Methods and apparatus to detect and warn proximate entities of interest

• US 9,547,969 B2
• Filed: 01/30/2015
• Issued: 01/17/2017
• Est. Priority Date: 07/27/2010
• Status: Active Grant

• Current Assignee: Rite-Hite Holding Corporation
• Original Assignee: Right-Hite Holding Corporation
• Inventors: Beggs, Ryan P., Boerger, James C., Hoffmann, David J., Markham, Ken, McNeill, Matthew, Muhl, Timothy, Nelson, Kyle, Oates, James, Senfleben, Jason
• Primary Examiner(s): Lau, Hoi
• Application Number:
  US14/610,833
• Publication Number:
  US 20150145661A1
• Time in Patent Office: 718 Days
• Field of Search: 340/435, 340/436, 340/686.6, 340/3.41, 340/903, 340/932.2, 340/961, 340/947, 340/948, 701/208, 701/301, 701/93, 701/33.7, 348/116, 348/113
• US Class Current: 1/1
• CPC Class Codes: B60Q 1/26 the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
• CPC Class Codes: B60Q 1/2673 on parts worn by the driver, e.g. clothes, gloves or bags, specially adapted to provide auxiliary vehicle signalling
• CPC Class Codes: B60Q 1/50 for indicating other intentions or conditions, e.g. request for waiting or overtaking
• CPC Class Codes: B60Q 1/525 automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data
• CPC Class Codes: B60Q 2400/50 Projected symbol or information, e.g. onto the road or car body
• CPC Class Codes: B60Q 2800/20 Utility vehicles, e.g. for agriculture, construction work
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B66F 17/003 for fork-lift trucks
• CPC Class Codes: G08B 21/02 Alarms for ensuring the safety of persons
• CPC Class Codes: G08B 21/18 Status alarms G08B21/02 takes precedence
• CPC Class Codes: G08B 5/36 using visible light sources
• CPC Class Codes: G08B 6/00 Tactile signalling systems, e.g. personal calling systems
• CPC Class Codes: G08G 1/005 including pedestrian guidance indicator
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

Systems and methods to detect and warn proximate entities of interest are described herein. An example method for assessing a possibility of a collision between entities of interest, each having their own characteristics of movement, includes sampling movement of each entity at least two points in time, generating a trajectory vector for each entity based on the movement sampling, expanding the trajectory vector of each entity based on at least one characteristic of movement of that entity, and analyzing the expanded trajectory vector of each entity for overlap to assess a possibility of a collision between the entities of interest.

Claims

1. A method for assessing a possibility of a collision between a first entity of interest and a second entity of interest, the method comprising:

creating a first safety zone around a first entity of interest;

creating a second safety zone around a second entity of interest;

dynamically modifying the first safety zone and the second safety zone based on a first characteristic of movement of the respective first entity of interest and the second entity of interest, wherein the first characteristic of movement being a range of speed;

dynamically modifying the first safety zone and the second safety zone based on a second characteristic of movement of the respective first entity of interest and the second entity of interest, the second characteristic of movement being a direction of travel; and

analyzing the modified first safety zone of the first entity of interest and the modified second safety zone of the second entity of interest for overlap to assess a possibility for a collision between the first entity of interest and second entity of interest.

5. The method of claim 1, further comprising modifying at least one of the first safety zone or the second safety zone based on an experience level of an operator of each entity.

8. The method of claim 1, further including

generating a warning signal to warn the second entity of interest detected in the second modified safety zone of a proximity of the first entity.

9. The method of claim 8, further comprising determining whether a distance between the first entity of interest and the second entity of interest is less than a distance of interest threshold prior to generating the warning signal, and generating the warning signal when the distance is less than the distance of interest threshold.

10. The method of claim 9, further comprising determining whether a barrier is positioned between the first and second entities of interest if the first and second entities of interest are within the distance of interest.

15. The method of claim 1, further comprising detecting a presence of an obstacle between the first entity of interest and the second entity of interest.

16. The method of claim 1, further including modifying at least one of the first safety zone or the second safety zone based on a third characteristic of movement of the respective first entity and the second entity.

17. The method of claim 1, further including generating a warning signal to warn at least one of the first entity of interest detected in the modified second safety zone of a proximity of the second entity of interest or the second entity of interest detected in the modified first safety zone of a proximity of the first entity of interest.

2. A method for assessing a possibility of a collision between a first entity of interest and a second entity of interest, the method comprising:

creating a first safety zone around a first entity of interest;

creating a second safety zone around a second entity of interest;

dynamically modifying the first safety zone and the second safety zone based on a first characteristic of movement of the respective first entity of interest and the second entity of interest;

dynamically modifying the first safety zone and the second safety zone based on a second characteristic of movement of the respective first entity of interest and the second entity of interest;

dynamically modifying at least one of the first safety zone or the second safety zone based on a non-movement characteristic of the respective entity; and

analyzing the modified first safety zone of the first entity of interest and the modified second safety zone of the second entity of interest for overlap to assess a possibility for a collision between the first entity of interest and second entity of interest.

3. The method of claim 2, further comprising generating a warning signal when a first modified safety zone of a first entity overlaps a second modified safety zone of a second entity.

4. The method of claim 2, wherein at least one of the first characteristic of movement or the second characteristic of movement of the respective entity includes at least one of a range of speed, a direction of travel of the entity, or a position of a vehicle steering.

6. The method of claim 2, further comprising determining whether the entities of interest are within a distance of interest relative to each other.

7. The method of claim 6, further comprising determining if a barrier exists between the entities of interest that are determined to be within the distance of interest.

11. The method of claim 2, wherein the first characteristic of movement is a range of speed.

12. The method of claim 2, wherein the non-movement characteristic includes at least one of a level of training or experience of the respective entity of interest.

13. The method of claim 12, further comprising modifying the first safety zone associated with the first entity of interest to cover a first area and modifying the second safety zone associated with the second entity to cover a second area that is larger than the first area when the level of training of the first entity of interest associated with the first safety zone is higher than a level of training of the second entity of interest associated with the second safety zone.

14. The method of claim 2, further comprising retrieving the non-movement characteristic from a lookup table.

18. A method for assessing a possibility of a collision between a first entity of interest and a second entity of interest, the method comprising:

creating a first safety zone around a first entity of interest;

creating a second safety zone around a second entity of interest;

dynamically modifying the first safety zone and the second safety zone based on a first characteristic of movement of the respective first entity of interest and the second entity of interest;

dynamically modifying the first safety zone and the second safety zone based on a second characteristic of movement of the respective first entity of interest and the second entity of interest; and

analyzing the modified first safety zone of the first entity of interest and the modified second safety zone of the second entity of interest for overlap to assess a possibility for a collision between the first entity of interest and second entity of interest;

detecting a presence of an obstacle between the first entity of interest and the second entity of interest; and

ignoring a detected overlap between the first safety zone and the second safety zone when the detected obstacle is positioned between the first entity of interest and the second entity of interest.

19. A method for assessing a possibility of a collision between a first entity of interest and a second entity of interest, the method comprising:

creating a first safety zone around a first entity of interest;

creating a second safety zone around a second entity of interest;

dynamically modifying the first safety zone and the second safety zone based on a first characteristic of movement of the respective first entity of interest and the second entity of interest;

dynamically modifying the first safety zone and the second safety zone based on a second characteristic of movement of the respective first entity of interest and the second entity of interest;

modifying at least one of the first safety zone or the second safety zone based on a third characteristic of movement of the respective first entity and the second entity, the third characteristic of movement including past movement patterns of the entities of interest; and

analyzing the modified first safety zone of the first entity of interest and the modified second safety zone of the second entity of interest for overlap to assess a possibility for a collision between the first entity of interest and second entity of interest.