Detection of pedestrian using radio devices

• US 10,377,374 B1
• Filed: 05/13/2016
• Issued: 08/13/2019
• Est. Priority Date: 11/06/2013
• Status: Active Grant

• Current Assignee: Waymo LLC (Alphabet Inc.)
• Original Assignee: Waymo LLC (Alphabet Inc.)
• Inventors: Droz, Pierre-yves
• Primary Examiner(s): Shudy, Angelina
• Application Number:
  US15/154,366
• Time in Patent Office: 1,187 Days
• Field of Search: 701 23, 701300, 701301
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2554/4029 Pedestrians
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 50/082 Selecting or switching between different modes of propelling
• CPC Class Codes: B60W 60/0017 of other traffic participants
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: H04W 84/12 WLAN [Wireless Local Area Networks]

Abstract

The present radio system transmits an electromagnetic signal to nearby devices requesting the device respond. The radio system also receives responses to the electromagnetic signal from the nearby devices. Based on the radio technology used, the signaling of the transmitted electromagnetic signal may be varied. For example, the transmitted electromagnetic signal may be a Bluetooth, 802.11, or other radio signal. A device that received the signal from the radio unit may transmit a response signal with the same radio technology. However, in some instances, the radio technology used for communication may operate on several radio (e.g., frequency) channels. Both the transmitter and receiver must operate on the same channel at the same time in order to communicate. Thus, it may be desirable to transmit the electromagnetic signal on more than one channel at the same time, in order to increase the chances that a nearby device responds.

Claims

1. An apparatus comprising:

a first sensor unit configured to;

transmit, using a single short-range wireless transmission radio technology, a device-discovery radio signal on all frequency channels of the single short-range wireless transmission radio technology, wherein the device-discovery radio signal is transmitted without waiting for a response signal, and wherein the device-discovery radio signal comprises a request for any nearby device to transmit a responsive radio signal, and

receive, using the single short-range wireless transmission radio technology and in response to the device-discovery radio signal, the responsive radio signal on at least one of the frequency channels;

a second sensor unit configured to receive optical data indicating an object near a vehicle; and

a processor configured to;

analyze the optical data to determine an identification of the object;

in response to not having a high confidence as to the identification of the object, analyze the received responsive radio signal to determine whether the received responsive radio signal was received from a cellphone of a pedestrian;

based on determining that the received responsive radio signal was received from the cell phone of the pedestrian, confirm the identification of the object; and

alter a control of the apparatus based on confirming the identification of the object.

2. The apparatus according to claim 1, wherein the processor is further configured to determine a direction of the responsive radio signal.

3. The apparatus according to claim 1, wherein the processor is further configured to determine a distance of the responsive radio signal.

4. The apparatus according to claim 1, wherein altering the control comprises changing the movement of the apparatus.

5. The apparatus according claim 1, wherein altering the control comprises stopping the apparatus.

6. The apparatus according claim 1, wherein altering the control comprises switching the apparatus to a human-controlled mode.

7. A method comprising:

transmitting, using a single short-range wireless transmission radio technology, a device-discovery radio signal all frequency channels of the single short-range wireless transmission radio technology, wherein the device-discovery radio signal is transmitted without waiting for a response signal, and wherein the device-discovery radio signal comprises a request for any nearby devices to transmit a responsive radio signal,

receiving, using the single short-range wireless transmission radio technology and in response to the device-discovery radio signal, the responsive radio signal on at least one of the frequency channels;

receiving optical data indicating an object near a vehicle;

analyzing the optical data to determine an identification of the object;

in response to not having a high confidence as to the identification of the object, analyzing the received responsive radio signal to determine whether the received responsive radio signal was received from a cellphone of a pedestrian;

based on determining that the received responsive radio signal was received from the cell phone of the pedestrian, confirming the identification of the object; and

altering a control of an apparatus based on confirming the identification of the object.

8. The method of claim 7, further comprising determining a direction of the responsive radio signal.

9. The method of claim 7, further comprising determining a distance of the responsive radio signal.

10. The method of claim 7, wherein altering the control comprises changing the movement of the apparatus.

11. The method of claim 7, wherein altering the control comprises stopping the apparatus.

12. The method of claim 7, wherein altering the control comprises switching the apparatus to a human-controlled mode.

13. An article of manufacture including a non-transitory computer-readable medium having stored thereon program instructions that, if executed by a processor in a radio system, cause the radio system to perform operations comprising:

transmitting, using a single short-range wireless transmission radio technology, a device-discovery radio signal on all frequency channels of the single short-range wireless transmission radio technology, wherein the device-discovery radio signal is transmitted without waiting for a response signal, and wherein the device-discovery radio signal comprises a request for any nearby devices to transmit a responsive radio signal,

receiving, using the single short-range wireless transmission radio technology and in response to the device-discovery radio signal, the responsive radio signal on at least one of the frequency channels;

receiving optical data indicating an object near a vehicle;

analyzing the optical data to determine an identification of the object;

in response to not having a high confidence as to the identification of the object, analyzing the received responsive radio signal to determine whether the received responsive radio signal was received from a cellphone of a pedestrian;

based on determining that the received responsive radio signal was received from the cell phone of the pedestrian, confirming the identification of the object; and

altering a control of an apparatus based on confirming the identification of the object.

14. The article of manufacture according claim 13, wherein altering the control comprises switching the apparatus to a human-controlled mode.