Collision avoidance and/or pedestrian detection system

• US 9,718,405 B1
• Filed: 03/23/2016
• Issued: 08/01/2017
• Est. Priority Date: 03/23/2015
• Status: Active Grant

• Current Assignee: Rosco Incorporated
• Original Assignee: Rosco Incorporated
• Inventors: Englander, Benjamin, Serer, Julian
• Primary Examiner(s): GIRMA, FEKADESELASS
• Application Number:
  US15/078,183
• Time in Patent Office: 496 Days
• Field of Search: 340435
• CPC Class Codes: B60K 2360/178 Warnings
• CPC Class Codes: B60K 2360/179 Distances to obstacles or vehicles
• CPC Class Codes: B60K 2360/34 Backlit symbols
• CPC Class Codes: B60K 2360/48 Sensors
• CPC Class Codes: B60K 2360/797 at the vehicle exterior
• CPC Class Codes: B60K 35/00 Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
• CPC Class Codes: B60K 35/28 characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
• CPC Class Codes: B60K 35/60 Instruments characterised by their location or relative disposition in or on vehicles arrangements of lighting devices on dashboards B60Q3/10
• CPC Class Codes: B60Q 5/005 automatically actuated
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 1/008 allowing the driver to see passengers, e.g. for busses combined with rear-view mirrors B60R1/08
• CPC Class Codes: B60R 1/28 with an adjustable field of view
• CPC Class Codes: B60R 2300/105 using multiple cameras
• CPC Class Codes: B60R 2300/108 using 'non-standard' camera systems, e.g. camera sensor used for additional purposes i.a. rain sensor, camera sensor split in multiple image areas
• CPC Class Codes: B60R 2300/301 combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
• CPC Class Codes: B60R 2300/302 combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
• CPC Class Codes: B60R 2300/404 triggering from stand-by mode to operation mode
• CPC Class Codes: B60R 2300/802 for monitoring and displaying vehicle exterior blind spot views
• CPC Class Codes: B60R 2300/8033 for pedestrian protection
• CPC Class Codes: B60R 2300/8093 : for obstacle warning
• CPC Class Codes: B60Y 2410/10 : Housings
• 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 19/13 : Receivers

Abstract

A collision avoidance and/or pedestrian detection system for a large passenger vehicle such as commuter bus, which includes one or more exterior and/or interior sensing devices positioned strategically around the exterior and interior of the vehicle for recording data, method for avoiding collisions and/or detecting pedestrians, and features/articles of manufacture for improving same, is described herein in various embodiments. The sensing devices may be responsive to one or more situational sensors, and may be connected to one or more interior and/or exterior warning systems configured to alert a driver inside the vehicle and/or a pedestrian outside the vehicle that a collision may be possible and/or imminent based on a path of the vehicle and/or a position of the pedestrian as detected by one or more sensing devices and/or situational sensors.

Claims

1. A collision avoidance and/or pedestrian detection system for a large passenger vehicle, comprising:

a first sensor comprising at least one of a speed sensor, a global positioning system (GPS) sensor, an accelerometer, and a gyro sensor and sensing first data regarding at least one of a location and a driving characteristic of the vehicle; and

a first detection system comprising;

a first housing configured to be mounted to the exterior surface of the vehicle;

a first exterior sensing device comprising a first image sensor and enclosed in the first housing and configured to sense a first hazard in a first field of view responsive to first predetermined criteria; and

a first interior driver warning system connected to the first exterior sensing device and including a first driver warning display mounted inside the vehicle generating at least one of a driver visual warning and a driver audible alarm configured to alert the driver when the first hazard is detected by the first detection system,

wherein the first exterior sensing device is one of;

sensitivity adjusted, engaged or disengaged responsive to the first sensor determining that the vehicle is traveling one of;

in the forward direction or at, above or below a predetermined speed.

2. The collision avoidance and/or pedestrian detection system of claim 1, wherein the first detection system further comprises:

a first exterior pedestrian warning system connected to the first exterior sensing device and generating at least one of a pedestrian visual warning and a pedestrian audible alarm configured to alert the pedestrian when the first hazard is detected by the first exterior sensing device responsive to the first data sensed by said first sensor.

3. The collision avoidance and/or pedestrian detection system of claim 2, further comprising:

a second sensor comprising at least one of a speed sensor, a global positioning system (GPS) sensor, an accelerometer, and a gyro sensor and sensing second data regarding at least one of a location and a driving characteristic of the vehicle; and

a second detection system comprising;

a second housing configured to be mounted to the exterior surface of the vehicle;

a second exterior sensing device comprising a second image sensor and enclosed in the second housing and configured to sense a second hazard in a second field of view responsive to second predetermined criteria;

a second interior driver warning system connected to the second exterior sensing device and including a second driver warning display mounted inside the vehicle generating at least one of a driver visual warning and a driver audible alarm configured to alert the driver when the second hazard is sensed by the second exterior sensing device; and

a second exterior pedestrian warning system connected to the second exterior sensing device and generating at least one of a pedestrian visual warning and a pedestrian audible alarm configured to alert the pedestrian when the second hazard is sensed by the second exterior sensing device responsive to the second data sensed by said second sensor.

4. The collision avoidance and/or pedestrian detection system of claim 3, further comprising:

a third sensor comprising at least one of a speed sensor, a global positioning system (GPS) sensor, an accelerometer, and a gyro sensor and sensing third data regarding at least one of a location and a driving characteristic of the vehicle; and

a third detection system comprising;

a first adjustable mount configured to be mounted to an interior surface of the vehicle;

a first interior sensing device comprising a third image sensor and configured to sense a third hazard in a third field of view responsive to third predetermined criteria;

a third interior driver warning system connected to the first interior sensing device and including a third driver warning display mounted inside the vehicle generating at least one of a driver visual warning and a driver audible alarm configured to alert the driver when the third hazard is sensed by the first interior sensing device; and

a third exterior pedestrian warning system connected to the first interior sensing device and generating at least one of a pedestrian visual warning and a pedestrian audible alarm configured to alert the pedestrian when the third hazard is sensed by the first interior sensing device responsive to the third data sensed by said third sensor.

5. The collision avoidance and/or pedestrian detection system of claim 4, wherein the first exterior sensing device comprises a left rear exterior sensing device, the second exterior sensing device comprises a right rear exterior sensing device, and the first interior sensor device comprises a front center interior sensing device.

6. The collision avoidance and/or pedestrian detection system of claim 1, wherein said first detection system further comprises a first processor controlling said first interior driver warning system and said first exterior pedestrian warning system responsive to detection of the first hazard by said first detection system and the first data.

7. The collision avoidance and/or pedestrian detection system of claim 3, wherein said second detection system further comprises a second processor controlling said second interior driver warning system and said second exterior pedestrian warning system responsive to detection of the second hazard by said second detection system and the second data.

8. The collision avoidance and/or pedestrian detection system of claim 4, wherein said third detection system further comprises a third processor controlling said third interior driver warning system and said third exterior pedestrian warning system responsive to detection of the third hazard by said first interior sensing device and the third data.

9. The collision avoidance and/or pedestrian detection system of claim 4, wherein said first, second, and third detection systems operate independently of each other.

10. The collision avoidance and/or pedestrian detection system of claim 4, wherein said first, second, and third detection systems comprise overlapping fields of view.

11. The collision avoidance and/or pedestrian detection system of claim 4, wherein a severity of the driver visual warning, the driver audible alarm, the pedestrian visual warning, and the pedestrian audible alarm issued by each of said first, second, and third detection systems is configured to be responsive to a severity of the hazard detected by the associated sensing device.

12. The collision avoidance and/or pedestrian detection system of claim 5, further comprising:

a fourth sensor comprising at least one of a speed sensor, a global positioning system (GPS) sensor, an accelerometer, and a gyro sensor and sensing fourth data regarding at least one of a location and a driving characteristic of the vehicle; and

a fourth detection system comprising;

a second adjustable mount configured to be mounted to an interior surface of the vehicle; and

a second interior sensing device comprising a fourth image sensor and configured to detect a fourth hazard in a fourth field of view responsive to fourth predetermined criteria,

said first interior driver warning system connected to the second interior sensing device and configured to alert the driver when the fourth hazard is detected by the second interior sensing device; and

said first exterior pedestrian warning system connected to the second interior sensing device and configured to alert the pedestrian when the fourth hazard is detected by the second interior sensing device responsive to the fourth data sensed by said fourth sensor.

13. The collision avoidance and/or pedestrian detection system of claim 12, wherein the second interior sensing device comprises a front left interior sensing device mounted to the left hand corner of the vehicle.

14. The collision avoidance and/or pedestrian detection system of claim 12, wherein said fourth detection system further comprises a fourth processor controlling said first interior driver warning system and said first exterior pedestrian warning system responsive to detection of the fourth hazard by said second interior sensing device and the fourth data.

15. The collision avoidance and/or pedestrian detection system of claim 1, further comprising:

a third interior sensing device comprising an interior image sensor and a third adjustable mount configured to be mounted to an interior surface of the vehicle to detect events within the vehicle.

16. The collision avoidance and/or pedestrian detection system of claim 15, wherein the third interior sensing device comprises a video capture system.

17. The collision avoidance and/or pedestrian detection system of claim 1, where the first hazard comprises at least one of a pedestrian, a possible collision with the pedestrian, an anticipated collision with the pedestrian, an object, object detection, vehicle detection, cyclist detection, pedestrian detection, potential collision avoidance, and potential collision detection.

18. A collision avoidance and/or pedestrian detection system for a large passenger vehicle, comprising:

at least two exterior sensing devices each comprising an image sensor and enclosed in an exterior camera assembly configured to be mounted to the exterior surface of the vehicle;

at least one interior sensing device comprising an image sensor and configured to be mounted inside the vehicle to sense at least one of a potential hazard and a potential collision in the forward direction of the vehicle;

at least one additional sensor, comprising at least one of a speed sensor, a global positioning system (GPS) sensor, an accelerometer, and a gyro sensor; and

a driver display interface comprising at least two warning displays mounted inside the vehicle within the driver'"'"'s field of vision, each warning display comprising at least one of a visual warning and an audible alarm configured to alert the driver when a hazard is sensed by at least one exterior sensing device or interior sensing device connected thereto,

wherein the at least two exterior sensing devices comprises a left rear exterior camera enclosed in a left rear exterior camera assembly and a right rear exterior camera enclosed in a right rear exterior camera assembly, and

wherein the left rear exterior camera is one of sensitivity adjusted or disengaged unless the vehicle is committed to a left turn;

the right rear exterior camera is one of sensitivity adjusted and disengaged unless the vehicle is committed to a right turn; and

the vehicle is committed to a turn when one or more sensors determine that the turning angle is above a predetermined angle for the turn.

19. The collision avoidance and/or pedestrian detection system of claim 18, further comprising:

an exterior alarm system comprising at least two speakers mounted to the exterior surface of the vehicle, each speaker configured to alert nearby pedestrians when a hazard is detected by at least one exterior sensing device or interior sensing device connected thereto.

20. The collision avoidance and/or pedestrian detection system of claim 18, wherein the exterior camera assembly comprises a housing body comprising extruded aluminum or aluminum alloy, and top and bottom covers comprising aluminum plate, said housing body comprising a window covered by a removable lens, through which the camera is directed.

21. The collision avoidance and/or pedestrian detection system of claim 20, wherein the housing body comprises a flat-sealing gasket including a groove with synthetic rubber O-ring for sealing the top and bottom covers thereto.

22. The collision avoidance and/or pedestrian detection system of claim 20, wherein the lens comprises glass and includes a hydrophobic coating on its exterior side.

23. The collision avoidance and/or pedestrian detection system of claim 20, wherein the lens includes a heating element on its interior side on a portion not covering the window, and a thermostat attached thereto.

24. The collision avoidance and/or pedestrian detection system of claim 18, wherein the exterior camera assembly is mounted to the exterior surface of the vehicle via a fixed mount comprising a mechanical teeth engagement system, and the camera assembly is adjustable on the fixed mount via the mechanical teeth engagement system.

25. The collision avoidance and/or pedestrian detection system of claim 18, wherein the at least two exterior sensing devices further comprises a left side video camera mounted on or near the left rear exterior camera assembly and a right side video camera mounted on or near the left rear exterior camera assembly.

26. A collision avoidance and/or pedestrian detection system for a large passenger vehicle, comprising:

at least two exterior sensing devices each comprising an image sensor and enclosed in an exterior camera assembly configured to be mounted to the exterior surface of the vehicle;

at least one interior sensing device comprising an image sensor and configured to be mounted inside the vehicle to sense at least one of a potential hazard and a potential collision in the forward direction of the vehicle;

at least one additional sensor, comprising at least one of a speed sensor, a global positioning system (GPS) sensor, an accelerometer, and a gyro sensor; and

a driver display interface comprising at least two warning displays mounted inside the vehicle within the driver'"'"'s field of vision, each warning display comprising at least one of a visual warning and an audible alarm configured to alert the driver when a hazard is sensed by at least one exterior sensing device or interior sensing device connected thereto,

wherein at least one exterior sensing device or interior sensing device is sensitivity adjusted or disengaged unless one or more of the sensors determine that the vehicle is traveling above a predetermined speed.

27. The collision avoidance and/or pedestrian detection system of claim 26, wherein a field of view or sensitivity of the at least one exterior sensing device or interior sensing device is configured or adjusted to be at least one of lower or narrower when the vehicle is moving forward, and the field of view or sensitivity is configured or adjusted to be at least one of higher or wider when the vehicle is turning.

28. The collision avoidance and/or pedestrian detection system of claim 26, further comprising:

an exterior alarm system comprising at least two speakers mounted to the exterior surface of the vehicle, each speaker configured to alert nearby pedestrians when a hazard is detected by at least one exterior sensing device or interior sensing device connected thereto.

29. The collision avoidance and/or pedestrian detection system of claim 26, wherein the at least two exterior sensing devices comprises a left rear exterior camera enclosed in a left rear exterior camera assembly and a right rear exterior camera enclosed in a right rear exterior camera assembly.

30. The collision avoidance and/or pedestrian detection system of claim 26, wherein the exterior camera assembly comprises a housing body comprising extruded aluminum or aluminum alloy, and top and bottom covers comprising aluminum plate, said housing body comprising a window covered by a removable lens, through which the camera is directed.

31. The collision avoidance and/or pedestrian detection system of claim 30, wherein the housing body comprises a flat-sealing gasket including a groove with synthetic rubber O-ring for sealing the top and bottom covers thereto.

32. The collision avoidance and/or pedestrian detection system of claim 30, wherein the lens comprises glass and includes a hydrophobic coating on its exterior side.

33. The collision avoidance and/or pedestrian detection system of claim 30, wherein the lens includes a heating element on its interior side on a portion not covering the window, and a thermostat attached thereto.

34. The collision avoidance and/or pedestrian detection system of claim 26, wherein the exterior camera assembly is mounted to the exterior surface of the vehicle via a fixed mount comprising a mechanical teeth engagement system, and the camera assembly is adjustable on the fixed mount via the mechanical teeth engagement system.

35. The collision avoidance and/or pedestrian detection system of claim 29, wherein the at least two exterior sensing devices further comprises a left side video camera mounted on or near the left rear exterior camera assembly and a right side video camera mounted on or near the left rear exterior camera assembly.