification, and preemption system at each intersection. The vehicle identification information and priority assigned to each vehicle can thus be changed.
And at each intersection, invalid vehicle identification information can be deleted, new vehicle identification information can be added, and preplanned route information for any vehicle vehicle can be modified. The assigned vehicle identification information and priority information effectively function as passwords assigned to each vehicle which give excellent immunity against accidental preemptions and preemptions triggered by counterfeit transmitters.

These and other aspects, objects and advantages of the present invention will be made more evident from the following detailed description, particularly when taken in conjunction with the accompanying drawings.

. ~

Description Of The Drawings FIG. l is an overview block diagram of a traffic signal preemption system lO0 designed in accordance with the teachings of the present invention;
FIG.2 is a timing diagram illustrating the details of the vehicle identification signal generated by 1 n the vehicular unit 102 in FIG. l;
FIG. 3 is partly block, partly schematic diagram of the vehicle information transmission system 300;
FIG. 4 is a partly block, partly schematic diagram of the vehicle detection, identification, and preemption system 400;
FIG. 5A and 5B are block memory layout diagram illustrating the nature of the preemption system parameters 496 within the system 400 shown in FIG. 4;
FIG. 6 is a perspective view of the directional antenna 600 shown as a block element in FIG. 1;
FIG. 7 is an elevational, sectional view of the antenna 600 with the section taken along the line A - A
in FIG. 6;
FIG. 8 is a side, sectional view of the antenna 600 with the section taken along the line B - B in FIG.
7;
FIGS. 9 through 18 are flow diagrams of the program 900 for the processor 402 (FIG. 4) within the vehicle detection, identification, and preemption system 400 (FIGS. 1 and 4); and FIGS. 19 through 24 are flow diagrams of the program 1900 for the processor 308 IFIG. 3) within the vehicle information transmission system 300 (FIGS. 1 and 3).

.

Detailed Description Referring now to the drawings, FIG. 1 is a block diagram of a traffic signal preemption system 100 designed in accordance with the present invention. The preemption system 100 includes any number of vehicular units 102 which are designed for installation in a police car, a fire truck, an ambulance, or some other emergency vehicle that needs on occasion to preempt the normal operation of traffic signals. The system 100 also includes traffic controller units 104 which are designed to be integrated into the traffic control system at intersections and to respond to signals emanated by the vehicular units 102 by sending preemption signals north 108, south 110, east 112, or west 114 or their equivalents to the main traffic light controller 106 which controls the operation of an intersection.
Presently, the invention also contemplates the use of a control panel and central database 116 having a serial I/0 connector 118 which may be connected to serial I/0 connectors 120 and 122 associated with the vehicular unit 102 and the traffic control unit 104 and which may be used to reprogram and to accept log data from the units 102 and 104, as will be explained.

The heart of the vehicular unit 102 is a vehicle information transmission system 300 the details of which are shown in FIG. 3. The system 300 has connected to it a series of push buttons labeled north 126, east 128, south 130, west 132, preset 134, and off 136. the push buttons 126 to 136 are mounted on the dashboard of the emergency vehicle where they may be accessed by occupants of the vehicle. In addition, preemption lights labeled N 140, E 142, S 144, and W 146 also appear on the vehicular dashboard and are connected between the vehicle transmission system 300 and a source of ground potential .. --- 10 - 1 33 ~ 3 5~3 148. Stored within the vehicle transmission system 300 are a vehicle I.D. and priority 306 that identifies a unique vehic~e and indicates its priority for preempting an intersection over other vehicles, a transmit timeout 304 which specifies how long a preemption should continue if not stopped earlier by actuation of the push button 136, and a security code 302 which must be typed in by the occupants of the vehicle using the push buttons 126 through 136 to initiate a preemption operation.
Variables 302 through 306 may be altered by means of the control panel and central database 116, which is actually a portable IBM-compatible personal computer programmed to provide communication between an operator and the vehicle information transmission system 300 at times when the variables 302 through 306 are to be altered or when logged data is to be collected.

The vehicle information transmission system 300 also provides energizing power to a valid signal light 150 and to a timeout light 152 which respectively connect to ground potential at 154 and 156.

The vehicular unit 102 also includes a 1200 Baud 2~ modem 158 which receives information to be transmitted in digital form from the vehicle information transmission system 300 over a signal line 162. The modem 158 provides a 1200 Baud modulated tone signal over a signal line 154 to a UHF transmitter 160 that is preferably tuned to somewhere within the range of 400 to 1000 megacycles -- 450 megacycles in the preferred embodiment of the invention. This range of frequencies has been found to be optimal for providing the necessary directivity to prevent accidental preemption of intersections off the line of travel while still keeping the system 100 relatively insensitive to tree and vehicular obstacles as well as to fog, snow, and other adverse weather conditions. The UHF transmitter 160 can be turned off and on by the vehicle information transmission system 300 through actuation of a signal line 166.
A radio signal output from the U~F transmitter is applied by means of a radio frequency line 168 to a directional antenna 600 the details of which are shown in FIGS. 6 to 8. The antenna 600 generates directional radio signals 170 which are beamed toward intersections ahead of the vehicle upon which the vehicular unit 102 is mounted.

The traffic controller unit 104 includes a vehicle detection, identification, and preemption system 400 the details of which are shown in FIG. 4. Included within the system 400 are tables 501 listing vehicle identification and priority values. Associated with each such value is a preset direction from which that particular vehicle is typically expected to approach the intersection. The values in the table 501 may be altered by means of the control panel and central database 116 whenever desired or when new vehicles are added to the fleet of emergency vehicles. If the preset push button 134 is actuated in a vehicular unit 102, the directional radio signals 170 cause receiving traffic controller units 104 to select from the tables 172 the preset direction for that particular vehicle, as identified in the signals 170 which convey the vehicle I.D. and priority number 306 to the traffic controller units 104.
If one of the push buttons 126 to 132 which designates a specific direction is actuated, then the traffic controller unit ~Q4 selects the direction specified. The unit 104 then actuates the appropriate signal 108 to 114 to initiate preemption of the intersection in favor of the approaching vehicle.

Incoming radio signals 170 are captured by an omni-~irectional antenna 186 and are fed over a signal line 192 to a U~F receiver 188. The modulation tones recovered from incoming signals are fed over a signal line 194 to a 1200 Baud modem 190 where the signals are transformed into a data stream that is fed serially to the system 400 over a signal line 198. A "signal level"
signal 195 is extracted from the gain control circuitry of the receiver 188 and is fed to the system 400 so that the system 400 can estimate, by means of the signal strength, how far from the intersection of the vehicular unit 102 is located. The system 400 also counts the number of transmissions received and does not initiate a preemption until the proper number of transmissions of the proper strength containing valid vehicle I.D. and priority codes are received within a specified maximum time interval.

The switches 174 through 180 are used for testing the vehicle detection, identification, and preemption system 400 to ensure that it is working properly and that the connections between it and the main traffic light controller 106 are properly arranged. For example, depressing the north push button 174 simulates the receipt of a signal from a vehicle entering the intersection in a northerly direction. In response, the unit 400 will normally actuate the north signal line 108 which causes the traffic light controller 106 to halt all vehicles entering the intersection traveling east, south, or west and to present a green light only to vehicles traveling north. The switches 176 to 180 perform similar testing functions for east, south, and west, and a standby switch 182 disables the system 400 so that it does not actuate the controller 106 but only lamps (not shown) for each direction.

;. ' '' The traffic signal preemption system 100 works in the following manner: When the occupants of an emergency vehicle determine that they must proceed at emergency speeds and preempt intersections as they travel, they begin by typing in the proper security code sequence on the push buttons 126 through 132. Only those who enter the proper security code that matches the code 302 stored within the system 300 can place the system into preemption operation. The valid signal light 150 then flashes to indicate that the proper code has been entered. The vehicle occupants then depress one of the push buttons 126 through 134. If they are traveling in a northerly direction, they press the north push button 126; if they are traveling east, they depress the east push button 128; and so on. Many vehicles, such as fire engines, travel to the site of an emergency over predetermined paths. In this case, the vehicle occupants may depress the preset push button 134 to signal that the vehicle is approaching all intersections along its normal preassigned route which is known to the traffic controller units 104 through preprogramming with the control panel and central database 116.

Assuming that the vehicle occupants depress the north push button 126, the N preemption light 140 becomes illuminated to signal that the traffic signal preemption system is now in operation. The vehicle information transmission system 300 generates brief transmissions encoded as is shown in FIG. 2. These transmissions are sent out by the directional antenna 600 along the path of the vehicle so that they reach intersections in front of the vehicle but do not reach intersections off to the side or behind the vehicle. Included within the information transmitted is the vehicle I.D. and priority 306 and an indication of which of the push buttons 126 through 134 was actuated by the vehicle occupants. By keeping these transmissions short and spaced apart, it is '~ ~

- 14 - 13383~

possible that several emergency vehicles can approach the same intersection from different directions; and the traffic controller unit 104 at that intersection can receive messages from all of them, determine which vehicles are approaching the intersection from which direction, determine their priority, and decide upon an order in which to initiate preemption in favor of the vehicles. Transmission of the vehicle identification signal continues until a time interval defined by the transmit timeout 304 has expired or until the vehicle occupants actuate the push button 136 which turns the transmitter off or actuate another directional push button 126 to 134. When timeout occurs, the timeout lamp 152 is illuminated.

The vehicle detection, identification, and preemption system 400 can receive transmissions from multiple emergency vehicles at the same time. When transmissions are received at a sufficiently strong signal level, the system 400 enters into a table 554 (FIG. 5B) the fact that an emergency vehicle is approaching the intersection. Several vehicles may be approaching the intersection from different directions, and so a separate recordal is made of the vehicles approaching from each direction. The number of transmissions received from each direction is also recorded. The system 400 can then make a priority determination as to which emergency vehicle, if there are more than one, should gain control of the intersection.
After a predetermined minimum number of transmissions have been received, the system 400 actuates the appropriate signal line 108, 110, 112, or 114 to take over control of the intersection, presenting a green light to the highest priority approaching emergency vehicle and a red light to all other directions. Any second, lower-priority vehicle is then serviced in turn, and so on.
'., ~

The push buttons 126 to 132 labeled north, east, south, and west and the lamps 140 to 146 are used in applications where an emergency vehicle is approaching an intersection from any random direction, and the operator is simply informing the vehicular unit 104 of the direction from which the vehicle is approaching a given intersection. However, many emergency vehicles, particularly fire engines, have only pre-planned paths over which they travel repeatedly without deviation in traveling to varied portions of the city. In such a vehicle, it may make more sense to label the push buttons and lamps with labels such as "path one," "path two," and so on so that the vehicle occupants can select a path of travel rather than a direction of travel. The traffic controller units 104 can then be programmed to respond to the receipt of a signal which designates a path by looking up in the table 501 (FIG. 5) in which direction that vehicle travels when approaching that intersection while traveling along that particular path, and by then preempting in favor of that direction.

FIG. 2 illustrates the timing and content of the signals 170 that are transmitted by a typical vehicular unit 102 to a typical traffic controller unit 104.
Referring first to the top of FIG. 2, there is shown at 202 a waveform which illustrates the times when the UHF
transmitter 160 in FIG. 1 is turned off and when it is turned on. In the preferred embodiment of the invention, the transmitter 160 is turned on for periods of approximately 34 milliseconds and is then turned off for roughly ten times that interval - 300 milliseconds plus or minus 30 milliseconds. The plus or minus 30 milliseconds is a random amount of time that is used to ensure that two vehicles, through transmitting their identification signals ~imultaneously in precise synchronism, do not block each other from preempting an intersection. By randomly varying the time between the successive transmissions of identification signals, the two vehicles will quickiy reac~ a state where their transmissions are nonsynchronous and therefore receivable by the traffic control unit 104.

At the center of FIG. 2 there is shown at 203 the same waveform enlarged to reveal the information lQ content of the 34 millisecond interval during which the transmitter is turned on. After a 5 millisecond guard interval during which the transmitter settles down, three bytes of information formatted internally as shown at 204 at the bottom of FIG. 2 are transmitted serially one after the other. These three bytes are then followed by a 5 millisecond period before the transmitter is again turned off. Each byte of information is transmitted for roughly 8 milliseconds, so the entire transmission period is 3 times 8 milliseconds plus 10 milliseconds, or 34 milliseconds.

The first byte of information always has its seventh bit set to "1" to identify it as the first byte.
The remaining bytes zero through six contain the vehicle ID and priority number. This scheme permits up to 127 unique vehicle ID and priority codes. If that is not a sufficient number, then the first four bytes of the final byte or third byte may contain t~ree more bits to represent the vehicle identification and priority number, giving a total of 2,048 unique identification and priority numbers. The seventh bit of the third byte of information is always "0".

The second byte of information transmitted has its seventh bit always set to "0" to distinguish it from the first byte. In this second byte, bits zero and one specify the direction in which the vehicle is traveling and permit the specification of up to four directions.

- 17 ~ 1 338356 Bit two is a preemption bit which is set if the preset direction is selected by depressing the push button 134.
Bit 6 is set to "0" if there is no third byte and to "1"
if a third byte follows containing an additional portion of the vehicle ID and priority number.

Referring to the bottom of FIG. 2, at 204, the arrangement of a single transmitted byte is shown. The formatting within each data byte is shown to be the standard form used for asynchronous serial communication at 1200 Baud. A start bit 212 is followed by eight data bits 214 followed by a stop bit 216, so ten bit timing intervals define each asynchronous character transmitted.
FIG. 3 presents the details of the vehicle information transmission system 300 in FIG. 1. With reference to FIG. 3, the system 300 is constructed around a programmed processor 308 taken from the Motorola M6801 family. The particular processor used in the preferred embodiment of the invention is the XC68HC811A2FN
microprocessor. The push button switches 126 through 136 connect to the processor 308 over the bus 351 that connects the switches 126 through 132 to the port A bus input bit lines zero through two and seven and connects the preset and off switches 134 and 136 to the port C bus bits four and five. A pair of DIP switches 322 and 324 are selected by microprocessor port C output bit zero 353 and one 355 respectively and present their return data to port E bits zero through seven over a bus 357.

The values 304, 306, and 302 (also shown in FIG. 1) and the transaction log 310 (FIG. 3) are connected to the processor 308 by busses 359 and 361 which indicates these values are stored within the random access memory or EEPROM memory of the processor 308.
Additional random access or EEPROM memory 314 and a clock/calendar circuit 312 connect to lines 363 and 365 ;

18 _1 338356 which connect to the port D serial communications interface of the processor 308, bits three and four, and are provided with processor clock or timing pulses over a line 367. In this manner, the processor 308 may access information in the random access or EEPROM memory 314 and may also obtain the time of day and date for inclusion in the log 310.

The light emitting diodes which constitute the lamps 140 through 148 (shown in FIG. 1) are connected to the processor 308 port A bits three through six and also port C bits two and three. A beeper 318 within the vehicular unit 102 is connected by means of an optical coupler 316 to bit zero of port B by a signal line 369, with the optical coupler 316 providing electrical isolation. The third bit of port B is extended over signal line 371 to a switch 320 which can open or close the connection between the line 166, which powers the UHF
transmitter 160, and a positive potential reference 372 thereby turning the UHF transmitter 160 on and off. Bits one and two from the B bus flow over signal lines 373 and 375 to an analog switch 326 which determines whether the serial input and output lines extending from port D bits zero and one are connected to a line driver 328 which leads to the serial input/output lines 120 that connect to the control panel and central database 116 or to the 1200 Baud modem 158 over the signal path 162. The analog switch 326 is connected to the line driver 328 by signal lines 377 and 379. To facilitate the identification of the control panel and central database 116 (FIG. 1), one line 329 from the serial input/output 120 connects to a line driver 330 which is fed into the fourth bit of port C 60 that the processor 308 can test to determine when the control panel and data base 116 is connected to the vehicular unit 102.

FIG. 4 illustrates the details of the vehicle detector, identification, and preemption system 400.
This system 400 is also centered around a processor 402 which, in the preferred embodiment of the invention, is identical to the processor 308 used in the vehicle information transmission system 300 shown in FIG. 3, differing only in how it is programmed lo The test switches 174 through 182 are connected by a bus 451 to port A of the processor bit positions 3 through 6 and port C bit position 4. A pair of dip switches 422 and 424 are selected respectively by the port C bit zero signal 453 and the port C bit one signal 455, and the switches 4~2 and 424 present their settings to bits one through seven of the port E input bus 457. A
random access memory or read only memory 414 and a clock/calendar 412 are connected to bits two and four of port D by lines 463 and 465 and to a source of clock timing pulses by a line 467.

Output information from the processor 402 destined for delivery to the main traffic light controller 106 (FIG. 1) is presented by a bus 490 which extends from bit positions zero to seven of port B and bit positions six and seven of port C through an optical coupler and isolator 492. Preemption signals 108, 110, 112, and ~14 shown extending to the main traffic light controller 106 in FIG. 1 are included in this ten-signal bus, and the additional siqnals are provided for use in cases where the controller 106 may need to be programmed in a more sophisticated manner.

Serial input to and output from the processor 402 is provided respectively over bit lines zero 497 and one 499 of port D which connects to an analog switch 426. The analog switch 426 is controlled by bit signals one 373 and two 375 from port D. The analog switch 426 . ' -`' - 20 _ 1 3 3 8 3 5 6 can route signals from the 1200 Baud modem 190 (FIG. 1) input data line 198 to bit position zero of port D, or it may connect the processor 402 direct~y over lines 477 and 479 to a line driver 428 t~at connects to the serial input/output 122. And as in the system 300, the system 400 includes a line driver 430 which can connect a signal 122 from the serial I/O that identifies the presence of the control panel and central database 116 by feeding another signal 495 into bit position five of port C.

The preemption system's parameters 496 that control its operation are stored in a memory which connects to the processor 402 by a bus 4S9. The memory which contains the preemption system's parameters 496 in the preferred embodiment of the invention includes random access memory and also an EEPROM, or electronically erasable programmable read only memory.

FIG. 5 presents the preemption system's parameters 496 which are shown as a single block element in FIG. 4.

A first table 501 relates vehicle identification and priority numbers 502 to the preset direction 504 assigned to each vehicle at each intersection. This preset direction 504 is the direction in which the system 400 presumes a vehicle is traveling unless the vehicle signals some other specific direction. With reference to FIG. 1, if an occupant of a vehicle depresses the preset push button 134, then the system 400 looks to the table 501, finds the match 502 for the vehicle ID and priority, and extracts from the table 501 the preset direction 504 in which the emergency vehicle is presumably moving.
The log 310 (FIG. 4) is set forth in a table 506 each entry of which contains a date 508 and time 510, the vehicle identification and priority 512, the '~

~ 33835~

duration of the preemption 514, and the direction in which the vehicle is moving 516. A log entry is made following the termination of each preemption event.
These logs, as well as any log maintained in vehicular units 102, are downloaded into the control panel and central database 116 from which they may then be printed out as reports which give a complete record of all preemptions.
A table of 518 contains the valid signal interval data. At 520, this table contains the minimum number of transmissions which must be received by the traffic controller unit 104 before a transmission series is presumed to be valid. This number of transmissions must be received within the maximum time for counting transmissions 522 and must be presented by a signal having the specified minimum signal strength 524. The contents of the table 518 thus determine the minimum standards for a preemption signal to be considered valid.

A table 526 assigns directional priorities in cases where emergency vehicles having the same base priority enter the intersection from several different directions simultaneously. In FIG. 5, the south table entry 530 is assigned the highest priority 4, the west entry 534 is assigned 3, the east entry 532 is assigned 2, and the north entry 528 is assigned 1. A recall priority table 536 contains recall priority values indicatinq, for each possible direction of an approaching emergency vehicle requesting preemption, to which direction priority for normal traffic is to be given following the preemption. In the example shown, the north, south, and west table entries 538, 540, and 544 are each assigned the recall priority of east, while the east table entry 542 is assigned the recall priority south. In the preferred embodiment of the invention, north is indicated by 0, east by 1, south by 2, west by .~ .
~ ,;

~ 1 3383~6 3, and no recall priority is indicated by 15, or F
hexadecimal.

Table entry 546 contains the maximum permissible duration for a preemption. Table entry 548 contains the minimum preemption duration. Table entry 530 specifies the minimum time a preemption will continue after the preemption signal has been lost. Table entry 552 specifies the minimum time following a preemption that the system locks out any attempt by that same vehicle to preempt the same intersection again.

Taken together, the parameters 496 in FIG. 5 specify precisely how preemption is to take place at a given intersection with respect to each vehicle approaching from the various possible directions. Since intersections will differ widely in their traffic patterns and in the speed with which vehicles approach 2C and therefore the nature of the preemption signals and the duration, these parameters may differ significantly from one intersection to another within the same city.
Additionally, as emergency vehicles are added or deleted and as the routing of those vehicles is altered, the information contained in FIG. 5 is altered to reflect the changes.

All the tables 501, 518, 526, 536, 546, 548, 550, and 552 are maintained in EEPROM memory. The log table 506 and the table 554 (FIG. 5B) are stored in RAM
memory.

FIG. 5B, which is a continuation of the preemption system parameters 496, presents a table 554 which is continuously altered by the traffic controller unit 104 to reflect the current preemption status of the intersection. The table 554 contains north 570, east 572, south 574, and west 576 rows each of which reflects ` - 23 - 1 338356 the status of the intersection for emergency vehicles approac~ing the intersection in the direction specified.
In the preferred embodiment of the invention, the traffic controller unit 104 does not maintain information pertaining to all emergency vehicles that may be approaching the intersection at any given moment in time but only with respect to the highest priority vehicles approaching from each of the four possible directions.
If two emergency vehicles having the same priority are approaching from the same direction, then the table 554 will alternately identifies one or the other of the two vehicles depending upon which was the last from which a message has been received. It is contemplated that a larger table could maintain information on all approaching vehicles.

Column 556 of the table 554 contains "0" if there is no preemption in favor of a particular direction, and it contains hexidecimal "FF" to signal an active preemption in favor of that particular direction.
Column 558 contains the priority and column 568 contains the vehicle I.D. for the highest priority vehicle that is approaching the intersection from a given direction.
Column 560 records how many messages of the proper strength have been received from the highest priority vehicle approaching from each direction. As each new message is received, the number in column 560 for that direction is incremented except at times when a given direction or vehicle is locked out by the system.
Lockout of a particular vehicle is initiated immediately following termination ~f preemption in favor of that vehicle to prevent an accidental second preemption in favor of the same vehicle. To signal that a given direction is locked out, the hexidecimal number "FF" is placed in the appropriate position in column 560, and the vehicle I.D. is retained.

- 24 - 1 3 3 ~ 3 5 6 The columns 562, 564, and 566 keep track of the times when critical preemption events have occurred for each direction. Column 562 remembers the time when the first message of sufficient strength was received from a vehicle approaching from a given direction. Column 564 indicates when the last message was received from that vehicle, and column 566 indicates when preemption was started. These values, taken together with those shown in FIG. 5A, provide all the necessary information whereby the traffic controller unit 104 in the preferred embodiment of the invention can determine whether and when to initiate a preemption and when to terminate a preemption.
FIGS. 6, 7, and 8 present the mechanical details of the directional antenna 600. The antenna 600 is designed to be mounted on an external surface of an emergency vehicle 602. It includes a mounting standoff or pipe 604 attached to a mounting flange 606 which flange 606 may be bolted or otherwise attached to the surface 602 of the emergency vehicle. The antenna 600 is mounted in such manner that its front surface 608 faces in the forward direction towards intersections which the emergency vehicle is approaching.

The directional antenna 600 is constructed as a rectangular metal housing 610 supportatively mounted on the standoff or pipe 604 and having a front surface 608 that is nonmetallic and transparent to electromagnetic radiation. The front surface 608 is constructed from Lexan, a high temperature plastic. The housing 610 is roughly one-quarter wavelength tall by one-quarter wavelength wide and has a square cross section, as is shown in FIG. 8.

A pair of antenna stubs 612 and 614 are mounted on the lower surface 617 of the housing 610 by means of a pair of 50 ohm, male-male BNC connectors 616 and 618 which are bolted to the surface 617. As is apparent in FIG. 7, the stubs 612 and 614 are mounted one behind the other one-eighth wavelength apart. The hindmost antenna stub 614 is the driven element, since the BNC connector 618 is connected to the 50-ohm coaxial cable 620 which lo corresponds to the signal line 168 in FIG. 1. The stubs 612 and 614 are helically wound antennas tuned to the frequency of the transmitter (Larson part number KDL450). The stubs 612 and 614 as purchased are tuned to 450 megacycles. The front or director stub 612 is lS modified by the removal of about 5% of its winding, or roughly one-half turn.

The driven antenna stub 614 can be moved closer to the front surface 608 to increase antenna efficiency or further back to increase the directionality of the antenna. But without the director stub 612, there is too much radiation at 45 degrees to the left or right of straight ahead. The director stub 612, when detuned and positioned as explained above, gives a more acceptable, forward-directed radiation pattern with less radiation at 45 degrees, thereby minimizing the likelihood of sending strong signals to traffic signal controllers on cross streets.

In the preferred embodiment, the housing 610's internal dimensions are approximately 8 inches deep (front to back) by 5 3/16 inches high and wide. The driven element is approximately 2 5/8 inches forward from the rear wall 618 of the housing 610, and the two antenna stubs are approximately 3 1/16 inches apart, measured between their central vertical axes.

The omnidirectional antenna 186 (FIG. 1) is constructed from one driven antenna stub (not shown) identical to the stub 614 (FIG. 6) but mounted on a suitable ground plane and not enclosed in a metallic housing 610. In the preferred embodiment, the antenna stub for the antenna 186 is enclosed from above and from the sides by a jar-like glass housing painted black which protects it from the weather.

Detailed Description of the Programming The vehicle information transmission system 300 and the vehicle detection, identification, and preemption system 400 both include programming that directs the operations of the processors 308 and 402 within the respective systems. That programming is described below.

Referring now to FIG. 9, three programs are shown which constitute the programming for the processor 402 within the vehicle detection,identification, and preemption system 400. A main program 900 is represented by an overview block diagram in the left half of FIG. 9.
Two interrupt programs, interrupt A 901 and interrupt B 9~9, are shown to the right in FIG. 9. The main program 900 does not have a name. The interrupt programs A 901 and B 909 and the many subroutines illustrated in the figures that follow do have names which are indicated in first block of each set of block diagrams enclosed in parentheses. The name of the interrupt program A 901 is RT-INTR, while the name of interrupt program B 909 SC-INTR. These names enable the block diagrams in the figures to be related easily to the corresponding program code in the listings set forth towards the end of this detailed description. (Similar parenthesized program names appear in later figures and also in FIG. 5.) '. ~

- 27 ~ 1 338356 The interrupt A program 901 is triqgered into operation once every 32.7 milliseconds by the system clock, as is indicated at 903. This program increments various system counters (at 905) which are used for timing real-time events. Then it terminates at 907 and returns program control to the interrupted program.

The interrupt B program 909 is triggered into operation at step 911 by the receipt of a data byte from the 1200 Baud modem 190 (FIG. 1). When the interrupt B
909 is triggered into operation at step 911, it simply moves the byte received from the serial communications interface port within the microprocessor 402 into the serial communications interface buffer within random access memory (step 913). Then it returns program control to the interrupted program at 915.

The main program 900 begins at 902 by initializing all the various system constants and variables and by setting up interrupt vectors pointing to the interrupt routines 901 and 909 and initiating their operation. At 904 the program 900 checks the status of the manual switches 174 through 182 and services them if necessary. At 906, and with reference to the preemption table 554 shown in FIG. 5B, the system 400 checks to see if an input message has been received, and if so whether it is greater than or equal to the priority of the last message received specifying the same direction. If so, then the directional array 554 shown in FIG. 5B is updated.

Next, at 908, the program 900 checks the preemptions in progress, again by reference to the table 554 shown in FIG. 5B, to see if any should be terminated. Additionally, at 910 the program 900 checks the preemption table 554 to see if any new preemptions should be initiated. At 912, the program 900 checks to ~- .
., ~ , i - 28 _ 1 33 8 35 6 see if any table entries should be cleared. Finally, at 914, the program 900 checks up on any vehicle that has been locked out from further preemption, so that they do not re-preempt an intersection while they are travelling away from it, to see if such a lockout should be terminated. Then program control returns back to 904 along the path indicated by the line 916 and recommences in an endless loop that continues indefinitely.
FIG. 10 presents a detailed block diagram of the Subroutine 904 which checks the status of the manual switches. Before doing so, at 1002 the Subroutine 904 checks to see if the cable mode select signal 495 is high. With reference to FIG. 4, this is the signal 495 which indicates when a cable connecting to the control panel and central database 116 (FIG. 1) is hooked up to the unit. If so, then the step at 1004 actuates the analog switch 426 (FIG. 4) and connects the processor 402 to the line driver 428 which leads to the control panel and central database 116 (FIG. 1). Next, at steps 1006 and 1008, the subroutine 904 checks to see if the parameters in FIG. 5 are to be updated or if the log maintained at 506 in FIG. 5 is to be dumped. If the parameters are to be updated, the subroutine 1007 shown in FIG. 16 is run to download the parameters from the control panel and central database 116 into the table shown in FIG. 5. If a log 506 is to be dumped, then the subroutine 1009 shown in FIG. 17 is placed into operation.

If the cable mode select signal 495 is not high, then at 1010 the computer tests to see if any of the switches 174 to 182 are actuated. If so, then a corresponding switch lamp (not shown) is turned on at 1012, and the preemption associated with the direction of the actuated switch is placed into operation at 1014.
Then program control returns to the calling program at 1016.

FIG. 11 illustrates the details Df the subroutine 906 which checks to see if a complete message has been received from the transmitter, and if so, updates the informati~n in a table 554 (FIG. 5). The individual incoming characters are processed one by one by the interrupt B program 909 shown in ~G. 9. The individual characters are stored in a serial communications interf~ce (S~ ~ff~ ~andom access memory. Referring back ~ t~e ~u~routine 906 in FIG. 11, when the SCI buffer is full and a complete message has been received, as determined by step 1102j~ all interrupts are disabled temporarily at 1104 while the serial communications interface ~uffer is read ~;~t 1106), and then interrupts are enabled aga~n (at 1108). The disabling of interrupts prevents new characters from being written into the buffer while an earlier message is being tra~sferred out. At 1110, an inde~ register is set to a number (0 to 3) that corresponds to the direction from the which the message came to facilitate accessing the table 554 in FIG. 5B. Next, the priDrity entry 558 in the table 554 for the direction from which the message came is tested. If the new message is equal to or higher in priority than any message already in the table, as determined at step 1~2, ~hen t~e entry 560 for that direction is incre~l~nted, and other entries in the table 554 are updated with information about the vehicle from which the most recent message has come.

The subroutine 908, which checks preemptions in progress to see if they should be terminated, is set forth in ~IG. 12. Step 1202 indicates that the following ~teps are to be repeated for each of the possible directio~s that has an active preemption in progress. At 1204, a t~o-part test is c~nducted to determine if a minimum preemption duration value 548 (FIG. 5A) has been exceeded, and if t~e minimum preemption time after loss of signal 550 (FIG. 5A) has been exceeded. If both of these tests are true, then the record data routine 1205 (FIG. 18) is called to log the preemption event. Then at 1206 the preemption in cleared by writing zero into the appropriate entry in column 556 (FIG. 5B), and the corresponding directional data is cleared out.

If both of the above tests are not true, then at 1208 the subroutine determines whether the maximum preemption duration 546 (FIG. 5A) has been exceeded. If so, step 1210 locks out preemptions coming from that direction by entering hexadecimal FF into the column 560 (FIG. 5B) where the number of messages received is normally recorded. Then program control continues with step 1205 and 1206 which log and terminate the preemption.
The Subroutine 910 which initiates new preemptions is shown in FIG. 13. Step 912 repeats the following steps for each direction that is not presently in preemption. At step 914, if the number of messages received from a given direction 560 (FIG. 5B) exceeds the minimum value specified in table entry 520 (FIG. 5A), then the preemption flag in column 556 (FIG. 5B) is set, and the appropriate preemption lamp (not shown) is turned on; and if and the standby switch 182 is not set to override preemptions, then the appropriate output signal 490 (F~G. 4) is actuated to initiate a preemption operation at the intersection.
FIG. 14 presents the details of the subroutine 912 which clears the directional table array table 554 entries, if necessary. The purpose of the subroutine 912 is to prevent the initiat~on of a preemption if the proper minimum number of preemption messages are not received within the specified minimum time. At step 1402, the subroutine checks the maximum time for counting transmissions 522 and compares this time to the value in - 31 _ 1 338356 a directional array clear counter which is incremented by the interrupt A program 901 step 905 (FIG. 9). If the count is greater than the maximum time for counting transmissions, then the clear counter is cleared. The remaining steps 1404 and 1406 are thus only executed at points in time separated by the specified maximum time for counting transmissions 522.

Once actuated, the steps 1404 and 1406 simply clear the table 554 entries for any direction that is not in preemption. Accordingly, if a count of incoming messages for a given direction does not grow to the point where a preemption is initiated before the Steps 1404 and 1406 are next carried out, the number of messages received count 560 for that direction is cleared back to zero.
The Subroutine 914 shown in FIG. 15 is the one that freezes up locked-out vehicles which are barred from preemption. The steps of the subroutine 914 are repeated (Step 1502) for each of the four directions. At step 1504, if the time expired since the last message was received, as recorded in column 564 (FIG. 5B), is greater than or equal to the minimum lockout time specified at 552 (FIG. 5A), then the lockout flag in column 560 (FIG.
5B) is cleared at 1506, so that preemptions from that direction are no longer locked out.

Figure 16 illustrates details of the Subroutine 1007 which controls the downloading of information from the control panel and central database 116 (Figure 1) to the vehicle information transmission system 300 or to the vehicle detection and identification and preemption system 400. The information downloaded into the system 400 is that shown in FIG. 5A transmitted as a continuous block of information, and the information downloaded into the system 300 is that shown at 302, 304, and 306 in FIG.
1 transmitted as a continuous block of information.

- 32 ~ 1 3 3 8 3 5 6 With reference to FIG. 16, the subroutine begins 1602 by sending out the hexadecimal code FF to signal the start of transmission. Next, at 1604, the total number of bytes to be transmitted is sent out as a two byte, or 16-bit number. At 1606, the bytes are transmitted as rapidly as possible, with the subroutine waiting until the serial transmission portions of the processor 308 or 402 are ready before sending out each byte. In this manner, the entire contents of the table shown in Figure 5A (in the case of the system 400) or the values 302, 304, and 306 shown in Figure 1 (in the case of the system 300) are transmitted to the control panel and central database 116 where they can be displayed and edited by the system operator. The data is then returned.
Beginning at 1608, the subroutine waits for hexadecimal FF from the control panel and central database 116 to signal the beginning of a return transmission. Then at step 1610 the total number of bytes to be transmitted is presented, again as a two byte, or 16 bit number. At 1612, the system 300 waits for each byte, reading it in and transferring it into the random access memory buffer. Next, at step 1614, the subroutine for programming the EEPROM (electronically erasable programmable read only memory) is read into random access memory, and at step 1616 program control begins with that routine. At step 1618, each byte in the EEPROM is erased, and at step 1620 the ne~w bytes are programmed into the EEPROM where they are permanently maintained until the next time information is to be downloaded from the control panel and central database 116.

Figure 17 discloses the details of the subroutine 1009 that transmits the log information 310 (FIG. 3) or 506 (FIG~ 5A) back to the control panel and central database 116 (Figure 1) from either the system 300 or the system 400. Program control begins at step ~ 33 ~ 1 338356 17Q2 with the sending of a hexadecimal FF to the control panel and central database 116 to indicate the start of transmission. Next, at step 1704, the pointer to the end of the log data is read and is used at step 1706 to compute the number of bytes which must be sent. At step 1708, a two byte or 16-bit number specifying the number of bytes that are to be sent is transmitted. Then at step 1710, the log information bytes are sent out sequentially, with the system waiting until the serial port is ready before sending each byte.

Figure 18 presents the details of the subroutine 1205 which records data in the log table 310 (FIG. 3) or 506 (FIG. 5A) of the system 300 or the system 400. This happens following the termination of a preemption. Step 1802 retrieves the pointer to the next available entry in the log table 310 or 506. The new log entry is then stored (step 1804), and the pointer is incremented (step 1806). At step 1808, a test is conducted to see if the pointer is at the end of the log table. If so, then at step 1810 the pointer is moved back to the beginning of the table, and an overflow flag is set (step 1812).
Finally, the new value of the pointer is stored at step 1814.

The log tables 310 and 506 may be of differing sizes, so the implementations of the subroutine 1205 within the systems 300 and 400 will normally differ.
FIGS. 19 to 24 present the software details of the programming for the processor 308 within the vehicle information transmission system 300 shown in FIGS. 1 and 3.
FIG. 19 presents a block diagram overview flow diagram of the program 1900. The program 1900 begins at 1902 by initializing the system, setting up the ~erial . ~

~ 34 ~ 1 3 3 8 3 ~

ports and interrupts and taking care of other initialization tasks. A repetitive loop operation is then commenced starting with the step 1904. In step 1904, the manual switches 126 to 136 (FIGS. 1 and 3) are checked to see if their status has changed. Then at step 1906, the lamps 140 to 146, 150, and 152 (FIG. 1) are adjusted to reflect the status of the switches and the status of the vehicle information transmission system 300. Step 1908 checks to see if the off switch 136 has been pressed or if a preemption activity has timed out (lasted longer than the transmit timeout value 304 in FIGS. 1 and 3). At step 1910, a check is made to see if an output message should be sent to the directional antenna 600. If so, then a message is formulated and sent. Finally, step 1912 checks the progress of time delay tasks. Then program control loops back over the path 1914 to step 1904 and recommences in a repetitive manner.
The interrupt A program at 1920 is a timer interrupt service routine which is triggered by a hardware timer every 32.7 milliseconds at step 1922.
This program increments various timer counters at step 1924 within the vehicle transmission system 300 and then recommences the interrupted program.
The subroutine 1904, which checks the manual switches 126 - 136, is presented in FIG. 20. At step 2002, the cable load select signal 329 (FIG. 3) generated by the line driver 330 is tested to see whether the control panel and central database 116 are connected to the vehicle information transmission system 300. If so, then interrupts are terminated at 2004 and the System 300 waits until the control panel and central database 116 indicates, at step 2006, whether information is to be downloaded into the vehicle transmission system 300 at 2008 or whether the logged data i6 to be returned at 2010. The details of these operations are set forth , ~

_ 35 _ 1 33835~

respectively in FIGS. 16 and 17 which were previously described.

The step 2006 can be implemented by testing for another signal in the serial I/0 cable 120 or by a handshake of data passed between the control panel and central data base 116.

Interrupts are enabled again at step 2012, and the subroutine 1904 then terminates. When the control panel and central database 116 is not present, then program control commences with step 2014 where a test is made to see if one of the switches 126-136 has been actuated. If so, then step 2016 sets a flag to signal that the corresponding lamp 140 to 146 should be turned on by a subroutine 1906 (FIG. 21). Step 2018 initiates the preemption for the specified direction by setting the necessary flags to signal the selected or preset direction and to select and initiate the time delay period which determines how long the preemption lasts if the off pushbutton 136 (FIGS. 1 and 3) is not depressed sooner.

FIG. 21 presents details of the subroutine 1906 which controls the light emitting diodes (LEDS). It checks to see if a switch illumination flag is set at 2102. If so, the step 2104 illuminates the appropriate lamp 140 to 146, 150, or 152 shown in FIG. 1.
FIG. 22 illustrates the details of the subroutine 1908 which terminates a preemption. At 2202, a test is carried out to see if the off push button 136 (FIG. 1) has been depressed. If not, then at step 2204 a test is made to see if the preemption has timed out beyond the transmit timeout time 304 (FIGS. 1 and 3) that has been set up. If either of these tests comes up with a "yes" result, then at step 2206 the logging subroutine shown in FIG. 18 is actuated to log the preemption event - 36 _ 1 33835 6 which has just occurred in the log table 310 (FIG. 3). A
preemption switch flag is then cleared at step 2208, and at step 2210 the lamp (T~D) and the output message generator are shut down.

FIG. 23 discloses the details of the subroutine 1910 which generates the output messages that are provided to the directional antenna 600. The subroutine 1910 begins at step 2302 by testing a switch flag to see if any preemption is in progress. If not, the subroutine terminates. Then at step 2304, the subroutine checks to see if the pulse (or between transmission) delay time period has expired. This is the 300 millisecond (plus or minus 30 millisecond) time interval shown at the top of FIG. 2, as indicated by an internal pulse delay flag.
Again, if the time period has not expired, the subroutine terminates.

The pulse delay time period includes a random, variable element to insure that two transmitters which may transmit their messages at the same time do not continue to do so for subsequent transmissions. By randomly varying the delay time in each transmitter, one such simultaneous transmission would be followed by non-simultaneous transmissions. It is essential to have this or some equivalent collision avoidance mechanism to prevent two vehicles from repeatedly transmitting their messages simultaneously and thereby blocking each others transmissions from reaching the vehicle detection, identification, and preemption system 400 at a given intersection.
Assuming that it is time for a transmission, ~tep 2306 turns on the transmitter, and then step 2308 provides a five millisecond delay 205 during which the transmitter is permitted to stabilize (see FIG. 2). At step 2310, the message bytes 206, 208, and 210 in FIG. 2 are transmitted, and then after a slight delay the _ 37 _ 1 3 3 8 3 5 6 transmitter is turned off at step 2312. The pulse delay counter is then reset, and then the subroutine terminates.

FIG. 24 sets forth the details of the delay subroutine 1912. It first checks (at 2402) to see if the delay between transmissions has already expired, as indicated by a delay up flag; and if so, then the subroutine 1912 terminates. If the delay has not expired, then at step 2404 the delay timer is compared to the minimum delay to see if the delay has expired. Again the program terminates if the timer counter has not counted passed the minimum delay time. If the timer has counted past the minimum delay time, then at step 2406 the delay up flag is set, and the delay counter is cleared at step 2408.

Program Listings The listings that follow constitute the programming for the vehicle transmission system 300 and the vehicle detection, identification, and preemption system 400 which are used in the preferred embodiment of the invention. ~o the greatest extent possible, these program listings correspond to the block diagrams just presented. However, to ensure that the best mode of the invention is set forth here, the very latest versions of the programs are presented below, and these may differ in some details from the block diagrams just described.
These programs are written out in the assembly language of the Motorola XC6HCllA2FN single-chip microcomputer.
Information concerning the details of the assembly language from which these programs are written may be obtained from Motorola Literature Distribution, P.O. Box 20912, Phoenix, AZ 85036.

The following listing is a program design for use in conjunction with the vehicle information transition system 300.
org Sffbe program id (2 bytes) progid fdb $0102 *
*

* program for transmitter * file name : txc * modified date: 6-2-88 * by: dwj *

* procedure names used *

* delay output leds stabliz holdon off securty * rtintr ldelay record log dnld decode getptr * comm setclk readclk beep sciwr scird ramtrns * pageo pagel caddr *

* port definitions pta equ ''1000 ptddrc equ ~1007 * port c direction reg ptb equ ~1004 ptc equ ~1003 ptd equ ~1008 ptddrd equ ~1009 data direction for port d pte equ ~lOOa pttmskl equ ''1022 * timer int mask reg 1 pttflg2 equ ~1025 * timer int flag reg pttmsk2 equ ~1024 * timer int mask reg 2 ptpactl equ ~1026 * port a control 25 ptspcr equ ~1028 spi control register ptspsr equ ~1029 spi status register ptspdr equ ~102a spi data register ptbaud equ ~102b * sci baud rate control ptsccrl equ ~102c * sci control reg 1 ptsccr2 egu ''102d * sci control reg 2 ptscsr equ ~102e * sci status ptscdr equ ~102f * sci data 30 ptpprog equ ~103b * eeprom prog control *== ram memory defs mrt equ $0000 rti locations mrtfr equ $0001 tenth second clock * (16 ~it) mwork equ ~0003 general work variable mdir equ ~0004 direction 35 mswtch equ ~0005 boolean valid switch mdlflg equ ''0006 boolean delay up mdelay equ ~0007 delay work variable * equ $0008 mbeep equ $000a beep counter mbdely equ $000b delay between beeps ': ~

mramptr equ ~OOOd pre-empt storage pointer movf equ ~OOOe pre-empt storage overflow(O or 1 mtpsr equ ~0010 total pre-empts since reset * (16 bit) mtest equ ~0012 test mode direction mcable equ ~0013 communications routine #
mspib equ ~0020 spi buffer ****************~*~*~********** user vars usrvars equ $0010 * number of user variables musrl equ $0090 * work area in ram for ul/dl ************************ user variables org $feOO
eusrl fdb S0258 timeout eusr3 fcb 00 eusr4 fcb 200 stabilization time eusr5 fcb 40 after trans time eusr6 fcb 10 minimum multiplex time eusr7 fcb $80 vehicle id eusr8 fcb 00 eusr9 fcb 00 eusrlO fcb 00 eusrll fcb 01 security disable(boolean) eusrl2 fcb 03 security code 1 eusrl3 fcb 02 security code 2 eusrl4 fcb 01 security code 3 eusrl5 fcb 00 security code 4 eusrl6 fcb 00 test mode(boolean) * begin program org Sf800 start sei lds #$00fd ldaa #$ec staa ptddrc clr pta clr ptb clr ptc ************************
ldx #$0000 raml clr ,x inx cpx #$00ff bne raml 30 ************************* * set up for rti interupt ldaa #$43 staa pttmsk2 staa pttflg2 ldaa #$03 staa ptpactl ************************
clr ptsccrl ldaa #$oc staa ptsccr2 ldaa #$33 staa ptbaud ************************** light display .

lights ldaa #$08 11 staa pta jsr beep jsr ldelay clr pta lsla cmpa #$80 bne 11 ************************ set up spi ldaa #$3a staa ptddrd ldaa #$57 staa ptspcr ************************ set up sram recording jsr getptr ldab #21 cmpb mramptr bcs spbad ldab #$01 cmpb movf bcc spramok spbad clr mspib+1 clr mspib+2 jsr storptr spramok nop 20 **************************
jsr securty cli main -sr decode sr leds sr off sr output sr delay ~sr comm bra main ***************************** check for cable cableck ldaa #$01 staa mcable pshx ldx #ptb bclr ,x $04 pulx ldaa pte anda #$20 beq cabend (no cable) clr mcable cabend rts ***************************** laptop communications comm jsr cableck tst mcable beq commend commck jsr waitff ldaa #$02 send device id jsr sciwr ldd progid send prog id jsr sciwr tba jsr sclwr commwt jsr cableck tst mcable beq commend ldab ptscsr andb #$20 beq commwt ldab ptscdr read the routine number cmpb #$05 limit to 4 routines bcc commend ldx #commtab-2 abx abx ldx ,x jsr ,x bra commend commtab fdb #dnld fdb #log fdb #ldelay fdb #setclk commend rts ***************************** sets time out flag *inc 1000 delay tst mdlflg bne delend ldaa mdelay cmpa eusr6 bcs delend clr mdelay inc mdlflg delend rts *****************************
*inc 1010 output ldaa mswtch beq outend ldaa mdlflg beq outend * sei ldx #ptb bset ,x S08 jsr stabliz outl ldab ptscsr andb #$80 - 42- l 338356 beq outl ldab eusr7 id code ora #$8 o stab ptscdr transmit id code out2 ldab ptscsr andb #S80 beq out2 ldab mdir direction stab ptscdr out3 ldab ptscsr andb #S80 beq out3 jsr holdon ldx #ptb bclr ,x $08 clr mdlflg cli outend rts ************************* liqht front led's *inc 1020 leds ldaa mswtch beq ledend ldaa mdir ldab #$08 cmpa #S
beq ledout ldab #$10 cmpa #$01 beq ledout ldab #$20 cmpa #So2 beq ledout ldab #S40 ledout stab pta ledend rts ************************* transmitter stab time stabliz pshb ldab eusr4 stl ldx #$00ff st2 dex bne st2 decb bne stl pulb rts ************************* transmitter hold on time holdon pshb ldab eusrS
hol ldx #SOOff ho2 dex bne ho2 decb bne hol pulb rts t 338356 ************************ security beep psha pshx ldx #ptb bset ,x $01 jsr ldelay bclr ,x $01 pulx pula rts ************************ security *inc 1040 securty ldaa eusrll bne secout secstrt ldx #eusrl2 secwait ldaa pte anda #$0f beq secwait ldab #$03 cmpa #$08 beq secl ldab #$02 cmpa #$04 beq secl ldab #$01 cmpa #$02 beq secl ldab #$oo cmpa #$01 secl jsr beep sec2 ldaa pte anda #$of bne sec2 cmpb ,x bne secstrt bad key inx cpx #eusrl2+4 bne secwait secout clr ptb ldaa #$ff staa pta ldaa #$06 seddly jsr ldelay deca bne seddly clr pta secend rts ************************* decode dir switches *inc 1050 35 decode ldaa pte if switch pressed, set mdir to dir anda #$0f and mswtch to ff beq dcend ldab #$03 cmpa #$08 beq dcout _ 44_ 1 338356 decb cmpa #$04 beq dcout decb cmpa #$02 beq dcout decb cmpa #$01 bne dcend dcout pshb ldaa mswtch beq dcnew bsr offout dcnew pulb stab mdir ldab #$ff stab mswtch ldaa #$oc staa ptc clr mrtfr clr mrtfr+l clr mbeep ldaa #$25 staa mbdely ldaa #$05 sei dcoutl ldab ptb chirping eorb #$01 stab ptb ldx #$2fff dcout2 dex bne dcout2 inca cmpa #$15 bne dcoutl cli dcend ldaa eusrl6 test mode beq dcexit ldaa mrtfr anda #$01 beq dcexit ldab mtest incb andb #$03 stab mtest bra dcout dcexit rts ************************* check off switch and timeout *inc 1030 off ldaa mswtch beq offend ldaa pte (off switch) 1 3383~
bmi offout ldx eusrl beq offend ldd mrtfr (timeout) subd eusrl bmi offend offout jsr record this routine may be called!
clr mswtch clr pta clr ptc clr ptb turn tm and audio off clr mbeep offend rts *********************** real time interupt *inc 100 rtintr inc mrt ldaa mrt cmpa #$03 tenth second 1 bne rtend inc mdelay clr mrt inc mbeep ldx mrtfr inx stx mrtfr rtl ldaa mswtch bne rt2 bra rtend rt2 ldaa mbeep cmpa mbdely bmi rtend clr mbeep ldaa ptb ora #$01 staa ptb jsr ldelay anda #$fe staa ptb ldd mrtfr step up beep addd #$002f subd eusrl bmi rtend Idaa #$01 staa mbdely rtend ldaa #S40 staa pttflg2 rti **************************

- 46- 1 33~356 ldelay pshx ldx #$ffff subroutine for long delay ldell dex bne ldell pulx rts ************************** records preemption data *inc 70 record ldy mtpsr iny sty mtpsr n sr getptr -sr readclk daa mspib+5 month staa mspib+3 ldaa mspib+l minutes staa mspib+6 ldaa mspib+2 hours anda #$3f - staa mspib+5 ldd mrtfr compute tenth minutes pshx ldx #5003c (60) idiv xgdx pulx recl lslb lslb orb mdir stab mspib+2 ldaa eusr7 (id) staa mspib+l rec2 ldab mramptr store data bsr caddr calculate address orb #S80 stab mspib ldab #So7 jsr ramtrns inc mra~ptr increment pointer ldaa mramptr cmpa #41 bcs recstr clr mramptr ldaa #SOl staa movf recstr jsr storptr rts ************************** calculate address in b caddr jsr pageO result in a and b .~

_ 47_ l 338356 cmpb #21 selects memory page bcs cout jsr pagel subb #21 cout ldaa #So6 mul rts ************************** output recorded data *inc 40 log sei sr waitff sr sendff sr getptr daa eusr7 jsr sciwr ldaa mtpsr output total pre-empts jsr sciwr ldaa mtpsr+l jsr sciwr tst movf beq lognovf ldab #40 stab mramptr lognovf clra jsr sciwr ldaa mramptr 2 n jsr sciwr number of pre-empts tsta beq logend clrb lognext pshb jsr caddr convert b to address stab mspib 2~ ldab #$07 jsr ramtrns pulb ldx #mspib+l logl ldaa ,x jsr sciwr inx cpx #mspib+7 bne logl incb cmpb mramptr bcs lognext logend clr mramptr clr movf jsr storptr rts **************************w waitff jsr cableck tst mcable ..

beq wtffend ldaa ptscsr scird wait for start anda #$20 be~ waitff ldaa ptscdr cmpa #$ff bne waitff wtffend rts **************************
sendff ldaa #$ff signal start of trans jsr sciwr rts 10 **************************
setclk jsr waitff jsr sendff jsr readclk ldx #mspib+l send out sci setul ldaa ,x jsr sciwr inx cpx #mspib+7 bne setul ldaa #$al read new time from sci staa mspib ldx #mspib+l setdl jsr scird staa ,x inx cpx #mspib+7 bne setdl ldab #$07 bsr clktrns ldd #$blbO start clock std mspib ldab #$02 bsr clktrns rts **************************
readclk pshx ldaa #$21 staa mspib read code ldab #$07 bsr clktrns pulx rts ************************** transfers the # of bytes in b 5 clktrns ldx #ptb bset ,x $10 bsr spitrns rts ************************** gets ram pointer & ovf getptr bsr pageO
ldaa #S7e address in sram staa mspib ldab #$03 bsr ramtrns ldaa mspib+l staa mramptr ldaa mspib+2 staa movf rts ************************** stores ram pointer & ovf storptr bsr pageO
ldaa mramptr staa mspib+1 ldaa movf staa mspib+2 ldaa #$fe address in sram staa mspib ldab #$03 bsr ramtrns rts ************************** selects page in sram pageO clr mspib bra pageout pagel clr mspib inc mspib pageout ldab #$01 bsr ramtrns rts ************************** transfers the # of bytes in b ramtrns ldx #ptb bset ,x $20 bsr spitrns ************************** transfers the # of bytes in b spitrns psha ldx #mspib spil ldaa ,x staa ptspdr spiwt tst ptspsr bpl spiwt ldaa ptspdr staa ,x inx decb bne ~pil ldx #ptb bclr ,x S30 deselect both pula rts **************
*inc 160 sciwr staa ptscdr sciwl tst ptscsr bpl sciwl jsr ldelay rts *************************
scird ldaa ptscsr anda #$20 beq scird ldaa ptscdr rts *************************
dnld sei ldaa #$78 staa pta sr waitff sr sendff _dd #usrvars number of bytes bsr sciwr tba ldx #eusrl ldab #usrvars+l dnnext jsr sciwr ldaa ,x inx decb bne dnnext ldx #musrl ldab #usrvars upld jsr waitff . upldl jsr scird staa ,x inx decb bne upldl clr pta copydn ldx #eeclear * copy program to ram ldy #So000 cdnl ldaa ,x staa ,y inx iny cpx #eeclear+$70 (length of routine) bne cdnl jmp $0000 35 ************************* copy from ram to eeprom eeclear lds #SOOfd ldx #eusrl eeprom erasure eel ldaa #$16 staa ptpprog staa ,x lnca staa ptpprog bsr delaylO
inx cpx #eusrl+usrvars bne eel ************************** copy from ram to eeprom copyup ldx #musrl ram to copy from ldy #eusrl eeprom to copy to cupl ldab #02 stab ptpprog ldaa ,x staa ,y incb stab ptpprog bsr delaylO
clr ptpprog nx iny cpx #musrl+usrvars bne cupl SWi ************************** 10 ms delay delaylO psha ldaa #$0a clrb eedel incb bne eedel deca bne eedel pula rts *************************
org Sffd4 fdb start res fdb start sci fdb start paie fdb start paie fdb start pao fdb start to fdb start toc5 fdb start toc4 fdb start toc3 fdb start toc2 fdb start tocl fdb start tic3 fdb start tic2 fdb start ticl fdb rtintr rti fdb start irq fdb start xirq fdb start swi fdb start ioc fdb start cop fdb start copcm fdb start The following program listing is design for use in the vehicle detection, identification, and preemption system 400.

org $ffbe program id (2 bytes) progid fdb $0100 *

* program for 160cr micro * file name : rx * modified date: 6-6-88 * by: dwj *~ - procedure names used *

* ldelay decode log newpr cancel record recall * rtintr sciintr setx updated clear preon preoff tb:
* clrline setclk readclk dnld sciwr scird comm s~
* dgtest waitff sendff spitrns ramtrns clktrns pageO pag~
* getptr caddr * port definitions *

*= port definitions pta equ ~1000 ptddrc equ ~1007 port c direction reg ptc equ ~1003 ptb equ ~1004 ptd equ ~1008 ptddrd equ ~1009 pte equ ~lOOa pttmskl equ ~1022 timer int mask reg 1 pttflg2 equ ~1025 timer int flag reg pttmsk2 equ ~1024 timer int mask reg 2 ptpactl equ ~1026 port a control ptspcr equ ~1028 spi control register ptspsr equ ~1029 spi status register ptspdr equ ~102a spi data register ptbaud equ ~102b sci baud rate control ptsccrl equ ~102c sci control reg 1 ptsccr2 equ ~102d sci control reg 2 ptscsr equ C102e sci status ptscdr equ ~102f sci data ptadctl equ ~1030 a/d control / status ptadrl egu ~1031 a/d result 1 ptoptn egu ~1039 system configuration options ptpprog equ ~103b eeprom prog control 35 *== ram memory defs mrt equ $0000 rti locations mrtfr equ $0001 free running 1/2 second clock * (16 bit counter) mrtcl equ S0003 last time the block cleared ****************
.~

~ 53~ 1 338356 mwork equ ~0004 general work variable mdgtest equ ~0005 for diagnostic test mramptr equ ''0006 next pre-empt number movf equ ~0007 pre-empt overflow(boolean) mscibl equ ~0008 sci input buffers mscib2 equ ~0009 mcancel equ ~OOOb cancel routine flag mcable equ ~OOOc cable present(boolean) mtpsr equ ~OOOd total pre-empts since reset * (16 bit) mlvid equ ~OOOf last vid mldir equ ~0010 last direction mlsig egu ~0011 last signal strength mpip equ ~0012 pre-emption in progress(boolean) mcomm equ ~0013 laptop communication flag mspib equ ~0020 spi buffer (16 bytes) ************************
*inc 10 mblock equ $0030 directional array $20 to $5f preempt equ ~0000 signal active(OO,Ol) disp number equ '0002 number of pulses disp ftime equ ~0003 first time disp ltime equ ~0005 last time disp tactive equ $0007 time preempt went active disp id equ ~0009 vehicle id code disp index equ ~OOOa index of record disp(16 bit) lockout equ ~OOOc lockout disp(O,1) dirblck equ $0010 displacement between blocks ************************ user variables usrvars equ $0030 number of user variables musrl equ $0090 work area in ram for ul/dl *inc 20 org $feOO
eusrl fcb ~7f usrl clear out time eusr2 fcb ~02 usr2 number pulses to turn on eusr3 fdb ~0032 usr3,4 signal loss time out (16 bil eusr5 fdb ~0050 usr5,6 minimum preempt time dur (1 eusr7 fdb ~OOff usr7,8 lockout time (16 bit) eusr9 fdb ~OOfO usr9,10 free lock time (16 bit) eusrll fcb ~Of usrll recall for O (Of for no rec~
eusrl2 fcb ~Of usrl2 recall for 1 (Of for no rec~
eusrl3 fcb ~Of usrl3 recall for 2 (Of for no rec~
30 eusrl4 fcb ~Of usrl4 recall for 3 (Of for no rec~
eusrlS fcb "04 usrl5 minimum signal level eusrl6 fcb ~00 usrl6 reciever id eusrl7 fcb ~00 usrl7 only 1 pre-empt eusrl8 fcb ~00 eusrl9 fcb ~00 eusr20 fcb ~00 35 eusr21 fcb ~00 eusr22 fcb "00 eusr23 fcb ''00 eusr24 fcb ~00 eusr25 fcb ~00 eusr26 fcb ~00 . j, .

~ 54~ 1 3 3 83 5 6 eusr27 fcb 00 eusr28 fcb ~00 eusr29 fcb ~00 eusr30 fcb ~00 eusr31 fcb ~00 eusr32 fcb '~0 vidluts equ ~20 size of id table eusr33 fcb ~:80 usr32-63 valid id list eusr34 fcb 247 eusr35 fcb '00 eusr36 fcb ~00 eusr37 fcb ~oo eusr38 fcb ~oo eusr39 fcb ~00 eusr40 fcb ~00 eusr41 fcb ~00 eusr42 fcb ~00 eusr43 fcb ~00 eusr44 fcb ~00 1' eusr45 fcb ~00 eusr46 fcb ~00 eusr47 fcb ~00 eusr48 fcb ~00 eusr49 fcb ~00 eusr50 fcb ~00 eusr51 fcb ~00 eusr52 fcb ~00 20 eusr53 fcb ~oo eusr54 fcb '00 eusr55 fcb ~00 eusr56 fcb ~00 eusr57 fcb ~00 eusr58 fcb ~00 eusr59 fcb ~00 eusr60 fcb ~00 25 eusr61 fcb '00 eusr62 fcb ~00 eusr63 fcb ~00 eusr64 fcb ~00 * begin program org $f800 start sei lds #$00fd ldaa #$ff staa ptddrc clr pta clr ptb clr ptc ************************** light display clrb 35 lights ~sr ldelay com pta incb cmpb #$08 bne lights , - - 55~ 1 3 ~ 8 3 ~ 6 ************************* set up a/d ldaa #$80 staa ptoptn ldaa #$20 staa ptadctl ************************* set up for rti interupt ldaa #$43 staa pttmsk2 staa pttflg2 ldaa #$03 staa ptpactl ************************* set up for sci interupt clr ptsccrl ldaa #$33 staa ptbaud cli ************************ set up spi ldaa #$3a staa ptddrd ldaa #$57 1 staa ptspcr ************************
ramclr ldx #$00ff raml clr ,x dex bne raml ************************ set up sram recording jsr getptr ldd mramptr cmpa #$21 bcc spbad cmpb #$02 bcc main spbad clr mspib+l clr mspib+2 2~ jsr storptr ************************** main program main nop -sr decode sr updated sr cancel sr newpr sr clear sr unlock sr comm _daa ptoptn jmp main ************************* subroutine for long delay ldelay pshx ldx #$0000 ldell dex bne ldell pulx rts ***************************** check for cable 56 l 338356 cableck ldaa #$01 staa mcable pshx ldx #ptd bclr ,x $20 pulx ldaa pte anda #$04 beq cabend (no cable) clr mcable clr mcomm cabend rts lO ***************************** laptop communications comm jsr cableck tst mcable beq commend ldaa #$0c disable modem interupt staa ptsccr2 ldab #$01 select db9 jsr selsrc commjmp ldab mcomm beq commck ldx #commtab-2 abx abx ldx ,x jsr ,x bra commend commtab fdb #dnld fdb #log 2 fdb #dgtest fdb #setclk commck jsr waitff ldaa #$01 send device id jsr sciwr ldd progid send prog id jsr sciwr tba jsr sciwr commwt jsr cableck tst mcable beq commend ldaa ptscsr anda #$20 beq commwt ldaa ptscdr read the routine number cmpa #$05 limit to 4 routines bcc commend staa mcomm bra commjmp commend clrb select modem jsr selsrc ldaa #$2c enable modem interupt staa ptsccr2 rts ************************* decode switches and switch on pre *inc 30 decode ldaa pta anda #$87 beq dcend dccont ldab #$03 cmpa #$80 beq dcout decb cmpa #$04 beq dcout decb cmpa #$02 beq dcout clrb cmpa #$01 bne dcend dcout jsr preon dcend rts ************************** output recorded data *inc 40 log sei sr waitff sr sendff sr getptr _daa eusr7 jsr sciwr ldaa mtpsr output total pre-empts jsr sciwr ldaa mtpsr+l jsr sciwr tst movf beq lognovf ldab #40 stab mramptr lognovf clra jsr sciwr ldaa mramptr jsr sciwr number of pre-empts tsta beq logend clrb lognext pshb jsr caddr convert b to address stab mspib _ 58- l 3 3 8 3 5 6 ldab #$07 jsr ramtrns pulb ldx #mspib+1 5 logl ldaa ,x jsr sciwr inx cpx #mspib+7 bne logl incb cmpb mramptr bcs lognext logend clr mramptr clr movf jsr storptr clr mcomm rts ************************** calculate address in b c caddr pshb l jsr pageO result in a and b pulb cmpb #21 selects memory page bcs cout jsr pagel subb #21 cout ldaa #$06 mul rts ************************** gets ram pointer & ovf getptr bsr pageO
ldaa #$7e address in sram staa mspib ldab #$03 bsr ramtrns ldd mspib+l (ramptr and ovf) std mramptr rts ************************** stores ram pointer & ovf storptr bsr pageO
ldd mramptr (ramptr and ovf) std mspib+l ldaa #$fe address in sram staa mspib ldab #$03 bsr ramtrns rts ************************** selects page in sram pageO clr mspib bra pageout pagel clr mspib inc mspib pageout ldab #Sol bsr ramtrns rts .~

************************** transfers the # of bytes in b ramtrns ldx #ptc bset ,x $20 jsr spitrns rts **************************
*inc 50 newpr tst eusrl7 only 1 pre-empt beq newl tst mpip pre-empt in progress bne newend newl clrb 10 new2 jsr setx tst preempt,x bne newnext tst lockout,x bne newnext 15 ldaa number,x suba eusr2 bcs newnext inc preempt,x issue preemption ldy mrtfr sty tactive,x inc mpip jsr preon ldx mtpsr index register lost!
inx stx mtpsr newnext incb cmpb #$04 bne new2 newend rts ************************** this routine cancels preemption *inc 60 cancel tst mcancel beq canend clr mcancel clrb canl jsr setx tst preempt,x bne canlout jsr preoff (no preempt) bra cannext canlout tst lockout,x ingnore if locked out bne cannext pshb check minimum timeout ldd mrtfr subd tactive,x subd eusr5 pulb ~ ~.

bmi cannext pshb check loss of signal timeoul ldd mrtfr subd ltime,x subd eusr3 pulb bmi can2 clr number,x bra canclr can2 pshb 1 n ldd mrtfr subd ftime,x subd eusr7 check max time pulb bmi cannext inc lockout,x mark lockout ldy #ptc bset ,y #$04 canclr jsr record clr preempt,x jsr recall jsr preoff clr mpip 20cannext incb cmpb #$04 bne canl canend rts ************************** records preemption data record pshb pshx stab mwork (direction) ldy mtpsr iny sty mtpsr sr getptr sr readclk _daa mspib+5 month staa mspib+3 ldaa mspib+l minutes staa mspib+6 ldaa mspib+2 hours anda #S3f staa mspib+5 pulx pshx ldaa id,x (id) staa mspib+1 ldd mrtfr compute tenth minutes subd tactive,x ldx #$003c (60) idiv xgdx recl lslb lslb orab mwork (dir) stab mspib+2 10 rec2 ldab mramptr store data jsr caddr calculate address orb #$80 stab mspib ldab #$07 jsr ramtrns inc mramptr increment pointer ldaa mramptr cmpa #41 bcs recstr clr mramptr ldaa #S01 staa movf recstr jsr storptr pulx pulb rts ************************** this routine checks for recall *inc 80 recall pshb sets up recall for dir in b ldaa id,x cmpa #$01 (see if recall) beq recend ldx #eusrll base of recall lut andb #$03 abx ldab ,x cmpb #$0f no recall beq recend jsr setx ldaa #$01 staa id,x ldaa #Slf staa number,x (set count high) recend pulb rts 35 ************************** this routine cancels lockout *inc 90 unlock clrb unl jsr setx tst lockout,x beq unnext pshb ldd mrtfr subd ltime,x subd eusr9 free lock time pulb bmi unnext jsr clrline ldx #ptc bclr ,x $04 lQ unnext incb cmpb #~04 bne unl rts ************************** diagnostic dgtest ldaa #~10 cmpa mdgtest bcc dgend clr mdgtest ldaa #$ff jsr sciwrf ldaa mlvid last vid jsr sciwrf ldaa mldir last dir jsr sciwrf 2Q ldaa mlsig last signal strength jsr sciwrf dgend rts ************************** real time interupt *inc 100 rtintr inc mrt ldaa mrt cmpa #$03 1/10 second bne rtend inc mdgtest inc mcancel clr mrt ldx mrtfr increment free running clock inx stx mrtfr ldx #ptc turn signal light off bclr ,x S08 ldaa mrtfr prevent overflow bpl rtend ldaa mblock bne rtend ldaa mblock+dirblck bne rtend ldaa mblock+dirblck+dirblck bne rtend ldaa mblock+dirblck+dirblck+dirblck bne rtend clr mrtfr clr mrtfr+l rtend ldaa #$40 staa pttflg2 rti *************************** sci interupt routine *inc 110 sciintr ldaa ptscsr this routine places the anda #$26 byte string in buffer cmpa #$20 bne scibad ldab eusrl5 beq sciok ldaa ptadrl check signal level sba bcs scibad staa mlsig sciok ldaa ptscdr bpl sciadd staa mscibl store first byte ldaa #$ff flag second as empty sciadd staa mscib2 ldx #ptc data light bset ,x #~08 scil rti scibad ldaa ptscdr clr mscibl rti ************************* table lookup *inc 140 tbllu pshb vid sent in a, 0 or vid returned pshx clrb ldx #eusr33 tbll cmpa ,x beq tblval inx incb cmpb #vidluts bne tbll clra tblval pulx pulb rts ****~******************** set index register *inc 120 setx psha pshb clra andb #$03 incb xgdx ldd #mblock-dirblck setxl addd #dirblck dex bne setxl setxend xgdx pulb pula rts ************************* update direction array *inc 130 updated sei tst mscibl bmi upcont upquit cli rts upcont tst mscib2 bmi upquit ldd mscibl staa mldir stab mlvid *
psha *
ldaa #$ff * read sci buffer sta mscib2 *
clr mscibl *
cli *
pula *
jsr setx jsr tbllu tsta beq upend staa id,x inc number,x ldy mrtfr sty ltime,x ldd ftime,x bne upend sty ftime,x upend rts ************************* clear block *inc 150 clear ldaa mrtfr+l suba mrtcl cmpa eusrl bcs clend ldaa mrtfr+l staa mrtcl clrb this routine clears out cll jsr setx blocks of the dir block tst preempt,x that are not in preemption bne clnext tst lockout,x check for lockout bne clnext jsr clrline clnext incb cmpb #$04 bne cll clend rts 5 *************************
preon ldx #prelutturns on the preempt for andb #~03the direction in b abx ldaa ,x oraa ptb staa ptb ldx #ledlutturns on the led abx ldaa ,x oraa pta staa pta rts *************************
preoff ldx #prelutturns off the pre for andb #$03the direction in b abx ldaa ,x coma anda ptb staa ptb ldx #ledlutturns off the led abx ldaa ,x coma anda pta staa pta rts 25 ************************* clears 1 line in block clrline pshx clra clrl clr ,x inx inca cmpa #dirblck bne clrl pulx rts **************************
setclk jsr waitff 'sr ldelay sr sendff sr readclk ldx #mspib+l send out sci setul ldaa ,x jsr sciwr inx , ~

1 33~356 cpx #mspib+7 bne setul ldaa #$al read new time from sci staa mspib ldx #mspib+l setdl jsr scird staa ,x inx cpx #mspib+7 bne setdl ldab #$07 bsr clktrns ldd #SblbO start clock std mspib ldab #$02 bsr clktrns clr mcomm rts **************************
readclk pshx ldaa # $ 2 1 staa mspib read code . ldab #So7 bsr clktrns pulx rts ************************** transfers the # of bytes in b clktrns ldx #ptc bset ,x S10 bsr spitrns rts 25 ************************** transfers the # of bytes in b spitrns psha ldx #mspib spil ldaa ,x staa ptspdr spiwt tst ptspsr bpl spiwt ldaa ptspdr staa ,x inx decb bne spil ldx #ptc bclr ,x S30 deselect both pula rts **************************w waitff jsr cableck tst mcable beq wtffend r: ~:
J ~

- 67- l 3 3 ~ 3 5 6 ldaa ptscsr scird wait for start anda #S20 beq waitff ldaa ptscdr cmpa #$ff bne waitff wtffend rts **************************
sendff ldaa #$ff signal start of trans jsr sciwr rts *************************
O sciwr jsr sciwrf jsr ldelay rts ************************* full speed sci write sciwrf staa ptscdr sciwrfl tst ptscsr bpl sciwrfl rts *****
scird ldaa ptscsr anda #$2 o beq scird ldaa ptscdr rts ************************* select sci device b=O,modem b=l,db9 selsrc ldx #ptc bclr ,x #So3 tstb beq selend bset ,x #$01 selend rts *************************
dnld sei ldaa #$78 staa pta ~sr waitff sr sendff _dd #usrvars number of bytes bsr sciwr tba ldx #eusrl ldab #usrvars+l dnnext jsr sciwr ldaa ,x inx decb bne dnnext ldx #musrl ldab #usrvars upld jsr waitff upldl jsr scird staa ,x inx decb bne upldl clr pta copydn ldx #eeclear copy program to ram ldy #So000 10 cdnl ldaa ,x staa ,y inx iny cpx #eeclear+$70 (length of routine) bne cdnl jmp $0000 ************************* copy from ram to eeprom 15eeclear lds #$oofd ldx #eusrl eeprom erasure eel ldaa #$16 staa ptpprog staa ,x inca staa ptpprog bsr delaylO
inx cpx #eusrl+usrvars bne eel ************************** copy from ram to eeprom copyup ldx #musrl ram to copy from ldy #eusrl eeprom to copy to cupl ldab #02 stab ptpprog ldaa ,x staa ,y incb stab ptpprog bsr delaylO
clr ptpprog inx iny cpx #musrl+usrvars bne cupl swi ************************** 10 ms delay delaylO psha ldaa ~SOa clrb eedel incb bne eedel deca bne eedel pula rts **************************
ledlut fdb $0810 fdb $2040 prelut fd~ $0102 fdb $0408 **************************) **************************
org $ffd4 fdb start res fdb sciintr sci fdb start spi fdb start paie fdb start pao to fdb start toc5 fdb start toc4 fdb start toc3 fdb start toc2 fdb start tocl fdb start tic3 fdb start tic2 fdb start ticl fdb start rti fdb rtintr irq fdb start xirq fdb start swi fdb start ioc fdb start cop fdb start copcm fdb start reset fdb start

Claims (30)

1. A traffic signal preemption system for enabling emergency vehicles to cause a traffic light controller at an intersection to preempt traffic signals at the intersection in favour of emergency vehicles, said system comprising:
a vehicle information transmission system installed in at least one emergency vehicle and including directional transmission means actuatable by the vehicle's occupants for generating information identifying said at least one emergency vehicle and for repeatedly transmitting said information, encoded into repeatedly transmitted vehicle identification signals, in the direction of vehicular motion;
a vehicle detection, identification, and preemption system connecting to at least one traffic light controller, said detection, identification, and preemption system including radio signal receiving means for receiving vehicle identification signals from said at least one emergency vehicle and for extracting information identifying the emergency vehicle therefrom, said radio receiving means including gain control means for producing a signal level signal indicative of the strength of said vehicle identification signals, and processing means for determining, based upon said received vehicle identification signals, said signal level signal, and preprogrammed preemption criteria including the identity of said at least one emergency vehicle, when and in favour of which direction and for how long to preempt an intersection, said processing means delaying preemption until a sufficient number of said received vehicle identification signals of sufficient signal level have been received in a brief enough time interval from any one given vehicle of said at least one emergency vehicle to indicate that said given vehicle is at the proper distance from the intersection for preemption to commence.

2. A traffic signal preemption system in accordance with claim 1 wherein the vehicle information transmission system includes log means for maintaining a log of the time, date, and duration of all preemptions requested by the occupants of the vehicle in which the transmission system is installed.

3. A traffic signal preemption system in accordance with claim 2 wherein the direction of all requested preemptions is also maintained in the log.

4. A traffic signal preemption system in accordance with claim 1 wherein said preprogrammed preemption criteria includes priority criteria assigning priorities to vehicles and to routes, whereby higher-priority vehicles and higher-priority routes can be given preemption ahead of others.

5. A traffic signal preemption system in accordance with claim 1 wherein the vehicle detection, identification, and preemption system maintains a table of information with separate entries relating to information received from separate vehicles, including a separate entry for each of several vehicles recording the number of vehicle identification signals received from the vehicles of sufficient strength, whereby the detection, identification, and preemption system progammably manages multiple vehicles approaching an intersection.

6. A traffic signal preemption system in accordance with claim 1 wherein the vehicle detection, identification, and preemption system includes log means for maintaining a log of the time, date, duration, and vehicle identity associated with all preemptions of the intersection.

7. A traffic signal preemption system in accordance with claim 6 wherein the direction of all requested preemptions is also maintained in the log.

8. A traffic signal preemption system in accordance with claim 1 wherein the vehicle detection, identification, and preemption system maintains a table of information with separate entries relating to information received from vehicles approaching an intersection from separate directions, including a separate entry recording the number of vehicle identification signals received from vehicles approaching from each direction of sufficient strength, whereby the detection, identification, and preemption system programmably manages multiple vehicles approaching an intersection from separate directions.

9. A traffic signal preemption system in accordance with claim 1 which further includes portable, detachable control panel and central data base means for feeding information including vehicle identity information and preset direction information corresponding to vehicle identity information into said vehicle detection, identification, and preemption system, which preset direction information enables said vehicle detection, identification, and preemption system to determine, upon receipt of vehicle identity information from a given vehicle, from which preset direction said given vehicle may be approaching an intersection.

10. A traffic signal preemption system as in claim 2, 3, 6, or 7, which further includes portable, detachable control panel and central data base means for accepting information from the log when connected to a system that maintains a log, whereby the logged information can be collected and utilized, said portable, detachable control panel and central data base means and said systems that maintain a log each including detachable I/O
connector means for connecting and later disconnecting said portable, detachable control panel and central data base means to and from said systems that maintain a log.

11. A traffic signal preemption system in accordance with claim 1 wherein the vehicle information transmission system includes directional switches which, when actuated by the vehicle occupants, cause the vehicle identification signal to contain information identifying the direction from which the vehicle is approaching the intersection, and wherein said directional information enables the vehicle detection, identification, and preemption system to determine the direction from which the vehicle is approaching the intersection.

12. A traffic signal preemption system in accordance with claim 1 wherein the vehicle transmission system includes at least one preset switch which, when actuated by the vehicle occupants, cause the vehicle identification signal to contain information identifying the preset route over which the vehicle is travelling, and wherein said preset route information enables the vehicle detection, identification information stored within said vehicle detection, identification, and preemption system, to determine the direction from which the vehicle is approaching the intersection.

13. A traffic signal preemption system in accordance with claim 1 wherein the vehicle transmission system includes at least one preset switch which, when actuated by the vehicle occupants, causes the vehicle identification signal to contain information identifying a preset route over which the vehicle is required to travel, and wherein said preset route information enables the vehicle detection, identification, and preemption system, by reference to preset direction information stored within said vehicle detection, identification, and preemption system, to determine the direction from which the vehicle is approaching the intersection.

14. A traffic signal preemption system in accordance with claim 1 which further includes portable, detachable control panel and central data base means for feeding information including vehicle identification information into said vehicle transmission system, said portable, detachable control panel and central data base means and said vehicle transmission system each including detachable I/O connector means for connecting and later disconnecting said portable control panel and central data base means to and from said vehicle transmission system.

15. A traffic signal preemption system in accordance with claim 14 in which the portable, detachable control panel and central data base means can also feed a security code into said vehicle transmission system, and wherein said vehicle transmission system includes means for preventing the transmission of any signals until said security code has been entered by the occupants of the vehicle.

16. A traffic signal preemption system for enabling emergency vehicles to cause a traffic light controller at an intersection to preempt traffic signals at the intersection, causing them to signal green for an emergency vehicle and red for other directions, said system comprising:

a vehicle information transmission system installed in said emergency vehicle and including directional transmission means actuatable by the vehicle's occupants for generating information identifying said emergency vehicle and for repeatedly transmitting said information as a vehicle identification signal in the direction of vehicular motion at periodic intervals whose durations are varied to avoid frequent simultaneous generations and transmissions by plural emergency vehicles entering the same intersection; and a vehicle detection, identification, and preemption system connecting to said traffic light controller and including radio signal receiving means for receiving vehicle identification signals from one or more of said transmission systems, for extracting information identifying the emergency vehicle therefrom, and for determining, based upon pre-programmed preemption criteria including the identity of the vehicles, when and in favour of which direction and for how long to preempt an intersection;
which traffic signal preemption system further includes portable control panel and central data base means for feeding information including vehicle identification information and transmit timeout information into said vehicle transmission system.

17. A traffic signal preemption system in accordance with claim 16 in which the portable control panel and central data base means can also feed a security code into said vehicle transmission system.

18. A traffic signal preemption system for enabling emergency vehicles to cause a traffic light controller at an intersection to preempt traffic signals at the intersection, causing them to signal green for an emergency vehicle and red for other directions, said system comprising:
a vehicle information transmission system installed in said emergency vehicle and including directional transmission means actuatable by the vehicle's occupants for generating information identifying said emergency vehicle and for repeatedly transmitting said information as a vehicle identification signal in the direction of vehicular motion at periodic intervals whose durations are varied to avoid frequent simultaneous generations and transmissions by plural emergency vehicles entering the same intersection; and a vehicle detection, identification, and preemption system connecting to said traffic light controller and including radio signal receiving means for receiving vehicle identification signals from one or more of said transmission systems, for extracting information identifying the emergency vehicle therefrom, and for determining, based upon pre-programmed preemption criteria including the identity of the vehicles, when and in favour of which direction and for how long to preempt an intersection;
said vehicle detection, identification, and preemption system further including lock out means for locking out preemptions in favour of a particular vehicle or direction for a predetermined time interval following a preemption in favour of that vehicle or direction to avoid accidental multiple successive preemptions in favour of the same vehicle.

19. A traffic signal preemption system for enabling emergency vehicles to cause a traffic light controller at an intersection to preempt traffic signals at the intersection, causing them to signal green for an emergency vehicle and red for other directions, said system comprising:
a vehicle information transmission system installed in said emergency vehicle and including directional transmission means actuatable by the vehicle's occupants for generating information identifying said emergency vehicle and for repeatedly transmitting said information as a vehicle identification signal in the direction of vehicular motion at periodic intervals whose durations are varied to avoid frequent simultaneous generations and transmissions by plural emergency vehicles entering the same intersection, and a vehicle detection, identification, and preemption system connecting to said traffic light controller and including radio signal receiving means for receiving vehicle identification signals from one or more of said transmission systems, for extracting information identifying the emergency vehicle therefrom, and for determining, based upon pre-programmed preemption criteria including the identity of the vehicles, when and in favour of which direction and for how long to preempt an intersection;
wherein said vehicle detection, identification, and preemption system must receive a predetermined number of vehicle identification signals from a given vehicle within a predetermined time interval before it will initiate a preemption in favour of that vehicle.

20. A traffic signal preemption system for enabling emergency vehicles to cause a traffic light controller at an intersection to preempt traffic signals at the intersection, causing them to signal green for an emergency vehicle and red for other directions, said system comprising:
a vehicle information transmission system installed in said emergency vehicle and including directional transmission means actuatable by the vehicle's occupants for generating information identifying said emergency vehicle and for repeatedly transmitting said information as a vehicle identification signal in the direction of vehicular motion at periodic intervals whose durations are varied to avoid frequent simultaneous generations and transmission by plural emergency vehicles entering the same intersection; and a vehicle detection, identification, and preemption system connecting to said traffic light controller and including radio signal receiving means for receiving vehicle identification signals from one or more of said transmission systems, for extracting information identifying the emergency vehicle therefrom, and for determining, based upon pre-programmed preemption criteria including the identity of the vehicles, when and in favour of which direction and for how long to preempt an intersection;
wherein said vehicle detection, identification, and preemption system must receive a predetermined number of vehicle identification signals of a predetermined minimum strength before it will initiate a preemption in favour of that vehicle.

21. A traffic signal preemption system for enabling emergency vehicles to cause a traffic light controller at an intersection to preempt traffic signals at the intersection, said system comprising:

a vehicle information transmission system installed in at least one emergency vehicle and including directional transmission means actuatable by the vehicle's occupants for generating information identifying said emergency vehicle and for repeatedly transmitting said information as a vehicle identification signal in the direction of vehicular motion; a vehicle detection, identification, and preemption system connecting to at least one traffic light controller and including radio signal receiving means for receiving vehicle identification signals from one or more of said transmission systems, for extracting information identifying the emergency vehicle therefrom, and for determining, based upon pre-programmed preemption criteria including the identity of the vehicles, when and in favour of which direction and for how long to preempt an intersection;
wherein said vehicle detection, identification, and preemption system contains intersection entry direction information for each of said at least one emergency vehicles, which information is stored within each said vehicle detection, identification, and preemption system;
and wherein this intersection entry direction information enables said vehicle detection, identification, and preemption system to determine the direction from which a given vehicle is approaching the intersection.

22. A traffic signal preemption system for enabling emergency vehicles to cause a traffic light controller at an intersection to preempt traffic signals at the intersection, said system comprising:
a vehicle information transmission system installed in said emergency vehicle and including directional transmission means actuatable by the vehicle's occupants for generating information identifying said emergency vehicle and for repeatedly transmitting said information as a vehicle identification signal in the direction of vehicular motion, said directional transmission means including a transmitting antenna mounted upon said vehicle and transmitting radio signals beamed sufficiently in the direction of travel of said vehicle to minimize the likelihood of causing a preemption of an intersection to the side or rear of the vehicle;
a vehicle detection, identification, and preemption system connecting to said traffic light controller, said detection, identification, and preemption system including radio signal receiving means for receiving vehicle identification signals from one or more of said transmission systems and for extracting information identifying the emergency vehicle therefrom, said radio receiving means including gain control means for producing a signal level signal indicative of the strength of said vehicle identification signals, and processing means for determining, based upon said received vehicle identification signals, said signal level signal, and pre-programmed preemption criteria including the identity of the vehicles, when and for how long to preempt an intersection.

23. A traffic signal preemption system in accordance with claim 22 wherein said transmitting antenna comprises:
a hollow, directional antenna structure having an inside surface, said antenna structure mounted upon said emergency vehicle and arranged to beam said vehicle identification signal out of said hollow, directional antenna structure in the direction of vehicular travel.

24. A traffic signal preemption system in accordance with claim 23 wherein said directional antenna structure is a rectangular solid having a front rectangular surface facing in the direction of vehicular travel that is transparent to radio signals and having other rectangular surfaces that are reflective of radio signals.

25. A traffic signal preemption system in accordance with claim 23 or 24 wherein said directional antenna structure contains, mounted on an inside surface, at least one driven antenna stub comprising a helically wound antenna tuned to a frequency of transmission of the transmitted signals.

26. A traffic signal preemption system in accordance with claim 23 or 24 wherein said directional antenna structure contains, mounted on one of its inside surfaces along a line parallel to the vehicle's direction of travel and spaced one-eighth wavelength apart, at least a pair of antenna stubs each comprising a helically wound antenna, the rear-most of which stubs is tuned to the frequency of transmission and is driven, and the front-most of which stubs is tuned to a slightly higher frequency.

27. A traffic signal preemption system in accordance with claim 23 or 24 wherein said directional antenna structure is roughly one-quarter wavelength tall by one-quarter wavelength wide.

28. A traffic preemption system in accordance with claim 22 wherein said transmitting antenna comprises a rectangular solid having a front square surface roughly one-quarter wavelength across facing in the direction of vehicle travel and transparent to radio signals and having other surfaces reflective of radio signals, and wherein said rectangular solid contains, mounted on one of its inside surfaces along a line parallel to the vehicle's direction of travel and spaced one-eighth wavelength apart, a pair of antenna stubs each comprising a helically wound antenna the rear-most of which stubs is tuned to the frequency of transmission and is driven and the front-most of which stubs is tuned to a slightly higher frequency.

29. A traffic signal preemption system in accordance with claim 25 wherein said directional antenna structure is roughly one-quarter wavelength tall by one-quarter wavelength wide.

30. A traffic signal preemption system in accordance with claim 26 wherein said directional antenna structure is roughly one-quarter wavelength tall by one-quarter wavelength wide.