Boundary detection system

• US 10,089,879 B2
• Filed: 06/05/2017
• Issued: 10/02/2018
• Est. Priority Date: 05/30/2014
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Ignaczak, Brad, Neubecker, Cynthia M., Bennie, Brian, Miller, Thomas Lee, Freiburger, Randy Michael, Reed, Eric L, Watkins, Scott Alan
• Primary Examiner(s): Pham, Toan N
• Application Number:
  US15/614,370
• Publication Number:
  US 20170278399A1
• Time in Patent Office: 484 Days
• Field of Search: 340435, 340436, 340438, 3404255, 701301, 701302
• CPC Class Codes: G08B 25/08 using communication transmission lines G08B13/19658, G08B21/0286, G08B25/016 take precedence
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

Systems and methods provide for tracking objects around a vehicle, analyzing the potential threat of the tracked objects, and implementing a threat response based on the analysis in order to keep occupants of the vehicle safe. Embodiments include a boundary detection system comprising a memory configured to store threat identification information, and a sensor unit configured to sense the object outside the vehicle and obtain sensor information based on the sensed object. The boundary detection system further includes a processor in communication with the memory and sensor unit, the controller configured to receive the sensor information, and control a threat response based on the sensor information and the threat identification information.

Claims

1. A vehicle for threat classification and response, the vehicle comprising:

a battery, a motor, doors, sensors mounted on the vehicle and configured to capture data about objects external to the vehicle, and a processor configured to;

receive the captured sensor data;

detect an object external to the vehicle via the received sensor data;

determine a position of the detected object;

load a plurality of threat zones including a first threat zone and a second threat zone;

determine whether the detected object occupies the first threat zone or the second threat zone;

when the detected object occupies the first threat zone, assign a first threat classification to the detected object based on the position of the detected object and when the detected object occupies the second threat zone, assign a second threat classification to the detected object based on the position of the detected object;

determine a type classification of the detected object;

adjust the assigned threat classification of the detected object based on the determined type classification;

perform a first threat response based on the assigned threat classification; and

,

perform a second threat response based on the adjusted assigned threat classification.

2. The vehicle of claim 1, wherein the first and second threat responses include one or more of:

an audio warning generated by the vehicle, a haptic warning generated by the vehicle, a visual warning generated by the vehicle, and locking one or more of the vehicle doors.

3. The vehicle of claim 1, wherein the processor is configured to:

enforce a sensitivity level; and

when the detected object occupies the first threat zone, assign the first threat classification to the detected object based on the position of the detected object and the determined sensitivity level and when the detected object occupies the second threat zone, assign the second threat classification to the detected object based on the position of the detected object and the determined sensitivity level.

4. The vehicle of claim 3, wherein the processor is configured to:

count a number of objects surrounding the vehicle and determine the enforced sensitivity level based on the counted number of objects.

5. The vehicle of claim 3, wherein the processor is configured to:

enforce a first low sensitivity level in response to counting a first low number of objects surrounding the vehicle and enforce a second higher sensitivity level in response to counting a second greater number of objects surrounding the vehicle.

6. The vehicle of claim 1, wherein the determined type classification includes one or more of:

a person classification, an animal classification, a motorized vehicle classification, a non-motorized vehicle classification, a stationary object classification, and a remote controlled device classification.

7. The vehicle of claim 1, wherein the second threat zone is centered on the vehicle and at least partially covers an area external to the vehicle.

8. The vehicle of claim 1, wherein at least one of the first and second threat zones has an oval shaped outer perimeter.

9. The vehicle of claim 8, wherein both of the first and second threat zones have oval shaped outer perimeters, and a major axis of the first threat zone is angled with respect to a major axis of the second threat zone such that the major axis of the first threat zone is not parallel with the major axis of the second threat zone.

10. The vehicle of claim 9, wherein at least one of the major axis parallel with a major longitudinal axis of the vehicle.

11. A method of threat classification and response implemented via a processor of a vehicle comprising a battery, a motor, doors, sensors mounted on the vehicle and configured to capture data about objects external to the vehicle, and the processor;

the method comprising, via the processor;

receiving captured sensor data;

detecting an object external to the vehicle via the received sensor data;

determining a position of the detected object;

loading a plurality of threat zones including a first threat zone and a second threat zone;

determining whether the detected object occupies the first threat zone or the second threat zone;

when the detected object occupies the first threat zone, assigning a first threat classification to the detected object based on the position of the detected object and when the detected object occupies the second threat zone, assigning a second threat classification to the detected object based on the position of the detected object;

determining a type classification of the detected object;

adjusting the assigned threat classification of the detected object based on the determined type classification;

performing a first threat response based on the assigned threat classification; and

,

performing a second threat response based on the adjusted assigned threat classification.

12. The method of claim 11, wherein the first and second threat responses include one or more of:

an audio warning generated by the vehicle, a haptic warning generated by the vehicle, a visual warning generated by the vehicle, and locking one or more of the vehicle doors.

13. The method of claim 11, comprising:

enforcing a sensitivity level; and

when the detected object occupies the first threat zone, assigning the first threat classification to the detected object based on the position of the detected object and the determined sensitivity level and when the detected object occupies the second threat zone, assigning the second threat classification to the detected object based on the position of the detected object and the determined sensitivity level.

14. The method of claim 13, comprising:

counting a number of objects surrounding the vehicle and determining the enforced sensitivity level based on the counted number of objects.

15. The method of claim 13, comprising:

enforcing a first low sensitivity level in response to counting a first low number of objects surrounding the vehicle and enforcing a second higher sensitivity level in response to counting a second greater number of objects surrounding the vehicle.

16. The method of claim 11, wherein the determined type classification includes one or more of:

a person classification, an animal classification, a motorized vehicle classification, a non-motorized vehicle classification, a stationary object classification, and a remote controlled device classification.

17. The method of claim 11, wherein the second threat zone is centered on the vehicle and at least partially covers an area external to the vehicle.

18. The method of claim 11, wherein at least one of the first and second threat zones has an oval shaped outer perimeter.

19. The method of claim 18, wherein both of the first and second threat zones have oval shaped outer perimeters, and a major axis of the first threat zone is angled with respect to a major axis of the second threat zone such that the major axis of the first threat zone is not parallel with the major axis of the second threat zone.

20. The method of claim 19, wherein at least one of the major axis is parallel with a major longitudinal axis of the vehicle.