Running vehicle alerting system and method

• US 10,332,401 B2
• Filed: 03/06/2017
• Issued: 06/25/2019
• Est. Priority Date: 03/06/2016
• Status: Active Grant

• Current Assignee: Foresight Automotive, Ltd. (Foresight Autonomous Holdings Ltd.)
• Original Assignee: Foresight Automotive, Ltd. (Foresight Autonomous Holdings Ltd.)
• Inventors: Zruya, Levi, Siboni, Haim
• Primary Examiner(s): Nguyen, Tai T
• Application Number:
  US16/078,489
• Publication Number:
  US 20190035276A1
• Time in Patent Office: 841 Days
• Field of Search: 340902, 340903, 340905, 340907, 340935-937
• CPC Class Codes: G06F 18/00 Pattern recognition
• CPC Class Codes: G06V 20/582 of traffic signs
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights
• CPC Class Codes: G08B 21/182 Level alarms, e.g. alarms responsive to variables exceeding a threshold
• CPC Class Codes: G08B 27/00 Alarm systems in which the alarm condition is signalled from a central station to a plurality of substations
• CPC Class Codes: G08G 1/09623 Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle G08G1/0967 takes precedence
• CPC Class Codes: G08G 1/0965 responding to signals from another vehicle, e.g. emergency vehicle
• CPC Class Codes: G08G 1/162 event-triggered
• 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 4/023 using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
• CPC Class Codes: H04W 4/44 for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]

Abstract

A running vehicle alerting system, comprising one or more forwardly directed optical sensors mounted on a same vehicle which are configured to capture road related images; an image processing unit configured to analyze the captured road-related images in real time and to determine, based on the analyzed images, whether the vehicle on which the one or more optical sensors are mounted is to be considered as a running vehicle that is spaced from a traffic light or a traffic sign by a distance shorter than a threshold safe braking distance and that is liable to endanger other vehicles; and an alert signal generating unit responsive to the determination of the vehicle as a running vehicle, for generating a collision avoiding alert signal.

Claims

1. A running vehicle alerting system, comprising:

a) a plurality of cellular-assisted and location-indicative vehicle units carried by a different one of a plurality of vehicles;

b) one or more forwardly directed optical sensors mounted on a same vehicle which are configured to capture road-related images;

c) an image processing unit configured to analyze said captured roadrelated images in real time and to determine, based on said analyzed images, whether the vehicle on which said one or more optical sensors are mounted is to be considered as a running vehicle that is spaced from a traffic light or a traffic sign by a distance shorter than a threshold safe braking distance and that is liable to endanger other vehicles;

d) an alert signal generating unit responsive to the determination of said image processing unit as a running vehicle, for generating a collision avoiding alert signal; and

e) a remote server adapted to receive each of said alert signals and location data of each of said vehicle units, said server comprising a database in which map data representative of a physical layout of a plurality of inspected areas is stored,

wherein said server is operable to process the map data and the received location data of vehicle units for a given inspected area and to determine, for each of the vehicles located within said given inspected area, an instantaneous distance between the vehicle and the traffic light or traffic sign and an instantaneous vehicular speed, and a decision as to whether it is separated from said running vehicle by less than a collision-liable distance,

wherein said server is operable to transmit an additional alert signal, based on the processed map data and location data, to the vehicles found to be separated from said running vehicle by less than a collision liable distance, to indicate to each driver thereof that a braking force must be urgently applied or that any other evasive action must be taken.

2. The system according to claim 1, wherein the image processing unit and the alert signal generating unit are locally mounted on the running vehicle and the signal generated by the image processing unit is a vehicle originated alert signal.

3. The system according to claim 2, wherein the image processing unit is configured to estimate an instantaneous distance between the vehicle and the traffic light or traffic sign by comparing the size of the traffic light or traffic sign to stored templates, each of which reflecting the size of the traffic light or traffic sign at a known distance, and determining a size reduction or enlargement.

4. The system according to claim 2, wherein the alert signal generated by the image processing unit is a driver-receptive sensory alert to indicate to a driver of the running vehicle that a braking force must be urgently applied.

5. The system according to claim 4, wherein the driver-receptive sensory alert is a visual alert or an audible alert.

6. The system according to claim 5, wherein the alert signal generating unit comprises a controller and a digital projector in communication with said controller, said projector configured to cause a predetermined message that is stored in a memory device of said controller and constituting the visual alert to be displayed.

7. The system according to claim 6, wherein the projector is configured to project an image of the predetermined message onto a dashboard, a front window of the vehicle, or a vehicle-mounted media screen.

8. The system according to claim 2, wherein the remote server is configured with a server-mounted alert signal generating unit, the remote server being in data communication with the alert signal generating unit of the running vehicle and with a receiver of each of a plurality of another vehicles, wherein the vehicle-originated alert signal is transmittable from the running vehicle to the server following determination of the vehicle as a running vehicle, whereupon a server-originated alert signal is transmittable from said server to one or more additional vehicles found to be separated from the running vehicle by less than a collision-liable distance.

9. The system according to claim 1, wherein the image processing unit is configured to estimate an instantaneous distance between the vehicle and the traffic light or traffic sign in response to analysis of pixels of the captured road-related images.

10. The system according to claim 9, wherein the image processing unit is configured to determine a state of the traffic light based on the analyzed images, the threshold safe braking distance also being a function of the determined traffic light state.

11. The system according to claim 1, wherein the alert signal generating unit comprises a signal generator, a transmitter in data communication with said signal generator for transmitting the alert signal to a receiver of another vehicle which is in transmission range of said transmitter, to indicate to the driver thereof that a braking force must be urgently applied.

12. The system according to claim 11, wherein the alert signal is transmitted from the transmitter using a short-range communication format.

13. The system according to claim 11, wherein the alert signal is receivable by a smartphone of the driver of said another vehicle.

14. The system according to claim 1, wherein the image processing unit and the alert signal generating unit are mounted on the server.

15. The system according to claim 1, further comprising one or more cellular base stations operable to transmit location data of the plurality of cellularassisted units to the server.

16. The system according to claim 1, wherein the inspected area is selected from the group consisting of an area that includes a traffic light, an area that includes a traffic sign, an area that includes a stop line, an area that includes all lanes leading to a stop line, an area that includes a junction area delimited by all adjacent stop lines, and an area that includes a railroad crossing.

17. The system according to claim 1, wherein each of the vehicle units is built in to the corresponding vehicle by which it is carried.

18. The system according to claim 1, wherein the one or more optical sensors include two two-dimensional optical sensors with overlapping fields of view, wherein the image processing unit is configured to analyze the road-related images captured by said two optical sensors and to output effective three-dimensional data, based on image analysis of the overlapping fields of view.

19. The system according to claim 1, wherein the one or more optical sensors or the image processing unit are implemented by a smartphone.

20. A method for alerting neighboring vehicles following identification of a running vehicle, comprising the steps of:

a) providing a database in which map data for a given inspected area is stored;

b) capturing road-related images by one or more forwardly directed optical sensors mounted on a same vehicle;

c) by an image processing unit in data communication with said one or more optical sensors, analyzing the captured road-related images in real time to identify a traffic light or a traffic sign located within said given inspected area and being approached by said vehicle;

d) transmitting location data of a plurality of cellular-assisted and location-indicative vehicle units, carried by a different one of a plurality of vehicles which are located within said given inspected area, to a processor in data communication with said image processing unit and with said database;

e) determining, by said processor, an instantaneous distance between said vehicle and the identified traffic light or traffic sign and an instantaneous vehicular speed, and a decision as to whether said vehicle should be considered as a running vehicle that is spaced from the identified traffic light or traffic sign by a distance shorter than a threshold safe braking distance and that is liable to endanger other vehicles, the threshold safe braking distance being a function of said instantaneous distance and said instantaneous speed;

f) determining, by said processor, which of said plurality of vehicles is found to be separated from said running vehicle by less than a collision-liable distance; and

g) if said vehicle has been determined to be a running vehicle, transmitting a wireless alert signal to a receiver of each of said plurality of vehicles found to be separated from said running vehicle by less than a collision-liable distance, to indicate to a driver of each of said plurality of vehicles found to be separated from said running vehicle by less than a collision-liable distance that a braking force must be urgently applied or that any other evasive action must be taken.

21. The method according to claim 20, wherein a remote server determines a location of each of the plurality of vehicles which are located within the given inspected area and transmits the alert signal to each of the plurality of vehicles found to be separated from said running vehicle by less than a collision-liable distance.

22. The method according to claim 20, wherein the image processing unit uses Artificial Intelligence techniques to identify traffic lights or traffic signs.