Traffic analysis system utilizing position based awareness

• US 9,200,904 B2
• Filed: 03/15/2013
• Issued: 12/01/2015
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Borland, Brad Kenneth, Friend, Paul Russell, Chacko, Mathew
• Primary Examiner(s): Nguyen, John Q
• Assistant Examiner(s): KERRIGAN, MICHAEL V
• Application Number:
  US13/837,905
• Publication Number:
  US 20140278043A1
• Time in Patent Office: 991 Days
• US Class Current: 1/1
• CPC Class Codes: B60W 2300/12 Trucks; Load vehicles
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: G05D 1/02 Control of position or course in two dimensions
• CPC Class Codes: G05D 1/0289 with means for avoiding collisions between vehicles vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

A system and method of analyzing traffic in a vicinity of a first machine is disclosed. The method may include determining, by one or more computer processors, a projected position of the first machine based on a yaw rate and velocity of the first machine. The method may further include determining, by the one or more computer processors, a predicted zone in the vicinity of the first machine based on the projected position of the first machine. The method may further include determining whether a second machine is present in the predicted zone. In response to determining that the second machine is present in the predicted zone, the method may further include determining whether an unsafe condition exists between the first machine and the second machine.

Claims

1. A computer-implemented method of analyzing traffic in a vicinity of a first machine, comprising:

determining a predicted distance traveled for the first machine based on velocity of the first machine and a predefined time;

determining, by one or more computer processors, a projected position of the first machine based on the predicted distance traveled and a yaw rate of the first machine;

determining, by the one or more computer processors, an angle of the projected position relative to a current heading of the first machine;

selecting, by the one or more computer processors, a predicted zone from among a plurality of predefined zones in the vicinity of the first machine based on the determined angle;

determining whether a second machine is present in the predicted zone; and

in response to determining that the second machine is present in the predicted zone, determining whether an unsafe condition exists between the first machine and the second machine.

2. The computer-implemented method of claim 1, wherein determining the projected position includes:

determining a radius of travel for the first machine based on the yaw rate and the velocity; and

determining the projected position using the radius of travel and the predicted distance traveled.

3. The computer-implemented method of claim 1, wherein determining whether an unsafe condition exists includes:

determining whether the second machine is following or is being followed by the machine; and

in response to determining that the second machine is following or is being followed by the first machine, determining a distance between the first machine and the second machine.

4. The computer-implemented method of claim 3, wherein determining whether the second machine is following or is being followed by the first machine includes:

initializing a first counter for the second machine;

updating the projected position of the first machine;

updating the predicted zone based on the updated projected position; and

incrementing the first counter when the second machine is present in the updated predicted zone.

5. The computer-implemented method of claim 4, wherein the second machine is determined to be following or being followed by the first machine when the first counter exceeds a first predefined threshold value.

6. The computer-implemented method of claim 3, wherein determining whether an unsafe condition exists further includes:

executing a loop that checks whether the distance is less than a predefined unsafe following distance and increments a second counter when the distance is less than the predefined unsafe following distance; and

determining that an unsafe condition exists when the second counter exceeds a second predefined threshold value.

7. A system for analyzing traffic in a vicinity of a first machine, comprising:

a locating device configured to receive a signal indicative of a location of the first machine; and

a controller in communication with the locating device, the controller configured to;

determine a velocity of the first machine using the received signal;

determine a predicted distance traveled for the first machine based on the velocity and a predefined time;

determine a projected position of the first machine based on the predicted distance traveled and a yaw rate of the first machine;

determine an angle of the projected position relative to a current heading of the first machine;

selecting a predicted zone from among a plurality of predefined zones in the vicinity of the first machine based on the determined angle;

determine whether a second machine is present in the predicted zone; and

in response to determining that the second machine is present in the predicted zone, determine whether an unsafe condition exists between the first machine and the second machine.

8. The system of claim 7, wherein the controller is configured to determine the projected position by:

determining a radius of travel for the first machine based on the yaw rate and the velocity; and

determining the projected position using the radius of travel and the predicted distance traveled.

9. The system of claim 7, wherein the controller is configured to determine whether an unsafe condition exists by:

determining whether the second machine is following or is being followed by the first machine; and

in response to determining that the second machine is following or is being followed by the first machine, determining a distance between the first machine and the second machine.

10. The system of claim 9, wherein the controller is configured to determine whether the second machine is following or is being followed by the machine by:

initializing a first counter for the second machine;

updating the projected position of the first machine;

updating the predicted zone based on the updated projected position; and

incrementing the first counter when the second machine is present in the updated predicted zone.

11. The system of claim 10, wherein the second machine is determined to be following or being followed by the first machine when the first counter exceeds a first predefined threshold value.

12. The system of claim 9, wherein to determine whether an unsafe condition exists the controller is further configured to:

execute a loop that checks whether the distance is less than a predefined unsafe following distance and increments a second counter when the distance is less than the predefined unsafe following distance; and

determine that an unsafe condition exists when the second counter exceeds a second predefined threshold value.

13. A non-transitory computer-readable storage medium storing instructions for enabling a processor to execute a method of analyzing traffic in a vicinity of a first machine, the method comprising:

determining a predicted distance traveled for the first machine based on a velocity of the first machine and a predefined time;

determining a projected position of the first machine based on the predicted distance traveled and a yaw rate of the first machine;

determining an angle of the projected position relative to a current heading of the first machine;

selecting a predicted zone from among a plurality of predefined zones in the vicinity of the machine based on the determined angle;

determining whether a second machine is present in the predicted zone; and

in response to determining that the second machine is present in the predicted zone, determining whether an unsafe condition exists between the first machine and the second machine.

14. The non-transitory computer-readable storage medium of claim 13, wherein determining the projected position includes:

determining a radius of travel for the first machine based on the yaw rate and the velocity; and

determining the projected position using the radius of travel and the predicted distance traveled.

15. The non-transitory computer-readable storage medium of claim 13, wherein determining whether an unsafe condition exists includes:

determining whether the second machine is following or is being followed by the machine; and

in response to determining that the second machine is following or is being followed by the first machine, determining a distance between the first machine and the second machine.

16. The non-transitory computer-readable storage medium of claim 15, wherein determining whether the second machine is following or is being followed by the first machine includes:

initializing a first counter for the second machine;

updating the projected position of the first machine;

updating the predicted zone based on the updated projected position; and

incrementing the first counter when the second machine is present in the updated predicted zone.

17. The non-transitory computer-readable storage medium of claim 16, wherein the second machine is determined to be following or being followed by the first machine when the first counter exceeds a first predefined threshold value.