Systems and methods for collision avoidance using a scored-based collision region of interest

• US 9,663,033 B2
• Filed: 05/07/2015
• Issued: 05/30/2017
• Est. Priority Date: 05/07/2015
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Bharwani, Kiran Kumar Ram
• Primary Examiner(s): MULLEN, THOMAS J
• Application Number:
  US14/706,859
• Publication Number:
  US 20160325675A1
• Time in Patent Office: 754 Days
• Field of Search: 340435, 340903, 701 50, 701300, 701301
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: G08G 1/13 the indicator being in the form of a map
• 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

Abstract

Systems and methods for collision avoidance using scored-based collision region of interest are disclosed. One method includes receiving data relating to a plurality of machines disposed at a worksite, the data comprising at least one of a position, speed, and direction of movement for at least one machine of the plurality of machines; determining based at least on the data, a score for at least one machine of the plurality of machines, the score representing a criticality; based at least on the determined score, selecting, a group of machines from the plurality of machines; determining, a spatial map representing a position for at least one machine of the selected group of machines; and determining, based at least on the spatial map, a likelihood of collision for at least one machine of the selected group of machines.

Claims

1. A method comprising:

receiving, by one or more processors, data relating to a plurality of machines disposed at a worksite, the data comprising at least one of a position, speed, and direction of movement for at least one machine of the plurality of machines;

determining, by one or more processors, based on the at least one of the position, speed, and direction of movement, a score for the at least one machine of the plurality of machines, the score representing a criticality;

based at least on the determined score, selecting, by one or more processors, a group of machines from the plurality of machines;

determining, by one or more processors, a spatial map representing a position for at least one machine of the selected group of machines; and

determining, by one or more processors, based at least on the spatial map, a likelihood of collision for the at least one machine of the selected group of machines.

2. The method of claim 1, further comprising:

generating an alert to be perceived by an operator based on the determining of the likelihood of collision.

3. The method of claim 1, further comprising:

receiving, by one or more processors, second data relating to the plurality of machines, the second data comprising a proximity, based at least on the spatial map, between two machines of the plurality of machines;

determining, by one or more processors, based at least on the second data, a second score for at least one machine of the plurality of machines, the second score representing a second criticality;

based at least on the second score, selecting, by one or more processors, a second group of machines from the plurality of machines; and

determining, by one or more processors, a second spatial map representing a position for at least one machine of the selected second group of machines.

4. The method of claim 1, wherein one or more machines of the plurality of machines is excluded from the group of machines based at least on the score.

5. The method of claim 1, wherein the selecting the group of machines comprises comparing the score for the at least one machine of the plurality of machines to a threshold.

6. The method of claim 1, wherein the criticality represents at least a proximity between two or more machines of the plurality of machines.

7. A system comprising:

a processor; and

a memory bearing instructions that, upon execution by the processor, cause the system at least to;

receive data relating to a plurality of machines disposed at a worksite, the data comprising at least one of a position, speed, and direction of movement for at least one machine of the plurality of machines;

determine, based on the at least one of the position, speed, and direction of movement, a score for the at least one machine of the plurality of machines, the score representing a criticality;

based at least on the score, select a group of machines from the plurality of machines; and

determine a spatial map representing a position for at least one machine of the selected group of machines.

8. The system of claim 7, further comprising:

determine, based at least on the spatial map, a likelihood of collision for the at least one machine of the selected group of machines.

9. The system of claim 8, further comprising:

generate an alert to be perceived by an operator based on the determining of the likelihood of collision.

10. The system of claim 7, further comprising

receive second data relating to the plurality of machines, the second data comprising a proximity, based at least on the spatial map, between two machines of the plurality of machines;

determine, based at least on the second data, a second score for at least one machine of the plurality of machines, the second score representing a second criticality;

based at least on the second score, select a second group of machines from the plurality of machines; and

determine a second spatial map representing a position for at least one machine of the selected second group of machines.

11. The system of claim 7, wherein one or more machines of the plurality of machines is excluded, based at least on the score, from the group of machines.

12. The system of claim 7, wherein selecting the group of machines comprises comparing the score for the at least one machine of the plurality of machines to a threshold.

13. The system of claim 7, wherein the criticality represents at least a proximity between two or more machines of the plurality of machines.

14. A non-transitory computer readable storage medium bearing instructions that, upon execution by one or more processors, effectuate operations comprising:

receiving data relating to a plurality of machines disposed at a worksite, the data comprising at least one of a position, speed, and direction of movement for at least one machine of the plurality of machines;

determining, based on the at least one of the position, speed, and direction of movement, a score for the at least one machine of the plurality of machines, the score representing a criticality;

based at least on the score, selecting a group of machines from the plurality of machines; and

determining a spatial map representing a position for at least one machine of the selected group of machines.

15. The non-transitory computer readable storage medium of claim 14, the operations further comprising:

determining, based at least on the spatial map, a likelihood of collision for the at least one machine of the selected group of machines.

16. The non-transitory computer readable storage medium of claim 15, the operations further comprising:

generating an alert to be perceived by an operator based on the determining of the likelihood of collision.

17. The non-transitory computer readable storage medium of claim 14, the operations further comprising:

receiving second data relating to the plurality of machines, the second data comprising a proximity, based at least on the spatial map, between two machines of the plurality of machines;

determining, based at least on the second data, a second score for at least one machine of the plurality of machines, the second score representing a second criticality;

based at least on the second score, selecting a second group of machines from the plurality of machines; and

determining a second spatial map representing a position for at least one machine of the selected second group of machines.

18. The non-transitory computer readable storage medium of claim 14, wherein one or more machines of the plurality of machines is excluded, based at least on the score, from the group of machines.

19. The non-transitory computer readable storage medium of claim 14, wherein selecting the group of machines comprises comparing the score for the at least one machine of the plurality of machines to a threshold.

20. The non-transitory computer readable storage medium of claim 14, wherein the criticality represents at least a proximity between two or more machines of the plurality of machines.