Proximity awareness system for motor vehicles

• US 9,659,496 B2
• Filed: 02/10/2016
• Issued: 05/23/2017
• Est. Priority Date: 02/10/2015
• Status: Active Grant

• Current Assignee: Ridar Systems LLC
• Original Assignee: Ridar Systems LLC
• Inventors: Massey, Brent F., Rouleau, Greg L., Selden, Thaddeus Noll
• Primary Examiner(s): Alharbi, Adam
• Application Number:
  US15/040,740
• Publication Number:
  US 20160232790A1
• Time in Patent Office: 468 Days
• 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: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G08G 1/0112 from the vehicle, e.g. floating car data [FCD]
• CPC Class Codes: G08G 1/012 from other sources than vehicle or roadside beacons, e.g. mobile networks
• CPC Class Codes: G08G 1/0133 for classifying traffic situation
• CPC Class Codes: G08G 1/0141 for traffic information dissemination
• CPC Class Codes: G08G 1/096716 where the received information does not generate an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096725 where the received information generates an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096741 where the source of the transmitted information selects which information to transmit to each vehicle
• CPC Class Codes: G08G 1/096775 where the origin of the information is a central station
• CPC Class Codes: G08G 1/164 Centralised systems, e.g. external to vehicles
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: H04W 4/021 Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
• CPC Class Codes: H04W 4/44 for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
• CPC Class Codes: H04W 4/90 Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS]

Abstract

Various embodiments provide enhanced warnings of potential future adverse events (e.g., automobile crashes) by tracking the location and motion of multiple vehicles, and providing alerts or warnings to the drivers of such vehicles in the event that a risk of an adverse event is identified.

Claims

1. A method of enhancing road safety for vehicles traveling on a network of roads, the method comprising:

receiving, at an interaction detector, a plurality of monitoring vectors from a plurality of vehicles travelling on the network of roads, the plurality of vehicles including at least a first vehicle and a second vehicle, the interaction detector being remote from the plurality of vehicles;

determining, from the plurality of monitoring vectors, whether there is an interaction between the first vehicle and the second vehicle, the interaction existing when the first vehicle is within a risk radius of the second vehicle, wherein;

the risk radius is a predetermined distance such that the first vehicle and the second vehicle have a risk of collision, and

the second vehicle is offset from, and not at, the center of a circle defined by the risk radius;

the interaction being determined without use of prior knowledge of a pre-planned route of either of the first vehicle and the second vehicle on the network of roads; and

alerting an occupant of at least one of the first vehicle and the second vehicle that the interaction on the network of roads has been determined.

2. The method of claim 1, wherein determining, from the plurality of monitoring vectors, whether there is an interaction between the first vehicle and the second vehicle further comprises first determining whether there is a potential interaction between the first vehicle and the second vehicle.

3. The method of claim 2 wherein:

the monitoring vector from the first vehicle comprises at least a location of the first vehicle, and

determining whether there is a potential interaction between the first vehicle and the second vehicle comprises;

establishing a plurality of points proximate to the first vehicle; and

determining whether any of the plurality of points is within the risk radius of second vehicle.

4. The method of claim 1, further comprising causing the at least one of the first vehicle and the second vehicle to take evasive action to avoid another of the plurality of vehicles.

5. The method of claim 1, wherein receiving a monitoring vector from a vehicle comprises receiving monitoring vectors generated by a location-monitoring device in said vehicle.

6. The method of claim 1 wherein the second vehicle is at the center of an area defined by the risk radius.

7. The method of claim 1 wherein determining whether the first vehicle and the second vehicle have a risk of collision comprises determining whether the first vehicle and the second vehicle are on the same road such that a collision is possible.

8. A method of operating an autonomous vehicle, the method comprising:

receiving, at an interaction detector, a plurality of monitoring vectors from at least an autonomous vehicle and a second vehicle;

determining, from the plurality of monitoring vectors, whether there is an interaction between the autonomous vehicle and the second vehicle, the interaction existing when

the autonomous vehicle and the second vehicle are within a risk radius of one another, the risk radius defined as a predetermined distance, such that the autonomous vehicle and the second vehicle have a risk of collision, and

the second vehicle is offset from, and not at, the center of a circle defined by the risk radius; and

remotely controlling the autonomous vehicle, based on a detected interaction, to avoid a collision between the autonomous vehicle and the second vehicle.

9. The method of claim 8, wherein remotely controlling the autonomous vehicle comprises sending instructions to a control system in the autonomous vehicle, to take an action selected from the group consisting of slowing the autonomous vehicle, stopping the autonomous vehicle, and performing an evasive maneuver to avoid a collision with the second vehicle.

10. A system for enhancing safety on a network of roads, comprising:

an interaction detector having a communications interface for receiving a plurality of monitoring vectors from a first vehicle and a second vehicle travelling on the network of roads;

an interaction risk module configured to determine, from the plurality of monitoring vectors, whether there is an interaction between the first vehicle and second vehicle, the interaction determined without use of prior knowledge of a pre-planned route of either of the first vehicle and the second vehicle on the network of roads, by determining that the first vehicle is within a risk radius of the second vehicle, wherein

the risk radius is a predetermined distance; and

the second vehicle is offset from, and not at, the center of a circle defined by the risk radius;

such that the first vehicle and second vehicle have a risk of collision with one another on the network of roads; and

a message generator configured to generate a message to at least the first vehicle in response to a determination, by interaction risk module, of an interaction, and to send the message to the first vehicle via a vehicle the communications interface.

11. The system of claim 10, wherein the second vehicle is a motorcycle or a bicycle.

12. The system of claim 10, wherein the interaction risk module is further configured to determine whether there is an interaction between the first vehicle and second vehicle on the network of roads by first determining whether there is a potential interaction between the first vehicle and second vehicle on the network of roads, based on a point spread generated around the location of the second vehicle.

13. The system of claim 10, wherein the message generator is further configured to generate a message to the first vehicle only if such a message has not been generated to said first vehicle within a predetermined time of a determination, by interaction risk module, of an interaction.

14. The system of claim 10, wherein the interaction risk module is further configured to determine that there is an interaction between the first vehicle and a second vehicle such that the first vehicle and second vehicle have a risk of collision with one another, only if monitoring vectors from first vehicle and second vehicle are contemporaneous.

15. The system of claim 10, wherein the message generator is further configured to generate a message to the first vehicle only if the first vehicle is not within a geofence.

16. The system of claim 10, wherein the first vehicle is an autonomous vehicle, and the message includes instructions to remotely control the first vehicle to avoid a potential collision between the first vehicle and the second vehicle.

17. A method of enhancing road safety for vehicles traveling on a network of roads, the method comprising:

receiving, at an interaction detector, a plurality of monitoring vectors from a plurality of vehicles travelling on the network of roads, the plurality of vehicles including at least a first vehicle and a second vehicle, the interaction detector being remote from the plurality of vehicles;

determining, from the plurality of monitoring vectors, whether there is an interaction between the first vehicle and the second vehicle, the interaction existing when the first vehicle is within a risk radius of the second vehicle, the risk radius defined as a predetermined distance from a projected future location of the second vehicle, such that the first vehicle and the second vehicle have a risk of collision, the interaction being determined without use of prior knowledge of a pre-planned route of either of the first vehicle and the second vehicle on the network of roads; and

alerting an occupant of at least one of the first vehicle and the second vehicle when the interaction on the network of roads is determined.

18. The method of claim 17, wherein determining, from the plurality of monitoring vectors, whether there is an interaction between the first vehicle and the second vehicle further comprises first determining whether there is a potential interaction between the first vehicle and the second vehicle.

19. The method of claim 18 wherein:

the monitoring vector from the first vehicle comprises at least a location of the first vehicle, and

determining whether there is a potential interaction between the first vehicle and the second vehicle comprises;

establishing a plurality of points proximate to the first vehicle; and

determining whether any of the plurality of points is within the risk radius of the second vehicle.

20. The method of claim 17, further comprising causing the at least one of the first vehicle and the second vehicle to take evasive action to avoid another of the plurality of vehicles.

21. The method of claim 17, wherein receiving a monitoring vector from a vehicle comprises receiving a monitoring vector generated by a location-monitoring device in said vehicle.

22. The method of claim 17 wherein determining whether there is an interaction between the first vehicle and the second vehicle comprises determining whether the first vehicle is within a risk radius of the second vehicle.

23. The method of claim 22 wherein the second vehicle is at the center of an area defined by the risk radius.

24. The method of claim 17 wherein determining whether the first vehicle and the second vehicle have a risk of collision comprises determining whether the first vehicle and the second vehicle are on the same road such that a collision is possible.

25. A method of operating an autonomous vehicle, the method comprising:

receiving, at an interaction detector, a plurality of monitoring vectors from at least the autonomous vehicle and a second vehicle;

determining, from the plurality of monitoring vectors, whether there is an interaction between the autonomous vehicle and the second vehicle, the interaction existing when the autonomous vehicle and the second vehicle are within a risk radius of one another, the risk radius defined as a predetermined distance extending from a projected future location of the second vehicle,

such that the autonomous vehicle and the second vehicle have a risk of collision; and

remotely controlling the autonomous vehicle, based on a detected interaction, to avoid a collision between the autonomous vehicle and the second vehicle.

26. The method of claim 25, wherein remotely controlling the autonomous vehicle comprises sending instructions, to a control system in the autonomous vehicle, to take an action selected from the group consisting of slowing the autonomous vehicle, stopping the autonomous vehicle, and performing an evasive maneuver to avoid a collision with the second vehicle.

27. A system for enhancing safety on a network of roads, comprising:

an interaction detector having a communications interface for receiving a plurality of monitoring vectors from a first vehicle and a second vehicle travelling on the network of roads;

an interaction risk module configured to determine, from the plurality of monitoring vectors, whether there is an interaction between the first vehicle and the second vehicle, the interaction determined without use of prior knowledge of a pre-planned route of either of the first vehicle and the second vehicle on the network of roads, by determining whether the first vehicle is within a risk radius of the second vehicle, wherein the risk radius is defined as a predetermined distance extending from a projected future location of the second vehicle, such that the first vehicle and second vehicle have a risk of collision with one another on the network of roads; and

a message generator configured to generate a message to at least the first vehicle in response to a determination, by interaction risk module, of an interaction, and to send the message to the first vehicle via a vehicle the communications interface.

28. The system of claim 27, wherein the second vehicle is a motorcycle or a bicycle.

29. The system of claim 27, wherein the interaction risk module is further configured to determine whether there is an interaction between the first vehicle and second vehicle on the network of roads by first determining whether there is a potential interaction between the first vehicle and second vehicle on the network of roads, based on a point spread generated around the location of the second vehicle.

30. The system of claim 27, wherein the message generator is further configured to generate a message to the first vehicle only when such a message has not been generated to said first vehicle within a predetermined time of a determination, by interaction risk module, of an interaction.

31. The system of claim 27, wherein the interaction risk module is further configured to determine that there is an interaction between the first vehicle and a second vehicle such that the first vehicle and second vehicle have a risk of collision with one another, only when monitoring vectors from first vehicle and second vehicle are contemporaneous.

32. The system of claim 27, wherein the first vehicle is an autonomous vehicle, and the message includes instructions to remotely control the first vehicle to avoid a potential collision between the first vehicle and the second vehicle.