Collision avoidance systems and methods

• US 10,431,099 B2
• Filed: 12/11/2015
• Issued: 10/01/2019
• Est. Priority Date: 02/21/2014
• Status: Active Grant

• Current Assignee: Teledyne FLIR LLC (Teledyne Technologies Incorporated)
• Original Assignee: Flir Belgium BVBA (Teledyne Technologies Incorporated)
• Inventors: Stewart, Peter A., Wellbelove, John, Rivers, Mark
• Primary Examiner(s): Shudy, Angelina
• Application Number:
  US14/966,998
• Publication Number:
  US 20160125739A1
• Time in Patent Office: 1,390 Days
• Field of Search: 701 21, 701301
• CPC Class Codes: B63B 43/18 preventing collision or grounding; reducing collision damage reducing pollution by collision B63B25/082
• CPC Class Codes: G01C 21/203 Specially adapted for sailing ships
• CPC Class Codes: G01S 13/937 of marine craft
• CPC Class Codes: G05D 1/0206 specially adapted to water vehicles
• CPC Class Codes: G08G 3/02 Anti-collision systems

Abstract

Techniques are disclosed for systems and methods to generate image data based on avoidance areas for mobile targets and/or mobile structures. A collision avoidance system includes a logic device configured to communicate with a ranging sensor and/or a speed, position, and/or orientation sensor (SPOS) mounted to a mobile structure. The logic device may be configured to determine a projected course for a mobile target detected by the ranging sensor. The system may determine one or more avoidance areas based, at least in part, on the projected course for the mobile target and a speed, position, and/or orientation of the mobile structure detected by the SPOS. The system may generate image data based, at least in part, on the projected course, the one or more avoidance areas, and the detected orientation and/or position.

Claims

1. A system comprising:

a user interface configured to receive user input and provide user feedback with respect to a mobile structure; and

a controller configured to communicate with the user interface, a ranging sensor, and a speed, position, and orientation sensor (SPOS) mounted to the mobile structure, wherein the controller is configured to;

receive a detection of a mobile target from the ranging sensor;

determine a projected course for the mobile target detected by the ranging sensor;

determine at least first and second avoidance areas based, at least in part, on the projected course for the mobile target, one or more dimensions of the mobile target, and a speed, position, and orientation of the mobile structure provided by the SPOS, wherein each of the first and second avoidance areas comprise an avoidance area length comprising an adjustable lead length extending along a direction of motion of the mobile target that is adjustable based, at least in part, on the projected course for the mobile target;

generate image data based, at least in part, on the projected course, the first and second avoidance areas, and the speed, position, and orientation of the mobile structure, wherein the image data indicates at least the first and second avoidance areas; and

render the image data via at least one display of the user interface.

2. The system of claim 1, wherein the ranging sensor comprises a radar system configured to detect one or more relative positions and/or a cross section of the mobile target, and wherein the controller is configured to:

receive the one or more relative positions and/or the cross section of the mobile target from the radar system;

determine a velocity and/or an estimated size of the mobile target based, at least in part, on the received relative positions and/or cross section; and

determine the projected course and/or the first and second avoidance areas based, at least in part, on the determined velocity and/or the estimated size of the mobile target.

3. The system of claim 1, wherein the projected course comprises a velocity of the mobile target, and wherein the controller is configured to:

determine one or more predicted collision points between the mobile target and the mobile structure and along the projected course based, at least in part, on the velocity of the mobile target; and

determine the first and second avoidance areas based, at least in part, on the one or more predicted collision points.

4. The system of claim 3, wherein the ranging sensor comprises an Automatic Identification System (AIS) receiver, and wherein the controller is configured to:

determine the projected course for the mobile target from signals provided by the AIS receiver;

determine a clearance zone between the first and second avoidance areas; and

generate the image data based, at least in part, on the clearance zone.

5. The system of claim 3, wherein:

the one or more predicted collision points comprise first and second centroid predicted collision points between the mobile target and the mobile structure, and the controller is configured to determine the first and second avoidance areas based on extending the first and second centroid predicted collision points about the projected course according to the one or more dimensions of the mobile target and the adjustable lead length, wherein the adjustable lead length is based on the velocity of the mobile target and/or safety regulations associated with reducing a risk of collisions;

or

the one or more predicted collision points each correspond to at least one of the one or more dimensions of the mobile target, and the controller is configured to determine the first and second avoidance areas based on determining positions for each of the one or more predicted collision points and grouping the positions for each of the one or more predicted collision points according to a corresponding predicted collision time and/or the one or more dimensions of the mobile target and the adjustable lead length, wherein the adjustable lead length is based on the velocity of the mobile target and/or safety regulations associated with reducing a risk of collisions.

6. The system of claim 1, wherein the ranging sensor comprises an Automatic Identification System (AIS) receiver, and wherein the controller is configured to:

receive one or more dimensions of the mobile target from the AIS receiver;

determine the first and second avoidance areas based, at least in part, on the one or more dimensions of the mobile target and/or one or more characteristics of the mobile structure;

determine an avoidance course for the mobile structure to avoid the first and second avoidance areas; and

generate the image data based, at least in part, on the avoidance course.

7. The system of claim 1, further comprising a steering sensor/actuator and/or a propulsion system for the mobile structure, wherein the controller is configured to:

determine one or more predicted collision points between the mobile target and the mobile structure and along the projected course;

determine an interdiction course to one of the one or more predicted collision points; and

pilot the mobile structure along the interdiction course to intercept the mobile target at the one of the one or more predicted collision points, using the steering sensor/actuator and/or the propulsion system.

8. The system of claim 1, wherein the first avoidance area is further from the detected mobile target than the second avoidance area, and the controller is configured to:

determine first, second, and/or third clearance zones along the projected course that are outside the first and second avoidance areas, wherein the first clearance zone is further from the mobile target than the first avoidance area, the second clearance zone is between the first avoidance area and the second avoidance area, and the third clearance zone is separate from the first and second clearance zones; and

determine one or more avoidance courses for the mobile structure based, at least in part, on the first, second, and/or third clearance zones.

9. The system of claim 8, wherein the controller is configured to:

determine first, second, and/or third risks of collision associated with the mobile structure traversing the projected course through the first, second, and/or third clearance zones; and

determine a recommended avoidance course comprising one of the one or more determined avoidance courses for the mobile structure based, at least in part, on the first, second, and/or third risks of collision.

10. The system of claim 1, further comprising the ranging sensor, wherein the controller is configured to:

determine an updated projected course for the mobile target detected by the ranging sensor, wherein the updated projected course comprises an updated position and/or velocity of the mobile target;

receive an updated speed, position, and/or orientation of the mobile structure from the SPOS;

determine first and second updated avoidance areas based, at least in part, on the updated projected course for the mobile target and/or the updated speed, position, and/or orientation of the mobile structure; and

generate updated image data based, at least in part, on the updated projected course, the first and second updated avoidance areas, and/or the updated speed, position, and/or orientation of the mobile structure.

11. The system of claim 1, wherein the controller is configured to:

determine a turning rate of the mobile target based, at least in part, on the projected course of the mobile target;

determine a curvature for at least one of the first and second avoidance areas corresponding to the determined turning rate; and

generate the image data based, at least in part, on the determined curvature of the at least one of the first and second avoidance areas.

12. The system of claim 1, further comprising a memory configured to store one or more dimensions of the mobile structure, wherein the controller is configured to:

receive the one or more dimensions of the mobile structure from the memory; and

determine an avoidance course for the mobile structure to avoid the first and second avoidance areas, wherein the avoidance course is based, at least in part, on the one or more dimensions of the mobile structure.

13. The system of claim 1, further comprising the SPOS and the ranging sensor, wherein:

the mobile structure comprises a watercraft, aircraft, and/or motor vehicle;

the SPOS comprises a speed sensor, a global navigation satellite system (GNSS), an accelerometer, a gyroscope, and/or a compass; and

the ranging sensor comprises a radar system, an Automatic Identification System (AIS) receiver, and/or an Aircraft Communications Addressing and Reporting System (ACARS) receiver.

14. The system of claim 1, wherein:

the first and second avoidance areas comprise a limited avoidance area associated with the mobile target that is placed along the projected course and is configured to indicate a proximity of the mobile target to the mobile structure as the mobile structure approaches the projected course; and

the image data comprises the limited avoidance area.

15. A method comprising:

detecting, by a ranging sensor configured to be mounted to a mobile structure, a mobile target;

determining a projected course for the mobile target detected by the ranging sensor;

determining at least first and second avoidance areas based, at least in part, on the projected course for the mobile target and one or more dimensions of the mobile target wherein each of the first and second avoidance areas comprise an avoidance area length comprising an adjustable lead length extending along a direction of motion of the mobile target that is adjustable based, at least in part, on the projected course for the mobile target;

generating image data based, at least in part, on the projected course and the first and second avoidance areas, wherein the image data indicates at least the first and second avoidance areas; and

rendering the image data via at least one display of a user interface.

16. The method of claim 15, wherein the ranging sensor comprises a radar system configured to detect one or more relative positions and/or a cross section of the mobile target, the method further comprising:

receiving the one or more relative positions and/or the cross section of the mobile target from the radar system;

determining a velocity and/or an estimated size of the mobile target based, at least in part, on the received relative positions and/or cross section; and

determining the projected course and/or the first and second avoidance areas based, at least in part, on the determined velocity and/or the estimated size of the mobile target.

17. The method of claim 15, wherein the projected course comprises a velocity of the mobile target, the method further comprising:

determining one or more predicted collision points between the mobile target and the mobile structure and along the projected course based, at least in part, on the velocity of the mobile target; and

determining the first and second avoidance areas based, at least in part, on the one or more predicted collision points.

18. The method of claim 17, wherein the ranging sensor comprises an Automatic Identification System (AIS) receiver, the method further comprising:

determining the projected course for the mobile target from signals provided by the AIS receiver;

determining a clearance zone between the first and second avoidance areas; and

generating the image data based, at least in part, on the clearance zone.

19. The method of claim 17, wherein:

the one or more predicted collision points comprise first and second centroid predicted collision points between the mobile target and the mobile structure, and the method comprises determining the first and second avoidance areas based on extending the first and second centroid predicted collision points about the projected course according to the one or more dimensions of the mobile target and the adjustable lead length, wherein the adjustable lead length is based on the velocity of the mobile target and/or safety regulations associated with reducing a risk of collisions;

or

the one or more predicted collision points each correspond to at least one of the one or more dimensions of the mobile target, and the method comprises determining the first and second avoidance areas based on determining positions for each of the one or more predicted collision points and grouping the positions for each of the one or more predicted collision points according to a corresponding predicted collision time and/or the one or more dimensions of the mobile target and the adjustable lead length, wherein the adjustable lead length is based on the velocity of the mobile target and/or safety regulations associated with reducing a risk of collisions.

20. The method of claim 15, wherein the ranging sensor comprises an Automatic Identification System (AIS) receiver, and the method further comprising:

receiving one or more dimensions of the mobile target from the AIS receiver;

determining the first and second avoidance areas based, at least in part, on the one or more dimensions of the mobile target and/or one or more characteristics of the mobile structure;

determining an avoidance course for the mobile structure to avoid the first and second avoidance areas;

generating the image data based, at least in part, on the avoidance course; and

piloting the mobile structure according to the avoidance course.

21. The method of claim 15, further comprising:

determining one or more predicted collision points between the mobile target and the mobile structure and along the projected course;

determining an interdiction course to one of the one or more predicted collision points; and

piloting the mobile structure along the interdiction course to intercept the mobile target at the one of the one or more predicted collision points.

22. The method of claim 15, wherein the first avoidance area is further from the detected mobile target than the second avoidance area, the method further comprising:

determining first, second, and/or third clearance zones along the projected course that are outside the first and second avoidance areas, wherein the first clearance zone is farther from the detected mobile target than the first avoidance area, the second clearance zone is between the first avoidance area and the second avoidance area, and the third clearance zone is separate from the first and second clearance zones; and

determining one or more avoidance courses for the mobile structure based, at least in part, on the first, second, and/or third clearance zones.

23. The method of claim 22, further comprising:

determining first, second, and/or third risks of collision associated with the mobile structure traversing the projected course through the first, second, and/or third clearance zones; and

determining a recommended avoidance course comprising one of the one or more determined avoidance courses for the mobile structure based, at least in part, on the first, second, and/or third risks of collision.

24. The method of claim 15, wherein the generated image data is based, at least in part, on a speed, position, and/or orientation of the mobile structure provided by a speed, position, and/or orientation sensor (SPOS), the method further comprising:

determining an updated projected course for the mobile target detected by the ranging sensor, wherein the updated projected course comprises an updated position and/or velocity of the mobile target;

receiving an updated speed, position, and/or orientation of the mobile structure from the SPOS;

determining first and second updated avoidance areas based, at least in the part, on the updated projected course for the mobile target and/or the updated speed, position, and/or orientation of the mobile structure; and

generating updated image data based, at least in part, on the updated projected course, the first and second updated avoidance areas, and/or the updated speed, position, and/or orientation of the mobile structure.

25. The method of claim 15, further comprising:

determining a turning rate of the mobile target based, at least in part, on the projected course of the mobile target;

determining a curvature for at least one of the first and second avoidance areas corresponding to the determined turning rate; and

generating the image data based, at least in part, on the determined curvature of the at least one of the first and second avoidance areas.

26. The method of claim 15, further comprising:

receiving the one or more dimensions of the mobile structure; and

determining an avoidance course for the mobile structure to avoid the first and second avoidance areas, wherein the avoidance course is based, at least in part, on the one or more dimensions of the mobile structure.

27. The method of claim 15, wherein:

the first and second first and second avoidance areas comprise a limited avoidance area associated with the mobile target that is placed along the projected course and is configured to indicate a proximity of the mobile target to the mobile structure as the mobile structure approaches the projected course; and

the image data comprises the limited avoidance area.