Collision detection

• US 10,144,474 B2
• Filed: 06/30/2017
• Issued: 12/04/2018
• Est. Priority Date: 07/01/2016
• Status: Active Grant

• Current Assignee: Regents of The University of Minnesota (University of Minnesota)
• Original Assignee: Regents of The University of Minnesota (University of Minnesota)
• Inventors: Rajamani, Rajesh, Jeon, Woongsun
• Primary Examiner(s): Nguyen, Tai T
• Application Number:
  US15/640,066
• Publication Number:
  US 20180001952A1
• Time in Patent Office: 522 Days
• Field of Search: 340431, 340435, 340436, 340438, 340903
• CPC Class Codes: B62J 3/10 Electrical devices
• CPC Class Codes: B62J 45/20 Cycle computers as cycle accessories
• CPC Class Codes: B62J 45/41 characterised by the type of sensor
• CPC Class Codes: B62J 50/21 intended to provide information to rider or passenger
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

Bicycle collision systems, apparatus, and methods may include, or use, one or more various sensing apparatus to detect vehicles or other objects that may collide, or potentially collide, with a bicycle. The sensing apparatus may include at least one of side sensing apparatus, rear sensing apparatus, and front sensing apparatus. Further, alert apparatus may be used to alert not only the cyclist but also the driver of a vehicle of an imminent collision.

Claims

1. A system for use with a bicycle comprising:

a rear sensing apparatus couplable to the bicycle and comprising one or more rear sensors to detect a distance from the bicycle to vehicles located behind the bicycle and an angle of a direction of the distance from the bicycle to the vehicles located behind the bicycle relative to a direction of motion of the bicycle to provide rear vehicular data;

an alert apparatus comprising a speaker to output sound to alert at least drivers of vehicles of potential collision situations; and

a computing apparatus comprising one or more processors operably coupled to the rear sensing apparatus and the alert apparatus, wherein the computing apparatus is configured to;

determine position data and velocity data of vehicles located behind the bicycle based on the rear vehicular data from the rear sensing apparatus,

detect a front corner of a vehicle located behind the bicycle using the one or more rear sensors so as to compute both a lateral and longitudinal distance of the vehicle,

determine a potential collision situation based on at least one of the position data and the velocity data of the vehicle located behind the bicycle, and

issue an alert using the alert apparatus in response to determining a potential collision situation, wherein the alert comprises one or more sounds outputted by the speaker to alert at least the driver of the vehicle.

2. The system of claim 1, wherein computing apparatus is further configured to:

determine orientation data of vehicles located behind the bicycle based on the rear vehicular data from the rear sensing apparatus, and

determine a potential collision situation based on at least the orientation data of a vehicle located behind the bicycle.

3. The system of claim 1, wherein the distance from the bicycle to vehicles located behind the bicycle comprises:

the longitudinal distance from the bicycle to the vehicles parallel to the direction of motion of the bicycle; and

the lateral distance from the bicycle to the vehicles projected direction of travel perpendicular to the direction of motion of the bicycle, and wherein determining a potential collision situation based on at least one of the position data and the velocity data of a vehicle located behind the bicycle comprises;

comparing the longitudinal distance or relative longitudinal velocity to a first threshold;

comparing the lateral distance or relative lateral velocity to a second threshold; and

determining a potential collision situation if the longitudinal distance or relative longitudinal velocity is less than or equal to the first threshold or the lateral distance or relative lateral velocity is less than or equal to the second threshold.

4. The system of claim 1, wherein the one or more rear sensors comprises a laser sensor to provide rear vehicular data.

5. The system of claim 1, wherein the rear sensing apparatus comprises a rotating member coupled to the one or more rear sensors to rotate the one or more rear sensors about an axis, wherein the computing apparatus further is configured to control the rotating member to rotate about the axis to continuously track a moving vehicle using the one or more rear sensors.

6. The system of claim 1, wherein the computing apparatus is further configured to determine whether laser reflections sensed by the one or more rear sensors are from a front surface or a side surface of the vehicle so as to compute the lateral or longitudinal distance of the vehicle.

7. The system of claim 1 further comprising a side sensing apparatus couplable to the bicycle and comprising one or more side sensors to detect the distance from the bicycle to vehicles located beside the bicycle and the angle of the direction of motion of the vehicles located beside the bicycle relative to the direction of motion of the bicycle to provide side vehicular data, wherein the computing apparatus is further operably coupled to the side sensing apparatus and is further configured to:

determine position data and velocity data of vehicles located beside the bicycle based on the side vehicular data from the side sensing apparatus; and

determine a potential collision situation based on at least one of the position data and the velocity data of a vehicle located beside the bicycle.

8. The system of claim 7, wherein the side sensing apparatus comprises a sonar system, wherein the one or more side sensors comprises:

a sonar transmitter to transmit energy in the sonar frequency range; and

two or more sonar receivers to receive reflected energy in the sonar frequency range to provide side vehicular data.

9. The system of claim 1, wherein the alert apparatus further comprises visual output apparatus to emit light or transmit visual messages to alert at least drivers of vehicles of potential collision situations, wherein the alert comprises light or visual messages outputted by the visual output apparatus.

10. The system of claim 1, wherein the system further comprises front sensing apparatus couplable to the bicycle and comprising one or more front sensors to detect the distance from the bicycle to a vehicle located in front of the bicycle and the angle of a direction of the distance from the bicycle to the vehicle located in front of the bicycle relative to the direction of motion of the bicycle to provide front vehicular data, wherein the computing apparatus is further configured to:

determine position data and velocity data of vehicles located in front of the bicycle based on front vehicular data from the front sensing apparatus, and

determine a potential collision situation based on at least one of the position data and the velocity data of a vehicle located in front of the bicycle.

11. The system of claim 1, wherein issuing an alert using the alert apparatus in response to determining a potential collision situation comprises:

issuing a preliminary collision alert using the alert apparatus in response to determining a potential collision situation; and

issuing an imminent collision alert using the alert apparatus in response to determining that the potential collision situation has not ceased, wherein the imminent collision alert is issued closer to the potential collision situation than the preliminary collision alert, wherein the imminent collision alert is configured to be more intrusive/noticeable to the driver of the vehicle of the potential collision situation than the preliminary collision alert.

12. The system of claim 1, wherein the computing apparatus is further configured to:

determine that the potential collision situation has ceased based on at least one of the position data and the velocity data of the vehicle located behind the bicycle after determining the potential collision situation; and

issue a clear alert using the alert apparatus in response to determining that the potential collision situation has ceased, wherein the clear alert comprises one or more sounds outputted by the speaker.

13. A system for use with a bicycle comprising:

a front sensing apparatus couplable to the bicycle and comprising one or more front sensors to detect a distance from the bicycle to vehicles located in front the bicycle and an angle of a direction of the distance from the bicycle to the vehicles located in front the bicycle relative to a direction of motion of the bicycle to provide front vehicular data;

an alert apparatus comprising a speaker to output sound to alert at least drivers of vehicles of potential collision situations; and

a computing apparatus comprising one or more processors operably coupled to the front sensing apparatus and the alert apparatus, wherein the computing apparatus is configured to;

determine position data and velocity data of vehicles located in front of the bicycle based on the front vehicular data from the front sensing apparatus,

determine a potential collision situation based on at least one of the position data and the velocity data of a vehicle located in front of the bicycle,

determine an intersection,

predict trajectories of vehicles in the intersection using at least the road geometry of the intersection,

determine a potential collision situation based at least on the predicted trajectories of vehicles in or entering the intersection, and

issue an alert using the alert apparatus in response to determining a potential collision situation, wherein the alert comprises one or more sounds outputted by the speaker to alert at least the driver of the vehicle.

14. The system of claim 13, wherein the front sensing apparatus comprises a rotating member coupled to the one or more sensors to rotate the one or more sensors about an axis, wherein the computing apparatus further is configured to rotate the one or more sensors about the axis to scan an area in front of the bicycle to actively detect one of the corners of the vehicle located in front of the bicycle.

15. The system of claim 13, wherein the computing apparatus is further configured to detect a front corner of the vehicle located in front of the bicycle using the one or more front sensors so as to compute both the lateral and longitudinal distance of the vehicle.

16. The system of claim 13, wherein the upcoming intersection is determined using one or more of the front sensing apparatus, global positioning systems, and map databases.

17. The system of claim 13, wherein the computing apparatus is further configured to:

determine whether the upcoming intersection is free of a potential collision situation based on data from the front sensing apparatus; and

issue an intersection clear alert using the alert apparatus in response to determining that the upcoming intersection is free of a potential collision situation, wherein the intersection clear alert comprises one or more sounds outputted by the speaker.

18. The system of claim 13, wherein the computing apparatus is further configured to analyze traffic at the intersection to at least detect one or more of a left turning vehicle and a vehicle stopped and waiting to turn left to determine a potential collision situation.

19. The system of claim 13, wherein the computing apparatus is further configured to analyze traffic at the intersection travelling in a direction approximately perpendicular to the bicycle'"'"'s direction of motion to determine a potential collision situation.

20. A system for use with a bicycle comprising:

a side sensing apparatus couplable to the bicycle and comprising one or more side sensors to detect a distance from the bicycle to vehicles located beside the bicycle and an angle of a direction of motion of the vehicles located beside the bicycle relative to a direction of motion of the bicycle to provide side vehicular data; and

a computing apparatus comprising one or more processors operably coupled to the side sensing apparatus, wherein the computing apparatus is configured to;

determine position data and velocity data of vehicles located beside the bicycle based on the side vehicular data from the side sensing apparatus, wherein the velocity data of vehicles located beside the bicycle comprises;

a relative lateral velocity of the vehicles, and

a relative angular velocity of the vehicles; and

determine a potential collision situation based on at least one of the position data and the velocity data of a vehicle located beside the bicycle, wherein determining a potential collision situation based on at least one of the position data and the velocity data of a vehicle located beside the bicycle comprises;

comparing the relative lateral velocity of the vehicle to a first threshold;

comparing the relative angular velocity of the vehicle to a second threshold;

determining a potential collision situation if the relative lateral velocity of the vehicle meets or exceeds the first threshold and the relative angular velocity of the vehicle meets or exceeds the second threshold;

comparing the distance from the bicycle to vehicles located beside the bicycle to a third threshold; and

determining a potential collision situation if the distance is less than or equal to the third threshold.

21. The system of claim 20, wherein the side sensing apparatus comprises a sonar system, wherein the one or more side sensors comprises:

a sonar transmitter to transmit energy in the sonar frequency range; and

two or more sonar receivers to receive reflected energy in the sonar frequency range to provide side vehicular data.

22. The system of claim 20 further comprising an alert apparatus comprising a speaker to output sound to alert at least drivers of vehicles of potential collision situations, wherein the computing apparatus is further operably coupled to the alert apparatus and is further configured to issue an alert using the alert apparatus in response to determining a potential collision situation, wherein the alert comprises one or more sounds outputted by the speaker to alert at least the driver of the vehicle.

23. A system for use with a bicycle comprising:

a rear sensing apparatus couplable to the bicycle and comprising one or more rear sensors to detect a distance from the bicycle to vehicles located behind the bicycle and an angle of a direction of the distance from the bicycle to the vehicles located behind the bicycle relative to a direction of motion of the bicycle to provide rear vehicular data;

an alert apparatus comprising a speaker to output sound to alert at least drivers of vehicles of potential collision situations; and

a computing apparatus comprising one or more processors operably coupled to the rear sensing apparatus and the alert apparatus, wherein the computing apparatus is configured to;

determine position data and velocity data of vehicles located behind the bicycle based on the rear vehicular data from the rear sensing apparatus,

determine whether laser reflections sensed by the one or more rear sensors are from a front surface or a side surface of a vehicle so as to compute a lateral or longitudinal distance of the vehicle,

determine a potential collision situation based on at least one of the position data and the velocity data of the vehicle located behind the bicycle, and

issue an alert using the alert apparatus in response to determining a potential collision situation, wherein the alert comprises one or more sounds outputted by the speaker to alert at least the driver of the vehicle.

24. The system of claim 23, wherein the distance from the bicycle to vehicles located behind the bicycle comprises:

the longitudinal distance from the bicycle to the vehicles parallel to the direction of motion of the bicycle; and

the lateral distance from the bicycle to the vehicles projected direction of travel perpendicular to the direction of motion of the bicycle, and wherein determining a potential collision situation based on at least one of the position data and the velocity data of a vehicle located behind the bicycle comprises;

comparing the longitudinal distance or relative longitudinal velocity to a first threshold;

comparing the lateral distance or relative lateral velocity to a second threshold; and

determining a potential collision situation if the longitudinal distance or relative longitudinal velocity is less than or equal to the first threshold or the lateral distance or relative lateral velocity is less than or equal to the second threshold.

25. The system of claim 23, wherein the one or more rear sensors comprises a laser sensor to provide rear vehicular data.

26. The system of claim 23, wherein the rear sensing apparatus comprises a rotating member coupled to the one or more rear sensors to rotate the one or more rear sensors about an axis, wherein the computing apparatus further is configured to control the rotating member to rotate about the axis to continuously track a moving vehicle using the one or more rear sensors.

27. A system for use with a bicycle comprising:

a rear sensing apparatus couplable to the bicycle and comprising one or more rear sensors to detect a distance from the bicycle to vehicles located behind the bicycle and an angle of a direction of the distance from the bicycle to the vehicles located behind the bicycle relative to a direction of motion of the bicycle to provide rear vehicular data;

an alert apparatus comprising a speaker to output sound to alert at least drivers of vehicles of potential collision situations; and

a computing apparatus comprising one or more processors operably coupled to the rear sensing apparatus and the alert apparatus, wherein the computing apparatus is configured to;

determine position data and velocity data of vehicles located behind the bicycle based on the rear vehicular data from the rear sensing apparatus,

determine a potential collision situation based on at least one of the position data and the velocity data of a vehicle located behind the bicycle, and

issue an alert using the alert apparatus in response to determining a potential collision situation, wherein the alert comprises one or more sounds outputted by the speaker to alert at least the driver of the vehicle, wherein issuing an alert using the alert apparatus in response to determining a potential collision situation comprises;

issuing a preliminary collision alert using the alert apparatus in response to determining a potential collision situation, and

issuing an imminent collision alert using the alert apparatus in response to determining that the potential collision situation has not ceased, wherein the imminent collision alert is issued closer to the potential collision situation than the preliminary collision alert, wherein the imminent collision alert is configured to be more intrusive/noticeable to the driver of the vehicle of the potential collision situation than the preliminary collision alert.

28. A system for use with a bicycle comprising:

a front sensing apparatus couplable to the bicycle and comprising one or more front sensors to detect a distance from the bicycle to vehicles located in front the bicycle and an angle of a direction of the distance from the bicycle to the vehicles located in front the bicycle relative to a direction of motion of the bicycle to provide front vehicular data;

an alert apparatus comprising a speaker to output sound to alert at least drivers of vehicles of potential collision situations; and

a computing apparatus comprising one or more processors operably coupled to the front sensing apparatus and the alert apparatus, wherein the computing apparatus is configured to;

determine position data and velocity data of vehicles located in front of the bicycle based on the front vehicular data from the front sensing apparatus,

determine a potential collision situation based on at least one of the position data and the velocity data of a vehicle located in front of the bicycle,

analyze traffic at an intersection to at least detect one or more of a left turning vehicle and a vehicle stopped and waiting to turn left to determine a potential collision situation, and

issue an alert using the alert apparatus in response to determining a potential collision situation, wherein the alert comprises one or more sounds outputted by the speaker to alert at least the driver of the vehicle.

29. The system of claim 28, wherein the front sensing apparatus comprises a rotating member coupled to the one or more sensors to rotate the one or more sensors about an axis, wherein the computing apparatus further is configured to rotate the one or more sensors about the axis to scan an area in front of the bicycle to actively detect one of the corners of the vehicle located in front of the bicycle.

30. The system of claim 28, wherein the computing apparatus is further configured to detect a front corner of the vehicle located in front of the bicycle using the one or more front sensors so as to compute both the lateral and longitudinal distance of the vehicle.

31. A system for use with a bicycle comprising:

a front sensing apparatus couplable to the bicycle and comprising one or more front sensors to detect a distance from the bicycle to vehicles located in front the bicycle and an angle of a direction of the distance from the bicycle to the vehicles located in front the bicycle relative to a direction of motion of the bicycle to provide front vehicular data;

an alert apparatus comprising a speaker to output sound to alert at least drivers of vehicles of potential collision situations; and

a computing apparatus comprising one or more processors operably coupled to the front sensing apparatus and the alert apparatus, wherein the computing apparatus is configured to;

determine position data and velocity data of vehicles located in front of the bicycle based on the front vehicular data from the front sensing apparatus,

determine a potential collision situation based on at least one of the position data and the velocity data of a vehicle located in front of the bicycle,

analyze traffic at a traffic intersection travelling in a direction approximately perpendicular to the bicycle'"'"'s direction of motion to determine a potential collision situation, and

issue an alert using the alert apparatus in response to determining a potential collision situation, wherein the alert comprises one or more sounds outputted by the speaker to alert at least the driver of the vehicle.

32. The system of claim 31, wherein the computing apparatus is further configured to:

determine whether an upcoming intersection is free of a potential collision situation based on data from the front sensing apparatus; and

issue an intersection clear alert using the alert apparatus in response to determining that the upcoming intersection is free of a potential collision situation, wherein the intersection clear alert comprises one or more sounds outputted by the speaker.