Collision avoidance and/or pedestrian detection system

• US 9,908,470 B1
• Filed: 03/02/2017
• Issued: 03/06/2018
• 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, Fekadeselassie
• Application Number:
  US15/448,432
• Time in Patent Office: 369 Days
• 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:

at least two exterior sensing devices each comprising an image sensor and removably fitted inside an exterior camera assembly configured to be mounted to the exterior surface of the vehicle via a fixed mount;

at least one interior sensing device comprising an image sensor and configured to be mounted inside the vehicle to detect 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 detected by at least one exterior sensing device or interior sensing device connected thereto, wherein one of the at least two exterior sensing devices is one of sensitivity adjusted, engaged and disengaged responsive to the image sensor determining that the vehicle is traveling one of in the forward direction and at, above or below a predetermined speed.

2. The system of claim 1, 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.

3. The system of claim 1, wherein the system comprises at least two interior sensing devices including a front center interior sensing device and a front left interior sensing device.

4. The system of claim 3, wherein the front center interior sensing device is mounted at or near the center of the windshield on an interior track mount and the front left interior sensing device is mounted at or near the upper left hand corner of the windshield on an interior hinge mount.

5. The system of claim 3, wherein at least one of the front center interior sensing device and the front left interior sensing device comprise a sensor system configured to provide at least one of a forward collision warning, a lane departure warning, a headway alert, and a pedestrian collision warning.

6. The system of claim 5, wherein the front left interior sensing device comprises a sensor system configured to provide only a pedestrian collision warning.

7. The system of claim 1, wherein the at least one interior sensing device comprises a dual vision camera to detect events within the vehicle.

8. The system of claim 1, wherein the driver display interface comprises a left warning display, a center warning display, and a right warning display, each comprising an LED backlit pedestrian graphic indicator and a piezoelectric alarm.

9. The system of claim 8, wherein the center warning display includes an eye watch indicator in communication with a front center interior sensing device comprising a sensor system configured to provide at least one of a forward collision warning, a lane departure warning, a headway alert, and a pedestrian collision warning.

10. The system of claim 2, wherein the exterior alarm system comprises a left rear speaker, a front center speaker, and a right rear speaker, each having an amplifier connected thereto.

11. The system of claim 10, wherein the exterior alarm system comprises a multiple channel system configured to provide predetermined audible alerts through one or more of the speakers responsive to eight predetermined triggers comprising yellow/warning alerts and red/urgent alerts from four different cameras including a left rear exterior camera, a right rear exterior camera, a front left interior camera, and a front center interior camera.

12. The system of claim 2, wherein the exterior alarm system is configured to automatically adjust the speaker volume depending on the location of the vehicle determined by one or more sensors.

13. The system of claim 1, wherein the sensing devices are each independent of one another.

14. The system of claim 1, wherein at least one sensing device comprises a field of view that overlaps in part with the field of view of at least one other sensing device.

15. The system of claim 1, wherein the driver display interface comprises at least one of a two-stage visual warning comprising a yellow graphic warning and a red graphic warning and a two stage audible alarm, comprising a yellow alarm and a red alarm louder than the yellow alarm.

16. The system of claim 2, wherein the exterior alarm system provides a two-stage audible alert, comprising a yellow warning message and a red urgent message louder than the yellow message.

17. An exterior housing for a detection system, said housing comprising:

a housing body comprising a first material and including a window opening on one side thereof;

a top cover comprising a top cover material;

a bottom cover comprising a bottom cover material;

a lens inside the housing body, removably positioned behind the window with a portion of said lens covering the window, and

a sensing device comprising an image sensor enclosed in the housing body and removably positioned behind the lens to provide a first field of view through the lens, wherein said housing body comprises a thermally conductive material so that said housing acts as a heat sink by remaining in full or substantially full direct or indirect contact with at least one side of said sensing device, while the housing remains in full or substantially full contact directly or indirectly with a thermally conductive portion of the vehicle.

18. The housing of claim 17, 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.

19. The housing of claim 17, wherein the lens comprises glass and includes a hydrophobic coating on its exterior side.

20. The housing of claim 17, further comprising a heating element engaging an interior side of the lens on a portion not covering the window;

and a thermostat attached thereto.

21. The housing of claim 17, further comprising a fixed mount comprising a mechanical teeth engagement system, wherein the housing is adjustable on the fixed mount via the mechanical teeth engagement system.

22. The housing of claim 17, further comprising a video camera mounted to the bottom cover to provide a second field of view that overlaps in part with the first field of view.

23. The housing of claim 17, wherein the first material is extruded aluminum or aluminum alloy.

24. The housing of claim 17, wherein the top cover material is aluminum plate.

25. The housing of claim 17, wherein the bottom cover material is aluminum plate.

26. An exterior housing for a detection system, said housing comprising:

a housing body comprising extruded aluminum or aluminum alloy and including a window opening on one side thereof;

a top cover comprising aluminum plate;

a bottom cover comprising aluminum plate;

a lens inside the housing body, removably positioned behind the window with a portion of said lens covering the window, and

a sensing device comprising an image sensor enclosed in the housing body and removably positioned behind the lens to provide a first field of view through the lens, wherein said housing body comprises a thermally conductive material so that said housing acts as a heat sink by remaining in full or substantially full direct or indirect contact with at least one side of said sensing device, while the housing remains in full or substantially full contact directly or indirectly with a thermally conductive portion of the vehicle.

27. A method of alerting a bus driver to pedestrians in a plurality of dynamic bus danger zones while the bus is moving;

comprising;

detecting, using a front interior sensor positioned to detect a first pedestrian to the front of the bus and directed toward the front area of the bus, whether the first pedestrian is located in a dynamic front danger zone with respect to movement of the bus while the bus driver is operating the bus;

detecting, using a left exterior sensor positioned to detect a second pedestrian to the left of the bus and directed toward the left frontal area of the bus, whether the second pedestrian is located in a dynamic left danger zone with respect to the movement of the bus while the bus driver is operating the bus;

detecting, using a right exterior sensor positioned to detect a third pedestrian to the right of the bus and directed toward the right frontal area of the bus, whether the third pedestrian is located in a dynamic right danger zone with respect to movement of the bus while the bus driver is operating the bus;

determining, using 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, a path of the bus and whether the bus is in danger of a collision with at least one of the first, second and third pedestrians; and

triggering at least one interior alarm for the bus driver corresponding to at least one of the plurality of danger zones where at least one of the first, second and third pedestrians is located when it is determined that a collision between the bus and at least one of the first, second and third pedestrians is likely or imminent based on the path of the bus, and enabling the driver to determine a location of the danger zone to avoid the collision with the pedestrians, wherein the at least one interior alarm is triggered if a calculated time to collision (TTC) falls within a preset threshold.

28. The method of claim 27, further comprising:

triggering at least one exterior alarm for the pedestrians corresponding to at least one of the plurality of danger zones where at least one of the first, second and third pedestrians is located when it is determined that a collision between the bus and at least one of the first, second and third pedestrians is likely or imminent based on the path of the bus, and enabling the pedestrians to determine the location of the danger zone to avoid the collision with the bus.

29. The method of claim 27, further comprising:

recording the outputs of each of the front sensor, the left sensor and the right sensor.

30. The method of claim 27, further comprising:

displaying the outputs of each of the front sensor, the left sensor and the right sensor on a driver display.

31. The method of claim 27, further comprising:

recording one or more video feeds from one or more video capture devices substantially corresponding to detection areas of one or more of the front sensor, the left sensor and the right sensor; and

comparing the one or more video feeds with one or more signals produced by one or more sensors from the substantially corresponding detection areas to determine and verify whether the sensors are correctly triggering the alarm for a potential collision or to avoid the collision.