Pedestrian warning system and method

Abstract

The present disclosure provides a vehicle alarm system and method. The system includes: a processor; an external microphone coupled to the processor; a memory storing processor executable instructions, which, when executed by the processor, causes the processor to detect a person or an animal, determine an ambient noise level using the external microphone, and determine an alarm characteristic in response to the detection of the person or the animal; the system also includes a transmitter, which transmits an alarm signal in response to the determined alarm characteristic, wherein the determined alarm characteristic is adjusted in response to the ambient noise level, and wherein the emitted alarm signal draws the attention of the person or the animal to the vehicle to reduce the possibility of a collision.

Description

[0001] This application is a divisional application of the Chinese national phase patent application with application number 201780049922.3 and invention name “Pedestrian Alert System and Method” filed on August 18, 2017, PCT international application PCT / CA2017 / 050976. Technical Field

[0002] The present disclosure relates to the field of automatic driving assistance systems (ADAS), and more particularly to a pedestrian warning system and method. Background Art

[0003] Current pedestrian warning systems, and the legislation requiring such systems, are directed to passive systems in which the vehicle emits a warning sound (usually synthesized to sound like a vehicle powered by an internal combustion engine), generally in the direction of the vehicle's travel and usually below a certain threshold speed (e.g. <30 km / h).

[0004] While such warning sounds may be useful when there are only a few vehicles near pedestrians, they are likely to be ineffective in congested urban environments with dense traffic due to the masking effect caused by the combined noise from a large number of vehicles.

[0005] Furthermore, current systems assume that pedestrians are familiar with and pay attention to “engine-like” sounds.

[0006] Concerns about pedestrian and cyclist safety, and due to laws in some countries, have led automakers to introduce a new requirement for external warning sounds to warn of approaching quiet vehicles. These sounds are typically only produced when the vehicle is moving below a certain speed, but can actually be adjusted (loudness / pitch) based on speed. Current external warning sounds have some limitations, such as those described below.

[0007] Current external alarm sounds are typically played back at a constant volume, regardless of the noise level in the physical environment surrounding the car. For example, a very noisy street environment with many conflicting and confusing sounds and noise sources can confuse pedestrians and cyclists. Conversely, in very quiet environments (such as late at night in a residential area), loud alarm sounds can be disturbing to those around.

[0008] Current external warning sounds are not directed in the intended direction of the vehicle's motion. For example, when an existing electric vehicle is waiting to turn left across oncoming traffic at a crosswalk, its warning sound is projected forward, but the actual intended direction of motion is at right angles.

[0009] Current external alarm sounds may not be easily localizable. That is, the characteristics of the sound used make it difficult for a person to determine the source of the sound.

[0010] What is needed is a pedestrian alert system and method that mitigates or eliminates one or more of the above-mentioned disadvantages. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The systems and methods may be better understood with reference to the following drawings and descriptions. The components in the drawings are not necessarily drawn to scale, with emphasis placed on illustrating the principles of the present disclosure. Moreover, in the drawings, similar reference numerals refer to corresponding parts throughout the different views.

[0012] Other systems, methods, features and advantages will be or will become apparent to one with skill in the art upon examination of the following drawings and detailed description. It is intended that all such additional systems, methods, features and advantages be included within this description and protected by the following claims.

[0013] Figure 1 is a schematic representation of a pedestrian warning system;

[0014] Figure 2 is a schematic representation of a scenario in which a pedestrian alert system may be used;

[0015] Figure 3 is a representation of a pedestrian alert method; and

[0016] Figure 4 is another schematic representation of a pedestrian warning system. DETAILED DESCRIPTION

[0017] Pedestrian alert systems and methods derive a pedestrian path representative of an expected path for a pedestrian, derive a vehicle path representative of an expected path for a motor vehicle, determine an intersection of the pedestrian path and the vehicle path, determine an alert characteristic in response to the determined intersection, and generate an alert from a vehicle in response to the determined alert characteristic.

[0018] Pedestrian warning systems and methods may be constructed, installed or implemented in a motor vehicle, such as an automobile, bus, commercial vehicle or other similar motor vehicle that is traveling in an environment where pedestrians may be close. Pedestrian warning systems and methods mitigate the possibility of a collision between a motor vehicle and a pedestrian by issuing an alert that may draw the pedestrian's attention to the presence of the motor vehicle.

[0019] Although the pedestrian warning system and method are described with reference to pedestrians, it should be understood that the system and method can also be applied to people riding bicycles or skateboards, people in wheelchairs or power wheelchairs, pets (e.g., dogs), domesticated animals (e.g., sheep or cattle), or wild animals (e.g., deer).

[0020] Figure 1is a schematic representation of a pedestrian warning system 100 . The pedestrian warning system 100 may include a pedestrian path deriver 110 , a vehicle path deriver 120 , a junction determiner 130 , an alert characteristic generator 140 , and an alert generator 150 .

[0021] Figure 2 2 is a schematic representation of a scenario in which the pedestrian warning system 100 may be used from an overhead perspective. In the example scenario 200, a motor vehicle 202 and three pedestrians 204A, 204B, and 204C (collectively or generally referred to as pedestrians 204) are included. Pedestrian 204B rides a bicycle, while pedestrians 204A and 204B walk. The example motor vehicle 202 is configured and / or has installed therein a pedestrian warning system 100, one or more pedestrian sensors 112, one or more transmitters 152, and one or more environmental sensors 142. The scenario 200 also includes corresponding predicted pedestrian travel paths 206A, 206B, and 206C (collectively or generally referred to as predicted pedestrian travel paths 206) for each of the pedestrians 204A, 204B, and 204C. The scenario 200 also includes a predicted motor vehicle travel path 208. The scene 200 further includes respective warning signals 160A and 160B (collectively or generally referred to as warning signals 160 ) for each of the pedestrians 204A and 204B.

[0022] Reference again Figure 1 , the pedestrian path deriver 110 may receive input signals and data from a pedestrian sensor 112 and / or a pedestrian detection system 114. The pedestrian sensor 112 may include one or more optical / visual sensors (e.g., cameras), infrared sensors, ultrasonic sensors, laser / LIDAR, radar, induction coils, and other similar known sensors for detecting the presence and location of pedestrians 204 near the motor vehicle 202. The pedestrian detection system 114 may also or alternatively receive input signals and data from the pedestrian sensor 112. The pedestrian detection system 114 may be any known system or subsystem for detecting the presence and location of pedestrians 204 near the motor vehicle 202. The pedestrian detection system 114 may be a stand-alone system or may be a subsystem of another advanced driver assistance system (ADAS) installed in the motor vehicle 202, such as, for example, a pedestrian warning system that provides a warning to the motor vehicle operator (e.g., driver) that the pedestrian 204 has been detected and may additionally initiate braking action. The pedestrian detection system 114 is capable of identifying and distinguishing between different pedestrian types, such as walking pedestrians, bicyclists, and animals, and may provide this information to other components of the pedestrian warning system 100 , such as the pedestrian path deriver 110 and the warning characteristics generator 140 .

[0023] The pedestrian path deriver 110 may derive a predicted path of travel for the detected pedestrian based on, for example, a time series analysis of a series of positions (e.g., locations) and times at which the pedestrian 204 is detected. The analysis may use any known techniques, including, for example, numerical analysis methods (such as extrapolation or regression) to generate a future predicted position (location) for the pedestrian 204, from which a predicted pedestrian path of travel 206 is derived. The predicted pedestrian path of travel 206 may include any of an orientation prediction path algorithm / function and a pedestrian speed. The predicted pedestrian path of travel 206 may indicate that the pedestrian 204 is substantially stationary, when this is indeed the case.

[0024] The vehicle path deriver 120 may receive input signals and data from a vehicle path sensor 122 and / or a navigation system 124. The vehicle path sensor 122 may include one or more sensors associated with vehicle speed, steering angle, global positioning system (GPS), yaw, compass bearing, road / lane detection, turn signal operation, road map, route, and other similar sensors. The navigation system 124 may also or alternatively receive input signals and data from the vehicle path sensor 122. The navigation system 124 may be any known system or subsystem for navigating a selected route and / or determining the position of the motor vehicle 202 relative to a road map.

[0025] Vehicle path deriver 120 may derive predicted motor vehicle path of travel 208 based on, for example, applying any known prediction algorithm to signals and data received from vehicle path sensor 122. Alternatively or additionally, vehicle path deriver 120 may derive predicted motor vehicle path of travel 208 based on signals and data received from navigation system 124, including, for example, a selected route and / or road map data. Predicted motor vehicle path of travel 208 includes a future predicted position (location) for motor vehicle 202. Predicted motor vehicle path of travel 208 may include any of a position prediction path algorithm, a route, and a motor vehicle speed.

[0026] The intersection determiner 130 receives the predicted pedestrian travel path 206 from the pedestrian path deriver 110 and the predicted motor vehicle travel path 208 from the vehicle path deriver 120. The intersection determiner 130 can use future time series analysis to determine whether the predicted pedestrian travel path 206 will intersect with the predicted motor vehicle travel path 208 at a certain point in the future. The determination can result in a determination that the intersection 210 will occur or will not occur. In addition to the predicted pedestrian travel path 206 and the predicted motor vehicle travel path 208, the intersection determination can take into account other factors, such as the width of the motor vehicle, the turning radius of the motor vehicle, road map information, and other similar factors. When it is determined that the intersection 210 will occur (e.g., a collision between the pedestrian 204A and the motor vehicle 202 is about to occur), one or more intersection locations where the intersection 210 will occur and the corresponding intersection time can be calculated (e.g., predicted).

[0027] The alert characteristic generator 140 receives the result of the intersection determination (e.g., intersection will occur or will not occur), and when it is determined that intersection will occur 210, one or more intersection locations and corresponding intersection times may also be received from the intersection determiner 140. The alert characteristic generator 140 may also receive the predicted pedestrian travel path 206 from the pedestrian path deriver 110 and the predicted motor vehicle travel path 208 from the vehicle path deriver 120. The alert characteristic generator 140 may also receive an indication of the type of pedestrian (e.g., a walking pedestrian, a cyclist, or an animal) from the pedestrian path deriver 110 or the pedestrian detector 114. The alert characteristic generator 140 may also receive signals or data from one or more environmental sensors 142 (such as one or more microphones mounted externally for detecting background noise levels in an environment through which the motor vehicle 202 is traveling). The alert characteristic generator 140 generates characteristics regarding the alert signal in response to the above inputs received. Warning signal 160 is a signal sent from motor vehicle 202 to alert pedestrian 204 of the presence and location of motor vehicle 202 and a potential intersection (eg, collision) with motor vehicle 202 .

[0028] The alarm characteristics generated by the alarm characteristic generator 140 may include one or more of the following: loudness (or sound pressure level, volume or gain), pitch or frequency, alarm signal content, direction and other alarm characteristics. For example, the loudness can be adjusted up or down in response to the ambient noise level detected by the external microphone 142 so as to achieve substantially constant audibility for a specific human hearing ability within a range that is compatible with the speed of the motor vehicle. In another example, the loudness can be adjusted up or down based on the actual direction of travel relative to the direction of travel of the motor vehicle 202 (e.g., toward or away). When the intersection determiner 130 continues to determine that an intersection will occur (e.g., a collision between the pedestrian 204 and the motor vehicle 202 is about to occur) after the alarm signal 160 has been issued for a period of time, the loudness may also increase over time.

[0029] The alarm signal content may include impulse sounds. In general, impulse sound sources containing instantaneous broadband information are easier to locate than continuous audio or periodic signals. The sound signal content may be adjusted to make it easier for people with the most common forms of hearing loss (e.g., the elderly) to hear. The sound signal content may, for example, include sounds that produce the most energy below 2.5kHz, thereby adapting the alarm signal to the most common form of hearing loss, the "noise-induced notch" that occurs around 3kHz. Since the absorption of sound in air increases with increasing frequency, such sound signal content may also have a larger range at the same amplitude than signals with more energy at higher frequency content. Alternatively or additionally, the sound signal content may include a component that is particularly audible to animals (e.g., pets or wild animals) at all times or when the type of pedestrian detected is an animal rather than a human.

[0030] Generated alert characteristics may include being responsive to directions of predicted pedestrian travel path 206 and predicted motor vehicle travel path 208 changing over time so that alert signal 160 is still issued in the direction of pedestrian 204 even if motor vehicle 202 and / or pedestrian 204 continue to move relative to each other over time.

[0031] The alarm generator 150 receives the alarm characteristics generated by the alarm characteristic generator 140 and generates an alarm signal 160 emitted by the transmitter 152. The transmitter 152 may include one or more of the following: a fixed audio transducer (also known as a speaker), a steerable audio transducer, an ultrasonic transducer, or other similar mechanisms that can be used to generate a directionally controllable audio signal (i.e., the alarm signal 160) directed toward the pedestrian 204. The directionality of the alarm signal 160 can be achieved by a speaker array using known phase or amplitude modulation (e.g., phase array) techniques. Alternatively or additionally, the directionality of the alarm signal 160 can be achieved by selecting one or more audio transducers from a transducer array, or by controlling one or more steerable audio transducers.

[0032] The alert signal 160 may be generated in addition to, modification of, or replacement of another warning signal, such as, for example, an omnidirectional or fixed-direction pedestrian warning required for electric vehicles in certain jurisdictions.

[0033] The warning signal 160 can have a higher frequency than a conventional warning sound, so that its source can be more easily located by the pedestrian 204, can better catch attention, and can be emitted at a higher volume. In addition, if the system 100 continues to determine that the pedestrian and vehicle paths will intersect, the warning sound volume can continue to increase.

[0034] Operation of the pedestrian warning system 100 may be ongoing over time. Each input received from the various sensors and each output generated by the components of the system 100 described herein may be repeatedly reasserted, updated, added, or removed on a continuous or periodic basis over time. Each of the derivations, determinations, and generation made by the components of the system 100 described herein may be continuously or periodically recalculated, reevaluated, or regenerated over time.

[0035] The system may detect a cyclist 204B travelling in the same direction as a vehicle (in the same or adjacent lane) and issue a warning signal 160 having a different warning characteristic that is intended to draw the attention of the cyclist 204B to the presence of the motor vehicle 202 rather than to warn of a collision.

[0036] The pedestrian alert system 100 may be used for forward travel only or both forward and rearward (reverse) travel of the motor vehicle 202. In addition, the pedestrian alert system 100 may be used in either or both vehicles that are mandatory to have a static pedestrian warning system installed (e.g., electric vehicles) and vehicles that are not mandatory (e.g., internal combustion engine driven vehicles).

[0037] Figure 3 is a representation of a pedestrian alert method. For example, the pedestrian alert method 300 may be used as described herein with reference to Figure 1 and Figure 4 The pedestrian alert method 300 may be implemented by any of the systems 100 and 400 described above. The pedestrian alert method 300 may include the following actions.

[0038] Derivation of predicted pedestrian travel paths 302. Predicted pedestrian travel paths 206 may be derived using any known technique, including, for example, numerical analysis methods such as described above. The derivation may be based on signals and data received from pedestrian sensors 112 and / or pedestrian detection system 114. Multiple predicted pedestrian travel paths 206A, 206B, and 206C may be derived simultaneously, one for each pedestrian 204A, 204B, and 204C.

[0039] Derivation of predicted motor vehicle path of travel 304. Predicted motor vehicle path of travel 208 may be derived by applying any known prediction algorithm to the signals and data received from vehicle path sensor 122. Alternatively or additionally, vehicle path deriver 120 may derive predicted motor vehicle path of travel 208 based on signals and data received from navigation system 124, including, for example, a selected route and / or road map data.

[0040] An intersection of the predicted pedestrian travel path and the predicted motor vehicle travel path is determined 306. The intersection determination may use future time series analysis to determine whether the predicted pedestrian travel path 206 will intersect the predicted motor vehicle travel path 208 at a future point in time. The determination may result in a determination that the intersection 210 will occur or will not occur. In addition to the predicted pedestrian travel path 206 and the predicted motor vehicle travel path 208, the intersection determination may consider other factors, such as the width of the motor vehicle, the turning radius of the motor vehicle, road map information, and other similar factors. When it is determined that the intersection 210 will occur (e.g., a collision between the pedestrian 204A and the motor vehicle 202 is about to occur), one or more intersection locations where the intersection 210 will occur and the corresponding intersection time may be calculated (e.g., predicted). When the predicted pedestrian travel path 206B is substantially parallel to the predicted motor vehicle travel path 208 (such as the case of the cyclist 204B), the predicted pedestrian travel path 206 will not intersect the predicted motor vehicle travel path 208. When the predicted pedestrian travel path 206C is laterally offset from the predicted motor vehicle travel path 208 and does not converge (such as the case of the pedestrian 204C walking on the sidewalk or curb), the predicted pedestrian travel path 206 will not intersect the predicted motor vehicle travel path 208.

[0041] Determine an alert characteristic 308. Determine the alert characteristic using the result of the intersection determination action 306 (e.g., an intersection will occur or will not occur). When it is determined that an intersection will occur 210, determine the alert characteristic may also use one or more intersection locations and corresponding intersection times generated in the intersection determination action. Determine the alert characteristic may also use the predicted pedestrian travel path 206 and the predicted motor vehicle travel path 208. Determine the alert characteristic may also use an indication of the type of pedestrian (e.g., a walking pedestrian, a cyclist, or an animal). Determine the alert characteristic may also use signals or data from one or more environmental sensors 142 (e.g., one or more microphones mounted externally for detecting background noise levels in an environment through which the motor vehicle 202 is traveling). Determine the alert characteristic includes generating a characteristic of an alert signal in response to the above inputs received. Alert signal 160 is a signal sent from motor vehicle 202 to warn pedestrian 204 of the presence and location of motor vehicle 202 and optionally warn of a potential intersection (e.g., collision) with motor vehicle 202.

[0042] The determined (e.g., generated) alarm characteristics may include one or more of the following: loudness, pitch or frequency, alarm signal content, direction, and other alarm characteristics. For example, the loudness and pitch characteristics determined for the alarm signal 160A are typically louder and sharper (e.g., more noticeable) than the loudness and pitch characteristics determined for the alarm signal 160B, where the alarm signal 160A will be directed to the pedestrian 204A with whom the intersection has been determined to occur, while the alarm signal 160B will be directed to the pedestrian 204B adjacent to the motor vehicle 202 but with whom the intersection has been determined not to occur. The alarm characteristics such as loudness and pitch determined for the pedestrian 204A may be determined to ensure that the alarm signal 160A attracts the attention of the pedestrian and warns the pedestrian 204A of the dangers of an impending collision. In the case of the pedestrian 204B, the alarm characteristics such as loudness and pitch may be determined so that the alarm signal 160B warns the pedestrian 204B of the presence of the motor vehicle 202 without startling or distracting the pedestrian. For pedestrian 206C who is not in close proximity to motor vehicle 202 and for whom a junction has been determined not to occur, the alert characteristic may be determined such that alert signal 160 is not generated.

[0043] The determined loudness characteristic can be adjusted up or down in response to the ambient noise level detected by the external microphone 142 to achieve a substantially constant audibility for a particular human hearing ability within a range consistent with the speed of the motor vehicle 202. The loudness can also increase over time if the intersection determination act 306 continues to determine that an intersection will occur (e.g., a collision between the pedestrian 204A and the motor vehicle 202 is imminent), even when the warning signal 160 has been issued for a period of time.

[0044] The alarm signal content may include an impulse sound. Generally speaking, an impulse sound source containing instantaneous broadband information is easier to locate than a continuous audio or periodic signal. The sound signal content may include a component that is particularly audible to animals (e.g., pets or wild animals) at all times or when the type of pedestrian detected is an animal rather than a human.

[0045] The generated warning characteristics may include a direction that is responsive to predicted pedestrian travel path 206 and predicted motor vehicle travel path 208 changing over time so that warning signal 160 is still issued in the direction of pedestrian 204 even if motor vehicle 202 and / or pedestrian 204 continue to move relative to each other over time.

[0046] Determining warning characteristics corresponding to one or more warning signals 160 may be determined simultaneously, wherein each set of warning characteristics is associated with a respective one of the one or more pedestrians (eg, 204A, 204B, and 204C).

[0047] Generate an alarm signal 310. Generate an alarm signal using the alarm characteristics obtained from the alarm characteristics determination act 308 and generate an alarm signal 160 emitted by the transmitter 152. The directionality of the alarm signal 160 can be implemented in response to the directional characteristics obtained from the alarm characteristics determination act 308, using any of the mechanisms described above with reference to the signal generator 150. The direction of the alarm signal 160 can change or update over time in response to the changing or updated directional characteristics. Other characteristics of the generated alarm signal 160 (e.g., loudness, etc.) can also change over time in response to changes made in the alarm characteristics determination act 308. One or more different alarm signals, such as 160A and 160B, can also be generated simultaneously in response to the respectively corresponding groups of alarm characteristics obtained from the alarm characteristics determination act 308.

[0048] Other embodiments of the pedestrian alert method may include Figure 3 The pedestrian alert method 300 may be performed continuously over time. Each input received from the various sensors and each output generated by the actions of the method 300 described herein may be repeatedly established, updated, added, or removed over time, either continuously or periodically. Each of the derivations, determinations, and generation produced by the actions of the method 300 described herein may be re-evaluated or re-generated over time, either continuously or periodically.

[0049] Figure 4 is a schematic representation of a pedestrian alert system. System 400 includes a processor 402 , a memory 404 (the contents of which are accessible by processor 402 ), and an I / O interface 406 .

[0050] Processor 402 may include a single processor or multiple processors, which may be provided on a single chip, on multiple devices, or distributed on more than one system. Processor 402 may be hardware that executes computer executable instructions or computer code contained in memory 404 or other memory to perform one or more features of the system. Processor 402 may include a general-purpose processor, a central processing unit (CPU), a graphics processing unit (GPU), an application-specific integrated circuit (ASIC), a digital signal processor (DSP), a field programmable gate array (FPGA), a digital circuit, an analog circuit, a microcontroller, any other type of processor, or any combination thereof.

[0051] Memory 404 may include devices for storing and retrieving data, processor executable instructions, or any combination thereof. Memory 404 may include non-volatile and / or volatile memory, such as random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or flash memory. Memory 404 may include a single device or multiple devices, which may be provided on one or more dedicated storage devices or on a processor or other similar device. Alternatively or additionally, memory 404 may include optical, magnetic (hard drive), or any other form of data storage device.

[0052] The memory 404 may store instructions that, when executed using the processor 402, may cause the system 400 to implement the functions associated with the pedestrian path deriver 110, the vehicle path deriver 120, the intersection determiner 130, the alert characteristic generator 140, and the warning generator 150 described herein. The computer code may be written in any computer language, such as C, C++, assembly language, channel program code, and / or any combination of computer languages. In addition, the memory 404 may store a predicted pedestrian travel path 408, a predicted motor vehicle travel path 410, and an alert characteristic 412.

[0053] I / O interface 406 may be used to connect devices such as pedestrian sensor 112 , vehicle path sensor 122 , environmental sensor 142 , transmitter 152 , and other components of system 400 .

[0054] Although specific implementations are described, the entire disclosure is exemplary rather than limiting in nature. Systems 100 and 400 may include Figure 1 and Figure 4 Furthermore, each of the components of systems 100 and 400 may include more, fewer, or different components than those shown in FIG. Figure 1 and Figure 4More, fewer, or different elements than those shown in . Tags, data, databases, tables, entities, and other data structures can be stored and managed separately, can be combined into a single memory or database, can be distributed, or can be logically or physically organized in a variety of different ways. Components can operate independently or can be part of the same program or hardware. Components can reside on a single piece of hardware, such as separate removable circuit boards; or share common hardware, such as the same memory and processors for executing instructions from the memory. Programs can be part of a single program, separate programs, or distributed across several memories and processors.

[0055] In response to one or more logic or instruction sets stored in or on a computer-readable medium, the functions, actions or tasks shown or described in the accompanying drawings can be performed. These functions, actions or tasks are independent of a specific type of instruction set, storage medium, processor or processing strategy, and can be implemented individually or in combination by software, hardware, integrated circuits, firmware, microcode, etc. Similarly, the processing strategy may include multi-processing, multi-tasking, parallel processing, distributed processing and / or any other type of processing. In one embodiment, the instructions are stored in a removable media device for reading by a local or remote system. In other embodiments, the logic or instructions are stored in a remote location for transmission over a computer network or over a telephone line. In some other embodiments, the logic or instructions may be stored in a given computer, such as a CPU.

[0056] Although various embodiments of the pedestrian warning system and method have been described, it will be apparent to those of ordinary skill in the art that many more embodiments and implementations are possible within the scope of the invention. Therefore, the present invention is limited only by the appended claims and their equivalents.

Claims

1. A vehicle alarm system, comprising: processor; an external microphone coupled to the processor; A memory storing processor-executable instructions that, when executed by a processor, cause the processor to: determining (306) an intersection time of a first path representing a predicted path of a person or animal and a second path representing a predicted path of a vehicle; determining (308) alarm characteristics in response to the intersection time, the alarm characteristics including loudness characteristics, signal content characteristics, and direction characteristics; and a transmitter that transmits (310) an alarm signal from the vehicle in response to the determined alarm characteristics in directions that vary with time in response to the first path and the second path, increases the loudness of the emitted alarm signal over time when it is determined that an intersection will occur after the alarm signal has been emitted for a period of time; and adjusts the signal content of the alarm signal to include sounds that produce the most energy below 2.5 kHz, and includes an audible component for an animal in the alarm signal when the animal is detected, The emitted warning signal draws the attention of people or animals to the vehicle to reduce the possibility of collision.

2. The vehicle alarm system according to claim 1, wherein: One or more components of the vehicle alarm system operate on a continuous or periodic basis over time.

3. The vehicle alarm system according to claim 1, wherein: The direction of the emitted signal is controlled using any of: phase and amplitude modulation of a speaker array, selection of one or more audio transducers in a transducer array, and control of one or more controllable audio transducers.

4. The vehicle alarm system according to claim 1, wherein: The vehicle alarm system includes a vehicle.

5. A vehicle alarm method, comprising the following steps: determining (306) an intersection time of a first path representing a predicted path of a person or animal and a second path representing a predicted path of a vehicle; determining (308) alarm characteristics in response to the intersection time, the alarm characteristics including loudness characteristics, signal content characteristics, and direction characteristics; as well as emitting (310) an alarm signal from the vehicle in response to the determined alarm characteristics in the direction of the first path and the second path changing over time, increasing the loudness of the emitted alarm signal over time when it is determined that an intersection will occur after the alarm signal has been emitted for a period of time; and adjusting the signal content of the alarm signal to include sounds that produce the most energy below 2.5 kHz, and including an audible component for an animal in the alarm signal when the animal is detected, Among other things, the emitted warning signal draws the attention of people or animals to the vehicle to reduce the possibility of a collision.

6. The vehicle alarm method according to claim 5, wherein: One or more of the steps are repeated on a continuous or periodic basis over time.

7. The vehicle alarm method according to claim 5, wherein: The direction of the emitted signal is controlled using any of: phase and amplitude modulation of a speaker array, selection of one or more audio transducers in a transducer array, and control of one or more controllable audio transducers.

8. The vehicle alarm method according to claim 5, wherein: The steps of deriving a first path, identifying an intersection, determining an alarm characteristic, and issuing an alarm signal are performed for each of a plurality of persons or animals or both.

9. A machine-readable medium encoded with machine-executable instructions, wherein: Execution of the machine-executable instructions causes the machine to: determining (306) an intersection time of a first path representing a predicted path of a person or animal and a second path representing a predicted path of a vehicle; determining alarm characteristics in response to the intersection time, the alarm characteristics comprising loudness characteristics, signal content characteristics, and direction characteristics; as well as emitting (310) an alarm signal from the vehicle in response to the determined alarm characteristics in the direction of the first path and the second path changing over time, increasing the loudness of the emitted alarm signal over time when it is determined that an intersection will occur after the alarm signal has been emitted for a period of time; and adjusting the signal content of the alarm signal to include sounds that produce the most energy below 2.5 kHz, and including an audible component for an animal in the alarm signal when the animal is detected, The emitted warning signal draws the attention of people or animals to the vehicle to reduce the possibility of collision.

10. The machine-readable medium of claim 9, wherein: The instructions cause the machine to operate on a continuous or periodic basis over time.

11. The machine-readable medium of claim 9, wherein: The direction of the emitted signal is controlled using any of: phase and amplitude modulation of a speaker array, selection of one or more audio transducers in a transducer array, and control of the controllable one or more audio transducers.

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