Collision detection system and method of operation

• US 9,482,751 B2
• Filed: 10/13/2014
• Issued: 11/01/2016
• Est. Priority Date: 10/13/2014
• Status: Active Grant

• Current Assignee: Applied Concepts Incorporated (Emerson Electric Company)
• Original Assignee: Applied Concepts Incorporated (Emerson Electric Company)
• Inventors: Mandava, Mahendra, Gammenthaler, Robert S.
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): BERNS, MICHAEL ANDREW
• Application Number:
  US14/513,084
• Publication Number:
  US 20160103218A1
• Time in Patent Office: 750 Days
• Field of Search: 701/301
• US Class Current: 1/1
• CPC Class Codes: B60Q 5/00 Arrangement or adaptation of acoustic signal devices
• CPC Class Codes: B60Q 5/006 indicating risk of collision between vehicles or with pedestrians
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: G01S 13/723 by using numerical data
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/93272 in the back of the vehicles

Abstract

A system for detecting driver vehicle travelling in an unsafe manner comprising a radar system configured to generate a sequence of frames of radar data. A target trajectory system configured to receive the sequence of frames of radar data and to generate target trajectory data for a vehicle. An alarm system configured to receive the target trajectory data and to generate an alarm as a function of the target trajectory data, a probability of collision, a degree of erratic driving or other suitable data.

Claims

1. A method for detecting an erratic driver comprising:

generating a sequence of frames of radar data using a radar system that provides speed data and location data for targets in a radar signal and assigns a unique identifier to each target;

receiving the sequence of frames of radar data at a processor;

generating target trajectory data for a vehicle using the processor;

generating an alarm as a function of the target trajectory data; and

wherein generating the target trajectory data for the vehicle using the processor comprises generating a probability density function for the vehicle.

2. The method of claim 1 further comprising:

generating location data for a patrol car associated with the radar system; and

modifying the target trajectory data as a function of the location data.

3. The method of claim 1 further comprising:

generating road map data; and

modifying the target trajectory data as a function of the road map data.

4. The method of claim 1 further comprising:

generating a first audio indicator for vehicles approaching from a front of a patrol vehicle; and

generating a second audio indicator for vehicles approaching from a rear of the patrol vehicle.

5. The method of claim 1 further comprising increasing or decreasing a tone frequency of an audio indicator as a function of a location of one or more of the target vehicles.

6. The method of claim 1 further comprising increasing or decreasing a volume of an audio indicator as a function of a location of one or more of the target vehicles.

7. The method of claim 1 further comprising changing a cadence of an audio indicator as a function of a location of one or more of the target vehicles.

8. The method of claim 1 wherein generating the target trajectory data for the vehicle using the processor comprises applying a fuzziness factor to the target trajectory data as a function of vehicle weaving data.

9. The method of claim 1 wherein generating the target trajectory data for the vehicle using the processor comprises extrapolating a vehicle position for the vehicle as a function of historical location data for the vehicle.

10. The method of claim 1 wherein generating the target trajectory data for the vehicle using the processor comprises extrapolating a vehicle elevation for the vehicle as a function of historical elevation data for the vehicle.

11. The method of claim 1 wherein generating the target trajectory data for the vehicle using the processor comprises:

generating a first probability density function for the vehicle at a first time;

generating a second probability density function for the vehicle at a second time; and

determining whether the first probability density function is different from the second probability density function.

12. The method of claim 1 further comprising determining a type of impairment as a function of target trajectory data of the vehicle.

13. The method of claim 1 wherein generating the target trajectory data for the vehicle using the processor comprises generating a probability density function corresponding to a probability of points of impact at an intersection of predicted target trajectory data with a vehicle outline.

14. The method of claim 1 wherein generating the target trajectory data for the vehicle using the processor comprises applying a fuzziness factor that increases a standard deviation of a probability density function as a function of vehicle weaving and erratic target trajectory data.

15. The method of claim 1 wherein generating the target trajectory data for the vehicle using the processor comprises applying a fuzziness factor that increases a standard deviation of a probability density function as a function of a target trajectory deviating from a normal path as indicated from road map information.

16. A method for detecting an erratic driver comprising:

generating a sequence of frames of radar data using a radar system that provides speed data and location data for targets in a radar signal and assigns a unique identifier to each target;

receiving the sequence of frames of radar data at a processor;

generating target trajectory data for a vehicle using the processor;

generating an alarm as a function of the target trajectory data; and

wherein generating the target trajectory data for the vehicle using the processor comprises extrapolating a vehicle elevation for the vehicle as a function of historical elevation data for the vehicle.

17. The method of claim 16 further comprising increasing or decreasing a tone frequency of an audio indicator as a function of a location of one or more of the target vehicles.

18. The method of claim 17 further comprising:

generating location data for a patrol car associated with the radar system; and

modifying the target trajectory data as a function of the location data.

19. The method of claim 16 further comprising:

generating location data for a patrol car associated with the radar system; and

modifying the target trajectory data as a function of the location data.

20. The method of claim 16 further comprising changing a cadence of an audio indicator as a function of a location of one or more of the target vehicles.

21. The method of claim 16 further comprising increasing or decreasing a volume of an audio indicator as a function of a location of one or more of the target vehicles.

22. A method for detecting an erratic driver comprising:

generating a sequence of frames of radar data using a radar system that provides speed data and location data for targets in a radar signal and assigns a unique identifier to each target;

receiving the sequence of frames of radar data at a processor;

generating target trajectory data for a vehicle using the processor;

generating an alarm as a function of the target trajectory data;

wherein generating the target trajectory data for the vehicle using the processor comprises;

generating a first probability density function for the vehicle at a first time;

generating a second probability density function for the vehicle at a second time; and

determining whether the first probability density function is different from the second probability density function.

23. The method of claim 22 further comprising:

generating location data for a patrol car associated with the radar system; and

modifying the target trajectory data as a function of the location data.

24. The method of claim 22 further comprising increasing or decreasing a tone frequency of an audio indicator as a function of a location of one or more of the target vehicles.

25. A method for detecting an erratic driver comprising:

generating a sequence of frames of radar data using a radar system that provides speed data and location data for targets in a radar signal and assigns a unique identifier to each target;

receiving the sequence of frames of radar data at a processor;

generating target trajectory data for a vehicle using the processor;

generating an alarm as a function of the target trajectory data; and

determining a type of impairment as a function of target trajectory data of the vehicle.

26. The method of claim 25 further comprising:

generating location data for a patrol car associated with the radar system; and

modifying the target trajectory data as a function of the location data.

27. A method for detecting an erratic driver comprising:

generating a sequence of frames of radar data using a radar system that provides speed data and location data for targets in a radar signal and assigns a unique identifier to each target;

receiving the sequence of frames of radar data at a processor;

generating target trajectory data for a vehicle using the processor;

generating an alarm as a function of the target trajectory data; and

wherein generating the target trajectory data for the vehicle using the processor comprises generating a probability density function corresponding to a probability of points of impact at an intersection of predicted target trajectory data with a vehicle outline.

28. The method of claim 27 further comprising:

generating location data for a patrol car associated with the radar system; and

modifying the target trajectory data as a function of the location data.

29. A method for detecting an erratic driver comprising:

generating a sequence of frames of radar data using a radar system that provides speed data and location data for targets in a radar signal and assigns a unique identifier to each target;

receiving the sequence of frames of radar data at a processor;

generating target trajectory data for a vehicle using the processor;

generating an alarm as a function of the target trajectory data;

wherein generating the target trajectory data for the vehicle using the processor comprises applying a fuzziness factor that increases a standard deviation of a probability density function as a function of vehicle weaving and erratic target trajectory data.

30. The method of claim 29 further comprising:

generating location data for a patrol car associated with the radar system; and

modifying the target trajectory data as a function of the location data.

31. A method for detecting an erratic driver comprising:

generating a sequence of frames of radar data using a radar system that provides speed data and location data for targets in a radar signal and assigns a unique identifier to each target;

receiving the sequence of frames of radar data at a processor;

generating target trajectory data for a vehicle using the processor;

generating an alarm as a function of the target trajectory data;

wherein generating the target trajectory data for the vehicle using the processor comprises applying a fuzziness factor that increases a standard deviation of a probability density function as a function of a target trajectory deviating from a normal path as indicated from road map information.

32. The method of claim 31 further comprising:

generating location data for a patrol car associated with the radar system; and

modifying the target trajectory data as a function of the location data.