Collision warning system and method for micro-mobility vehicles

Abstract

The present invention relates to a collision warning system and method for a micro-mobility vehicle, comprising a proximity sensor, a speed sensor, a warning device, and a controller having a bypass mode and a warning mode. The controller compares the speed of the micro-mobility vehicle to a predetermined speed threshold, enters the bypass mode when the speed of the micro-mobility vehicle is less than the predetermined speed threshold, and enters the warning mode when the speed of the micro-mobility vehicle is greater than the predetermined speed threshold. The controller does not activate the warning device in the bypass mode, calculates an estimated time until a potential collision with an object in the warning mode, compares the estimated time until the potential collision to a predetermined time threshold, and generates a collision warning by activating the warning device in response to the estimated time until the collision being less than the predetermined time threshold.

Description

[0001] This application is a divisional application of Chinese invention patent application filed on December 3, 2020, with application number 202011395229.1 and invention title "Collision Alarm System and Method for Micro-mobility Vehicles".

[0002] Cross-reference to related applications

[0003] This application claims the benefits of U.S. Provisional Application No. 62 / 944,969, filed December 6, 2019; U.S. Provisional Application No. 63 / 000,086, filed March 26, 2020; and U.S. Application No. 17 / 101,641, filed November 23, 2020. The entire disclosure of each of these applications is incorporated herein by reference. Technical Field

[0004] This disclosure relates to collision warning systems and methods for micromobility vehicles. Background Technology

[0005] This section provides background information relating to this disclosure, which is not necessarily prior art.

[0006] Micromobility vehicles, such as e-scooters, e-bikes, e-balancing scooters, and other small single-person vehicles, are used for transportation in many cities. For example, micromobility companies can manage their fleets of rented micromobility vehicles in a city through a server that communicates with an app running on the mobile device of a user wishing to rent a micromobility vehicle from their fleet. Increasing the use of micromobility vehicles in cities can advantageously reduce road traffic, pollution, and the use of fossil fuels for short-distance travel within cities.

[0007] Unfortunately, the number of micromobility accidents and injuries associated with the use of micromobility vehicles is increasing, hindering their widespread adoption in transportation. Summary of the Invention

[0008] This section provides a general overview of this disclosure, rather than a full disclosure of its entire scope or all its features.

[0009] This disclosure includes a collision warning system for a micromobility vehicle, the collision warning system comprising: at least one proximity sensor mounted to the micromobility vehicle and configured to sense the distance to an object located in front of the micromobility vehicle; a speed sensor configured to sense the speed of the micromobility vehicle; at least one warning device; and a controller communicating with the at least one proximity sensor, the speed sensor, and the at least one warning device. The controller has a bypass mode and a warning mode, and is configured to (i) receive the speed of the micromobility vehicle from the speed sensor, (ii) compare the speed of the micromobility vehicle with the predetermined speed threshold, (iii) enter the bypass mode in response to the speed of the micromobility vehicle being less than the predetermined speed threshold, and (iv) enter the warning mode in response to the speed of the micromobility vehicle being greater than the predetermined speed threshold. In the bypass mode, the controller is further configured not to activate the at least one warning device. In the warning mode, the controller is further configured to (v) receive the distance to the object from the at least one proximity sensor, (vi) determine the closing velocity to the object based on the speed of the micromobility vehicle received from the speed sensor, (vii) calculate an estimated time prior to a potential collision with the object based on the distance to the object and the closing velocity, (viii) compare the estimated time prior to a potential collision with the object with a predetermined time threshold, and (ix) generate a collision warning by activating the at least one warning device in response to the estimated time prior to the collision being less than the predetermined time threshold, to alert the driver of the micromobility vehicle to the potential collision with the object.

[0010] Among other features, the at least one proximity sensor includes a LiDAR sensor.

[0011] Among other features, the at least one proximity sensor includes at least one of a radar sensor, an ultrasonic sensor, and a camera.

[0012] Among other features, the at least one warning device includes an audio device that generates an audio warning and a lighting device that generates a visual warning.

[0013] Among other features, the controller is also configured to activate the at least one warning device at multiple intensity levels based on the estimated time prior to the collision with the object.

[0014] Among other features, the at least one warning device is configured to alert non-drivers of the micromobility vehicle to a potential collision with the object.

[0015] Among other features, the controller is also configured to enter the bypass mode in response to the distance to the object being less than the predetermined distance threshold.

[0016] Among other features, the at least one proximity sensor is a LiDAR sensor, and the controller is further configured to receive the signal strength of a return signal received by the LiDAR sensor, and to set at least one of a blocked sensor flag and a defeated sensor flag based on the signal strength.

[0017] Among other features, the at least one proximity sensor is a LiDAR sensor, and the controller is further configured to (i) receive the signal strength of a returned signal received by the LiDAR sensor, and (ii) enter a demonstration mode in response to the signal strength indicating a first predetermined signal strength followed by a second predetermined signal strength. In the demonstration mode, the controller is further configured to activate the at least one warning device in response to the distance to the object being less than a predetermined distance threshold.

[0018] Among other features, the at least one proximity sensor includes a first sensor and a second sensor, the first sensor being a LiDAR sensor and the second sensor being one of an additional LiDAR sensor, a radar sensor, an ultrasonic sensor, and a camera, the first sensor and the second sensor being configured to have different detection cones relative to the micromobility vehicle.

[0019] Among other features, the controller is configured to calculate the estimated time prior to the potential collision based on a reaction time factor other than the distance to the object and the closing velocity, the reaction time factor being based on the size of the micromobility vehicle.

[0020] Among other features, the controller is also configured to limit the maximum speed of the micromobility vehicle in response to the estimated time prior to a collision being less than the predetermined time threshold.

[0021] Among other features, the controller is also configured to limit the maximum speed of the micromobility vehicle by replacing the desired throttle position input value with a maximum acceptable throttle position value calculated by the controller based on the estimated time prior to the potential collision. The maximum acceptable throttle position value corresponds to a maximum speed greater than the minimum speed required for the driver of the micromobility vehicle to maintain control of the micromobility vehicle.

[0022] Among other features, the micromobility vehicle is the powered standing scooter.

[0023] This disclosure also includes a collision / fall reporting system for a micromobility vehicle, the collision / fall reporting system comprising: at least one proximity sensor mounted to the micromobility vehicle and configured to sense the distance to an object located in front of the micromobility vehicle; a speed sensor configured to sense the speed of the micromobility vehicle; at least one tilt sensor configured to sense vertical orientation data of the micromobility vehicle, the vertical orientation data indicating whether the micromobility vehicle is in an upright or horizontal position; a global positioning system configured to generate position data indicating the position of the micromobility vehicle; at least one warning device; a communication device configured to wirelessly communicate with at least one remote device from the micromobility vehicle; and a controller communicating with the at least one proximity sensor, the speed sensor, the at least one tilt sensor, the global positioning system, the at least one warning device, and the communication device. The controller is further configured to (i) receive the distance to the object from the at least one proximity sensor, (ii) determine a closing speed to the object based on the speed of the micromobility vehicle received from the speed sensor, (iii) calculate an estimated time prior to a potential collision with the object based on the distance to the object and the closing speed, (iv) compare the estimated time prior to a potential collision with the object with a predetermined time threshold, and (v) generate a collision warning by activating the at least one warning device in response to the estimated time prior to collision being less than the predetermined time threshold, to alert the driver of the micromobility vehicle to the potential collision with the object. In the event of a collision, (vi) the vertical orientation data of the micromobility vehicle is received from the at least one tilt sensor; (vii) a collision warning is generated in response to the micromobility vehicle's speed being greater than a predetermined speed threshold, and the vertical orientation data indicating that the micromobility vehicle was in a horizontal position after the collision warning was generated, to determine that a collision has occurred; (viii) location data is received from the global positioning system; (ix) the collision time is determined; and (x) in response to determining that a collision has occurred, a collision alarm is transmitted to the at least one remote device using the communication device, the collision alarm including the location of the micromobility vehicle and the collision time.

[0024] Among other features, the at least one remote device is a server accessible to the lessor of the micromobility vehicle, which is part of a fleet of multiple micromobility vehicles rented by the lessor.

[0025] Among other features, the at least one remote device is part of an emergency response system.

[0026] Among other features, the controller is also configured to: determine that a fall has occurred in response to the vertical orientation data indicating that the micromobility vehicle is in the horizontal position without generating any collision warning; determine the time of the fall; and, in response to determining that a fall has occurred, transmit a fall alarm to the at least one remote device using the communication device, the fall alarm including the location of the micromobility vehicle and the time of the fall.

[0027] Among other features, the at least one tilt sensor includes a first tilt sensor and a second tilt sensor; and in response to determining that a collision has occurred, the controller is further configured to: determine whether both the first tilt sensor and the second tilt sensor have been activated; determine the severity of the collision based on whether both the first tilt sensor and the second tilt sensor have been activated; and transmit the determined severity of the collision to the at least one remote device using a communication device.

[0028] Among other features, the controller is also configured to: determine the severity of the collision corresponding to a first severity level in response to determining that both the first tilt sensor and the second tilt sensor have been activated; and determine the severity of the collision corresponding to a second severity level in response to determining that only one of the first tilt sensor or the second tilt sensor is activated, wherein the first severity level is higher than the second severity level.

[0029] Among other features, in response to determining that the collision has occurred, the controller is further configured to: determine the severity of the collision based on the closing speed of the micromobility vehicle at the time of the collision, and to transmit the determined severity of the collision to the at least one remote device using the communication device.

[0030] Among other features, the controller is further configured to: compare the closing velocity of the micromobile vehicle at the time of the collision with a predetermined collision speed threshold; determine that the severity of the collision corresponds to a first severity level in response to the closing velocity of the micromobile vehicle at the time of the collision being greater than the predetermined collision speed threshold; and determine that the severity of the collision corresponds to a second severity level in response to the closing velocity of the micromobile vehicle at the time of the collision being less than the predetermined collision speed threshold.

[0031] Among other features, the micromobility vehicle is the electric standing scooter.

[0032] This disclosure also relates to a downed micromobility vehicle notification system, the downed micromobility vehicle notification system comprising: a speed sensor configured to sense the speed of the micromobility vehicle; a tilt sensor configured to sense vertical orientation data of the micromobility vehicle, the vertical orientation data indicating whether the micromobility vehicle is in an upright or horizontal position; at least one notification device; and a controller communicating with the speed sensor, the tilt sensor, and the at least one notification device. The controller is configured to (i) receive the speed of the micromobility vehicle from the speed sensor, (ii) receive the vertical orientation data of the micromobility vehicle from the tilt sensor, and (iii) generate a downed micromobility vehicle notification by activating the at least one notification device in response to the speed indicating that the micromobility vehicle is not moving and the vertical orientation data indicating that the micromobility vehicle is in a horizontal position.

[0033] Among other features, the at least one notification device includes at least one of a visual device that generates a visual notification and an audio device that generates an audio notification.

[0034] Among other features, the controller is also configured to disable the at least one notification device in response to the vertical orientation data indicating that the micromobility vehicle has returned to an upright position.

[0035] Among other features, the global positioning system is configured to generate location data indicating the position of the micromobility vehicle; and the communication device is configured to wirelessly communicate with at least one remote device from the micromobility vehicle. The controller communicates with the global positioning system and the communication device, and is further configured to (iv) receive the location data from the global positioning system, and (v) in response to the speed indication of the micromobility vehicle indicating that the micromobility vehicle is not moving and the vertical orientation data indicating that the micromobility vehicle is in the horizontal position, transmit a fallen micromobility vehicle alarm to the at least one remote device using the communication device, the fallen micromobility vehicle alarm including the position of the micromobility vehicle.

[0036] Among other features, the at least one remote device is a server accessible to the lessor of the micromobility vehicle, which is part of a fleet of multiple micromobility vehicles rented by the lessor.

[0037] Among other features, the controller is also configured to determine whether the drive system is powered based on a power signal from the drive system used for the micromobility vehicle, and to generate a notification that the micromobility vehicle has fallen over only when the micromobility vehicle is not powered on.

[0038] Among other features, the micromobility vehicle is the electric standing scooter.

[0039] Among other features, this disclosure includes a collision warning system for a micromobility vehicle, the collision warning system comprising: at least one proximity sensor mounted to the micromobility vehicle, pointing towards a terrain in front of the micromobility vehicle, and configured to sense the current distance to the terrain in front of the micromobility vehicle, the terrain including at least one of a surface on which the micromobility vehicle will travel and an object in front of the micromobility vehicle; a speed sensor configured to sense the speed of the micromobility vehicle; at least one warning device; and a controller communicating with the at least one proximity sensor, the speed sensor, and the at least one warning device. The controller is configured to (i) receive the current distance from the at least one proximity sensor, (ii) determine a baseline distance by averaging the current distance over a predetermined time period, (iii) determine the difference between the current distance and the baseline distance, (iv) determine the rate of change of the difference, (v) determine the expected vertical acceleration of the micromobility vehicle based on the rate of change of the difference, (vi) receive the speed of the micromobility vehicle from the speed sensor, (vii) determine the maximum permissible vertical acceleration of the micromobility vehicle based on the speed of the micromobility vehicle, (viii) compare the expected vertical acceleration of the micromobility vehicle with the maximum permissible vertical acceleration of the micromobility vehicle, and (ix) generate a collision warning by activating the at least one warning device in response to the expected vertical acceleration being greater than the maximum permissible vertical acceleration, thereby alerting the driver of the micromobility vehicle to the potential collision.

[0040] Among other features, the controller is also configured to: in response to a negative rate of change in differential velocity, set a first value for the maximum permissible vertical acceleration based on the speed of the micromobile vehicle; and in response to a positive rate of change in differential velocity, set a second value for the maximum permissible vertical acceleration based on the speed of the micromobile vehicle, wherein the first value and the second value are different. The negative rate corresponds to a potential collision with an in-ground hazard, and the positive rate corresponds to a potential collision with an above-ground hazard.

[0041] Among other features, the at least one proximity sensor is mounted to the micromobility vehicle having an adjustable tilting device, and wherein the controller is further configured to control the adjustable tilting device based on the speed of the micromobility vehicle to adjust the measurement angle of the at least one proximity sensor relative to the terrain.

[0042] Among other features, the alarm system controller is further configured to increase the measurement angle as the speed of the micromobile vehicle increases to measure the current distance to the area farther from the micromobile vehicle, and to decrease the measurement angle as the speed of the micromobile vehicle decreases to measure the current distance to the area closer to the micromobile vehicle.

[0043] Among other features, the micromobility vehicle is the electric standing scooter.

[0044] Other areas of application will become apparent from the description provided herein. The description and specific embodiments in this invention are intended for illustrative purposes only and are not intended to limit the scope of this disclosure. Attached Figure Description

[0045] The accompanying drawings described herein are for illustrative purposes only, representing not all possible implementations, and are not intended to limit the scope of this disclosure.

[0046] Figure 1 This is a functional block diagram of a collision warning system for micro-mobility vehicles according to the present disclosure.

[0047] Figure 2 This is a functional block diagram of a collision warning system for a micro-mobile vehicle for communicating with a server, a mobile device, and an emergency response system, according to this disclosure.

[0048] Figure 3 This is a schematic diagram of a collision warning system for micro-mobile vehicles according to the present disclosure.

[0049] Figure 4 A schematic diagram of a wiring harness for a collision warning system for micro-mobility vehicles according to this disclosure is shown.

[0050] Figure 5 This is a flowchart of a collision warning method for micro-mobility vehicles according to the present disclosure.

[0051] In several views of the accompanying drawings, the corresponding reference numerals refer to the corresponding parts. Detailed Implementation

[0052] The patent application was filed by the GEKOT (Great Engineering Kids of Tomorrow) Robotics Team at East Hill High School in Bloomfield Hill, Michigan.

[0053] The example implementation will now be described more fully with reference to the accompanying drawings.

[0054] This disclosure relates to collision warning systems and methods for micromobility vehicles. The term "micromobility vehicle" refers to the vehicle category defined as "powered micromobility vehicle" in the SAE J3194 standard published on November 20, 2019, which uses the term "powered micromobility vehicle" to describe a vehicle category having the following characteristics: (i) partially or entirely powered by a motor / engine (i.e., excluding vehicles that are solely powered by human power, such as scooter bicycles); (ii) a maximum speed not exceeding 30 mph (48 km / h); and (iii) a curb weight not exceeding 500 lbs (227 kg). In this way, a micromobility vehicle refers to a powered, relatively slow, and lightweight vehicle. The SAE J3194 standard identifies six different types of micromobility vehicles, including electric bicycles, electric standing scooters, electric seated scooters, electric self-balancing scooters, electric non-self-balancing scooters, and electric roller skates. The collision warning systems and methods described in this disclosure are for these micromobility vehicles.

[0055] The collision warning system and method for micromobility vehicles disclosed herein utilize various sensors and controls to detect and alert users of the micromobility vehicle and nearby pedestrians to potential hazards, enabling users and nearby pedestrians to take action to avoid accidents. For example, the collision warning system and method for micromobility vehicles disclosed herein utilize one or more proximity sensors to detect objects in the direction of travel of the micromobility vehicle and then determine whether there is a collision risk. More specifically, the collision warning system and method for micromobility vehicles disclosed herein calculates the time of collision with the object based on the distance of the object detected by the proximity sensor and the closing speed of the micromobility vehicle based on the speed sensor. When the collision time is less than a predetermined time, one or more alarms, such as audio, visual, and / or tactile alarms, are generated to alert users of the micromobility vehicle and / or any nearby pedestrians to potential hazards and a potential collision with the detected object. The collision warning system and method for micromobility vehicles disclosed herein also utilizes a tilt sensor to detect when a collision or fall occurs after an alarm is generated. In this scenario, notifications and alarms indicating a collision or fall can be generated and transmitted to remote devices, such as a server operated by the owner / lessor of the micromobility vehicle fleet, and / or an emergency response system, as detailed below. As discussed further below, the collision alarm system and method for micromobility vehicles disclosed herein can also detect when a micromobility vehicle is placed on the ground, e.g., in a horizontal position rather than an upright position, and can generate a visual alarm and an alarm transmitted to a server operated by the owner / lessor of the micromobility vehicle fleet, indicating that the micromobility vehicle has been placed in a horizontal position.

[0056] Reference Figure 1This illustrates a collision warning system 10 for a micro-mobility vehicle 12. Specifically, Figure 1 The micromobility vehicle 12 is shown as an electric upright scooter. Although in Figure 1 An embodiment of the present invention illustrates an electric upright scooter, and the collision warning system and method disclosed herein can be used with any micromobility vehicle.

[0057] The collision warning system 10 includes an alarm system controller 14, a proximity sensor 16, a speed sensor 17, and tilt sensors 20a and 20b. The alarm system controller 14 communicates with a vehicle controller 22, which controls the operation of the micro-mobility vehicle 12 based on user input from, for example, a throttle body 24 and a brake body 26. For example, the vehicle controller 22 can control the speed of the electric motors driving the wheels 28 of the micro-mobility vehicle 12. The alarm system controller 14 also communicates with a communication module 30, which transmits alarms and notifications via a network 104 to remote devices such as a server 100 (e.g., [server name missing]). Figure 2 (As shown). The alarm system controller 14 also communicates with a Global Positioning System (GPS) 32, which determines the location of the micromobility vehicle 12 based on signals received from GPS satellites.

[0058] For example, speed sensor 17 can detect the speed of micromobility vehicle 12 based on the rotational speed of the wheels 28 of micromobility vehicle 12. Tilt sensors 20a and 20b detect whether micromobility vehicle 12 is upright and vertical, or whether it is horizontally positioned to the left or right of micromobility vehicle 12. Tilt sensors 20a and 20b may include accelerometers positioned to sense whether the micromobility vehicle is upright and located to the left or right of micromobility vehicle 12.

[0059] The collision warning system 10 also includes one or more warning devices 34. Warning devices 34 may include, for example, a speaker outputting an audio alarm, a light (e.g., an LED light) outputting a visual alarm, and / or a vibration mechanism outputting a tactile alarm. The alarm system controller 14 controls one or more warning devices 34 to alert the user of the micromobility vehicle 12 and / or nearby pedestrians of potential dangers or collisions.

[0060] The proximity sensor 16 senses the distance to the object 19 in front of the micromobility vehicle 12 (i.e., in its direction of travel) and transmits this distance to the alarm system controller 14. Although in Figure 1A single proximity sensor 16 is shown, but any number of additional proximity sensors 16 can be used. For example, the proximity sensor 16 can be implemented using a light detection and ranging (LiDAR) sensor. Additionally or alternatively, the proximity sensor 16 can be implemented using a radar sensor, an ultrasonic sensor, an image sensor (e.g., a camera), and / or any other sensor that can be used to detect the distance to an object within the sensor's detection range.

[0061] In some implementations, multiple proximity sensors 16 of different types can be used in the collision warning system 10. For example, a LiDAR sensor can be used as a first proximity sensor 16 with a first range and / or detection cone. Additional sensors of different types, such as radar sensors, ultrasonic sensors, or image sensors, can be used as a second proximity sensor 16 with a second range and / or detection cone. In this case, both proximity sensors 16 can detect the distance to an object in the direction of travel of the micromobility vehicle 12 and transmit this distance to the alarm system controller 14, which can determine the distance to the object and / or multiple objects based on the data received from the two sensors.

[0062] In addition, although Figure 1 The diagram shows a front proximity sensor 16 used to detect an object 19 in the direction of travel of the micromobility vehicle 12. However, in other embodiments, a side proximity sensor may be used to detect the distance to an object located on the side of the micromobility vehicle 12, i.e., in a direction perpendicular to the direction of travel of the micromobility vehicle 12. In some embodiments, as described in further detail below, the proximity sensor 16 may include a tilting device 18 used by the alarm system controller 14 to control the measurement angle of the proximity sensor 16.

[0063] Reference Figure 2The diagram illustrates a collision alarm system 10 and a micromobile vehicle 12, including an alarm system controller 14 and a communication module 30. The communication module communicates with a server 100 via a network 104, such as the Internet. Alternatively, the network may be a local area network (LAN) or another wide area network (WAN). As discussed in further detail below, the alarm system controller 14 can transmit various alarms and notifications, including notifications indicating that a collision has occurred, notifications that the micromobile vehicle has fallen, notifications that the micromobile vehicle 12 is now horizontally positioned on the ground, etc. The server 100 can then notify an emergency response system 108, such as a local 911 system, that a collision has occurred. Additionally or alternatively, for example, the alarm system controller 14 may be configured to communicate directly with the emergency response system 108 that a collision has occurred. Furthermore, the alarm system controller 14 and the server 100 can also communicate with a user's mobile device 106 via network 104 to provide alarms to the user.

[0064] Reference Figure 3 and Figure 4 A schematic diagram of a collision warning system 10 for a micro-mobility vehicle 12 according to the present disclosure is shown. For example, Figure 3 The schematic diagram shows a microcontroller 200 with specific input and output pins for an alarm system controller 14. Figure 4 The schematic diagram shows the wiring harness connections to and from the alarm system controller 14.

[0065] Continue to refer to Figure 3 and Figure 4 Although any other microcontroller or other suitable printed circuit board, processor, or module programmed to perform the described functions can be used, microcontroller 200 can be implemented, for example, by an Arduino microcontroller. Microcontroller 200 also includes memory storing computer-executable instructions to perform the described functions. Figure 3 As shown, the microcontroller includes pins labeled D0 to D2 and D4 to D8, where pins D0 to D2, D4, and D6 serve as inputs, and pins D5, D7, and D8 serve as outputs. The microcontroller 200 also includes a "Power in" pin for receiving electrical power and a ground pin "GND" for grounding. The microcontroller 200 also includes memory storing computer-executable instructions to perform the described functions.

[0066] The microcontroller 200 is connected to and receives electrical power from the battery 202 via a switch, a fuse 204, and a step-down relay 206. For example... Figure 3As shown, battery 202 can be a 38-volt battery that powers the micromobility vehicle 12. Switch and fuse 204 can be used to turn the microcontroller on and off. Step-down relay 206 can be used to step down or reduce the 38-volt voltage supplied by the battery to 5 volts to power the microcontroller 200.

[0067] The microcontroller 200 is connected to the vehicle controller 22 via an opto-coupler 208 through the D1 pin. An input at the D1 input terminal indicates whether the vehicle controller 22 is powered on and operational to power and control the micromobility vehicle 12. In other words, an input at the D1 input pin indicates whether the micromobility vehicle 12 is powered on.

[0068] The input at pin D2 is connected to speed sensor 17 and indicates the wheel rotation of wheel 28 detected by speed sensor 17. Based on the detected wheel rotation and the known dimensions of wheel 28 stored in memory, microcontroller 200 can calculate the current speed of micromobility vehicle 12. Microcontroller 200 includes a 3.3-volt output pin (located between pins D0 and D4) that powers speed sensor 17.

[0069] The microcontroller 200 records inputs from the left and right tilt sensors 20a and 20b at pins D0 and D4. Inputs at these pins indicate whether the corresponding tilt sensor has been triggered. For example, tilting the micromobility vehicle 12 fully to the right triggers the right tilt sensor 20a, and tilting the micromobility vehicle 12 fully to the left triggers the left tilt sensor 20b.

[0070] Microcontroller 200 communicates with proximity sensor 16 via pins D5 and D6. For example, the microcontroller receives data from proximity sensor 16 via pin D6 and sends data to proximity sensor 16 via pin D5. For example, if proximity sensor 16 is a LiDAR sensor, microcontroller 200 can receive data indicating the distance from proximity sensor 16 to object 19 based on a laser signal transmitted by the LiDAR sensor. The signal is reflected from the object and received by the LiDAR sensor. Based on the reflected or returned signal received by the LiDAR sensor, the LiDAR sensor can generate data indicating the distance to object 19 and the signal strength of the reflected or returned signal. The data indicating the distance to object 19 and the signal strength of the reflected or returned signal is transmitted from the LiDAR sensor to microcontroller 200 via pin D6.

[0071] The microcontroller 200 controls the warning device 34 via pins D7 and D8. For example, as Figure 3 and Figure 4As shown. The warning device 34 may include a piezoelectric buzzer that generates audio and / or tactile output and a warning light that generates visual output. The microcontroller 200 can activate the piezoelectric buzzer via pin D8 and the warning light via pin D7.

[0072] Reference Figure 5 A flowchart of a collision warning method for a micro-mobility vehicle according to the present disclosure is shown. The method can be executed, for example, by an alarm system controller 14 based on computer-executable instructions stored in a computer-readable medium on the alarm system controller 14. The method begins at 500.

[0073] At point 502, the alarm system controller 14 initializes the program by starting, loading, and initializing the executable software for the collision alarm method. At point 504, the alarm system controller 14 determines whether the micro-mobility vehicle 12 has been activated. (Refer to the above...) Figure 3 and Figure 4 The alarm system controller 14 determines whether it has received a "PowerOn" signal from the vehicle controller 22. For example, the "PowerOn" signal can be received at pin D1 of the microcontroller 200 and indicates that the micromobility vehicle 12 is powered on and ready for use.

[0074] At 506, the alarm system controller 14 determines whether the micromobility vehicle 12 is currently powered on. If the micromobility vehicle 12 is currently powered on, the alarm system controller 14 may play a "Start Up" tone to indicate that the system is starting up. For example, the alarm system controller 14 may track when the "Power On" signal from the vehicle controller 22 changes from indicating that the micromobility vehicle 12 is off to indicating that the micromobility vehicle 12 is on. In this case, when the "Power On" signal changes from off to on, the alarm system controller 14 may play a "Start Up" tone at 506.

[0075] At 508, the alarm system controller 14 determines whether a demonstration mode is being requested. For example, if the LiDAR sensor is used as the proximity sensor 16, the LiDAR sensor returns the distance to the object and the intensity of the signal reflected from the object. Thus, different intensities are returned based on the object's color. A demonstration mode can be triggered by flashing a series of colors in front of the LiDAR sensor for a predetermined time period. For example, a demonstration mode can be triggered using a card with one side black and the other white. For a predetermined time period (e.g., 4 seconds), the black side of the card can be placed in front of the LiDAR sensor, followed by the white side. At 508, the alarm system controller 14 analyzes the intensity of the signals sensed by the LiDAR sensor and determines whether they meet the specified pattern indicating a request for a demonstration mode. Although a black and white card is used in this embodiment, other color combinations displayed to the LiDAR sensor in a predetermined pattern can also be used to trigger a demonstration mode.

[0076] At point 508, when no demonstration mode is requested, the alarm system controller proceeds to 510 and sets the speed threshold to a predetermined speed threshold, such as walking speed. For example, the speed threshold could be set to correspond to a walking speed of 3 miles per hour or 134 centimeters per second. However, other predetermined speed threshold levels can be used. As discussed in further detail below, the speed threshold is used to suppress the generation of alarms to the user when the speed of the micromobility vehicle is below the set speed threshold.

[0077] At 508, when the demonstration mode is requested, the speed threshold is set to 0. This means that in demonstration mode, the alarm is not suppressed based on low-speed vehicles. Thus, the demonstration mode can be used to demonstrate the functionality of the collision warning system 10 without having to drive the micro-mobility vehicle 12 at a speed greater than the speed threshold. Specifically, in demonstration mode, even if the micro-mobility vehicle is moving very slowly, the collision warning system 10 generates an alarm based on the distance to the object. After setting the speed threshold at 510 or 512, the alarm system controller proceeds to 514.

[0078] At point 514, the alarm system controller 14 receives proximity sensor data from proximity sensor 16, including the distance to objects in front of the micromobility vehicle 12. Additionally, if proximity sensor 16 is a LiDAR sensor, the proximity sensor data may also include the signal strength of the reflected signal from the object.

[0079] At point 516, the alarm system controller 14 receives speed data from the speed sensor 17. As described above, the alarm system controller 14 can receive data indicating the number of wheel rotations of the wheels 28 of the micromobility vehicle 12, and can determine the speed of the micromobility vehicle 12 based on the number of wheel rotations of the wheels 28 and the known dimensions.

[0080] At point 518, the alarm system controller 14 determines the closing velocity to the detected object 19 based on the speed of the micro-mobility vehicle 12 detected by the speed sensor 17. If the object 19 is moving, the alarm system controller 14 can also determine the relative speed of the micro-mobility vehicle 12 to the object 19 based on the speed detected by the speed sensor 17 and data from the proximity sensor 16. The alarm system controller 14 then calculates the estimated time to potential collision with the object 19 based on the distance to the object and the closing velocity of the micro-mobility vehicle 12 to the object 19. Additionally, the alarm system controller 14 can use a reaction time factor to determine and / or adjust the estimated time to potential collision. For example, the reaction time factor can be based on the known size of the micro-mobility vehicle 12, such that a larger / heavier micro-mobility vehicle 12 has a reaction time factor that reduces the estimated time to potential collision, while a smaller / lighter micro-mobility vehicle 12 has a reaction time factor that increases the estimated time to potential collision.

[0081] At point 520, the alarm system controller 14 performs hazard detection by comparing an estimated time prior to a potential collision with a predetermined time threshold. The predetermined time threshold can be the same for all speeds, for example, approximately 3 or 4 seconds. Alternatively or additionally, the predetermined time threshold can be adjusted based on factors such as the speed of the micromobile vehicle 12, such that the predetermined time threshold decreases as the speed of the micromobile vehicle 12 increases. The predetermined time threshold can also be adjusted based on the size or weight of the micromobile vehicle 12.

[0082] At 522, the alarm system controller 14 compares the current speed of the micromobility vehicle detected by the speed sensor 17 with the speed thresholds set at 510 and 512 as described above. When the speed exceeds the speed threshold, the alarm system controller 14 enters a warning mode and proceeds to 524, generating an alarm if necessary. In warning mode, the alarm system controller 14 generates alarms and notifications as needed to warn the user of the micromobility vehicle of potential hazards or collisions. When the speed does not exceed the speed threshold, the alarm system controller enters a bypass mode, thereby suppressing the alarm. In this way, when the speed of the micromobility vehicle 12 is less than the speed threshold, the collision alarm system 10 and the alarm system controller 14 enter bypass mode. In bypass mode, the alarm system controller 14 does not generate a collision alarm for the user. For example, the user of the micromobility vehicle 12 may stop and not move at a crosswalk, or move at a very slow speed below walking speed. In this situation, since the user is not moving or is moving very slowly, there is no need to alert the user to a collision with an object in front of the micro-mobility vehicle 12, and generating a false collision alarm when the user is stopped or moving very slowly may annoy or disturb the user. Thus, in bypass mode, the alarm system controller 14 suppresses the generation of alarms, bypasses 524, and proceeds directly to 526.

[0083] Furthermore, as mentioned above, in demonstration mode, the speed threshold is set to 0. Thus, when in demonstration mode with a speed threshold of 0, the alarm system always enters alarm mode (Yes at 522) and proceeds to 524 to generate an alarm if necessary.

[0084] At point 524, the alarm system controller 14 generates an alarm as necessary based on a comparison of the estimated time prior to a potential collision with a predetermined time threshold. For example, when the estimated time prior to a potential collision is less than the predetermined time threshold, the alarm system controller 14 generates an alarm by activating one or more warning devices 34. The alarm system controller 14 can also utilize more than one warning level based on the speed of the micromobility vehicle 12 and / or the estimated time prior to a potential collision. For example, the alarm system controller 14 can use multiple intensity levels for the alarm based on the expected severity of the potential collision. Higher speeds of the micromobility vehicle and / or shorter estimated times prior to a potential collision can correspond to higher levels of alarm intensity, while lower speeds and longer estimated times prior to a potential collision can correspond to lower levels of alarm intensity. In this way, the alarm system controller 14 can be configured to activate one or more warning devices 34 at multiple intensity levels based on the estimated time prior to a collision with the object 19. Alarms generated by one or more warning devices 34 can also alert non-drivers of the micromobility vehicle 12, such as nearby pedestrians near the micromobility vehicle 12, to the potential collision with the object.

[0085] In addition to generating an alarm at point 524, the alarm system controller 14 can also limit the maximum speed of the micro-mobility vehicle 12 when a potential collision is detected. For example, the alarm system controller 14 can calculate a maximum acceptable throttle position value based on an estimated time before the potential collision, and then replace the current desired throttle position input value indicated by the throttle device 24 with the maximum acceptable throttle position value when the previous desired throttle position input value is greater than the calculated maximum acceptable throttle position value.

[0086] At point 526, the alarm system controller 14 performs collision / fall detection. For example, the alarm system controller 14 receives vertical orientation data from tilt sensors 20a and 20b and determines whether the micromobility vehicle 12 is in an upright or horizontal position. When the micromobility vehicle 12 is determined to be in a horizontal position immediately after a collision alarm is generated, the alarm system controller 14 generates an alarm indicating a collision has occurred. Furthermore, when the micromobility vehicle 12 is determined to be in a horizontal position immediately after traveling at a speed exceeding a predetermined threshold and no collision alarm is generated, the alarm system controller 14 generates an alarm indicating a fall has occurred. The alarm system controller 14 can use the communication module 30 to transmit collision or fall alarms to a server 100 associated with or accessible to the owner / lessor of the micromobility vehicle 12. Figure 2 (As shown in the diagram). For example, server 100 can be operated and / or accessed by an entity operating a fleet of micromobility vehicles, including micromobility vehicle 12. Alarms may include the location of micromobility vehicle 12 determined by GPS 32. Alarms may also include the time when a collision or fall was detected.

[0087] The alarm system controller 14 can also determine the severity of the collision or fall based on the speed of the micromobile vehicle 12 at the time of the collision and whether one or both of the tilt sensors 20a and 20b have been activated. Higher speeds can correspond to a higher potential severity of the collision or fall. For example, a speed greater than a predetermined or calibrated speed threshold can indicate a higher potential severity of the collision or fall. Additionally, tilt sensors 20a and 20b being activated within a predetermined or calibrated time period also correspond to a higher potential severity of the collision or fall. The alarm system controller 14 can include the potential severity of the collision or fall in the generated alarm transmitted to the server 100. The server 100 can then transmit information about the collision to the emergency response system 108, such as a community 911 emergency response system. Additionally or alternatively, the alarm system controller 14 and the communication module 30 can transmit a collision alarm to the emergency response system 108.

[0088] At 528, the alarm system controller 14 determines whether the micromobility vehicle 12 has been disconnected. As described above, when the micromobility vehicle 12 has not been disconnected, the alarm system controller 14 cycles based on 514 and receives proximity data from the proximity sensor. At 528, when the micromobility vehicle 12 has been disconnected, the alarm system controller 14 cycles back to 504.

[0089] At point 504, when the alarm system controller 14 determines that the micromobility vehicle 12 is not connected, i.e., the micromobility vehicle 12 is disconnected, the alarm system controller 14 proceeds to point 530 and determines whether the micromobility vehicle is currently disconnected. If the micromobility vehicle 12 is currently disconnected, the alarm system controller 14 can play a "Shut Down" tone to indicate that the system is shutting down. For example, the alarm system controller 14 can track when the "Power On" signal from the vehicle controller 22 changes from indicating that the micromobility vehicle 12 is on to indicating that the micromobility vehicle 12 is off. In this case, when the "Power On" signal changes from on to off, the alarm system controller 14 can play a "Shut Down" tone at point 530.

[0090] At 532, the alarm system controller 14 receives vertical orientation data from tilt sensors 20a and 20b and determines whether the micromobile vehicle 12 is in an upright or horizontal position. When no tilt is detected and the micromobile vehicle 12 is in an upright position, the alarm system controller 14 cycles back to 504. At 532, when tilt is detected and tilt sensors 20a and 20b indicate that the micromobile vehicle 12 is in a horizontal position, the alarm system controller 14 proceeds to 534 and activates one or more warning devices 34 to indicate that the micromobile vehicle 12 is not in an upright position. For example, the alarm system controller 14 may control one or more warning devices 34 to cause the hazard lights of one or more warning devices 34 to flash slowly to indicate to pedestrians that the micromobile vehicle 12 is in a horizontal position and needs to be upright.

[0091] At point 536, the alarm system controller 14 determines whether the micro-mobility vehicle 12 has been upright based on vertical orientation data received from tilt sensors 20a and 20b. At point 536, if the micro-mobility vehicle 12 is not upright, the alarm system controller 14 cycles back to point 504. At point 536, when the alarm system controller 14 determines that the micro-mobility vehicle 12 has been upright, the alarm system controller proceeds to point 538 and plays a "Thank You" tone to thank passersby for uprighting the micro-mobility vehicle 12. The alarm system controller 14 then cycles back to point 504.

[0092] In this manner, the present disclosure includes a warning system controller 14 that communicates with a proximity sensor 16, a speed sensor 17, and one or more warning devices 34 configured to operate in bypass mode and warning mode. As described above, the warning system controller 14 is configured to (i) receive the speed of the micromobile vehicle 12 from the speed sensor 17, (ii) compare the speed of the micromobile vehicle 12 with a predetermined speed threshold, (iii) enter a bypass mode in response to the speed of the micromobile vehicle 12 being less than the predetermined speed threshold, and (iv) enter the warning mode in response to the speed of the micromobile vehicle 12 being greater than the predetermined speed threshold. In bypass mode, the warning system controller is also configured not to activate at least one warning device. In the warning mode, the alarm system controller 14 is also configured to (v) receive the distance to the object 19 from the proximity sensor 16, (vi) determine the closing speed to the object 19 based on the speed of the micromobile vehicle 12 received from the speed sensor 17, (vii) calculate the estimated time prior to a potential collision with the object 19 based on the distance to the object 19 and the closing speed, (viii) compare the estimated time prior to a potential collision with the object 19 with a predetermined time threshold, and (ix) generate a collision warning by activating one or more warning devices 34 in response to the estimated time prior to the collision being less than the predetermined time threshold, to alert the driver of the micromobile vehicle to a potential collision with the object 19.

[0093] The alarm system controller 14 can also be configured to detect when the proximity sensor 16 is blocked and / or defeated. For example, a user of the micromobility vehicle 12 may place an object such as clothing on the micromobility vehicle 12, causing the proximity sensor 16 to be covered. In this case, the alarm system controller 14 can detect that the object is very close to the proximity sensor 16. For example, the alarm system controller can use a blocked / defeated distance threshold and compare the distance to the detected object with the blocked / defeated distance threshold. The blocked / defeated distance threshold may, for example, be less than 10 cm. When the alarm system controller 14 detects that the distance to the object 19 is less than the predetermined blocked / defeated distance threshold, the alarm system controller 14 can be configured to enter a bypass mode and avoid generating an alarm. Furthermore, when the proximity sensor 16 is a LiDAR sensor, the alarm system controller 14 can also be configured to receive the signal strength of the returned signal received by the LiDAR sensor, and set at least one of a blocked sensor flag and a defeated sensor flag based on the signal strength. For example, a technician can later communicate with the alarm system controller 14 to determine if an obstructed sensor flag or an invalid sensor flag is set, and reset the alarm system controller 14 if necessary.

[0094] This disclosure also includes a collision / fall reporting system, wherein the alarm system controller 14 is configured to (i) receive the distance to the object 19 from the proximity sensor 16, (ii) determine the closing speed to the object 19 based on the speed of the micromobile vehicle 12 received from the speed sensor 17, (iii) calculate an estimated time prior to a potential collision with the object 19 based on the distance to the object 19 and the closing speed, (iv) compare the estimated time prior to a potential collision with the object 19 with a predetermined time threshold, (v) generate a collision warning by activating one or more warning devices 34 in response to the estimated time prior to the collision being less than the predetermined time threshold, to alert the driver of the micromobile vehicle 12 to a potential collision with the object 19, (vi) receive vertical orientation data of the micromobile vehicle 12 from one or more tilt sensors 20a and 20b, (vii) determine that a collision has occurred in response to the generation of a collision warning in the event that the speed of the micromobile vehicle 12 is greater than a predetermined speed threshold, and then the vertical orientation data indicating that the micromobile vehicle 12 is in a horizontal position after the generation of the collision warning, and (viii) obtain data from GPS. 32 receives location data, (ix) determines the time of the collision, and (x) in response to determining that a collision has occurred, transmits a collision alarm to at least one remote device (e.g., server 100) using a communication device (e.g., communication module 30), the collision alarm including the location of the micromobility vehicle 12 and the time of the collision.

[0095] This disclosure also includes a tipped-over micromobile vehicle notification system, wherein the warning system controller 14 is configured to (i) receive the speed of the micromobile vehicle from the speed sensor 17, (ii) receive vertical orientation data of the micromobile vehicle 12 from one or more tilt sensors 20a and 20b, and (iii) generate a tipped-over micromobile vehicle notification by activating a notification device (e.g., one or more warning devices 34) in response to the speed indication that the micromobile vehicle 12 is not moving and the vertical orientation data indicating that the micromobile vehicle 12 is in a horizontal position. The notification may be a visual notification and / or an audio notification. The alarm system controller 14 may also be configured to receive location data from GPS 32 and, in response to the speed indication that the micromobile vehicle 12 is not moving and the vertical orientation data indicating that the micromobile vehicle 12 is in a horizontal position, transmit a tipped-over micromobile vehicle alarm to at least one remote device (e.g., server 100) using a communication device (e.g., communication module 30), the tipped-over micromobile vehicle alarm including the location of the micromobile vehicle 12. The alarm system controller 14 is also configured to determine whether the drive system of the micromobility vehicle is powered on based on a power signal from the drive system (e.g., a “power on” signal from the vehicle controller 22), and to generate a notification of a fallen micromobility vehicle only when the micromobility vehicle is not powered on.

[0096] In other embodiments, this disclosure includes a collision warning system for a micromobility vehicle 12 that detects a potential collision by comparing the expected vertical acceleration of the micromobility vehicle 12 with the maximum permissible vertical acceleration of the micromobility vehicle 12. For example, a proximity sensor 16 may be mounted to the micromobility vehicle 12, pointed towards a terrain in front of the micromobility vehicle, and configured to sense the current distance to the terrain in front of the micromobility vehicle. The terrain may include a surface on which the micromobility vehicle will travel and objects in front of the micromobility vehicle. The alarm system controller 14 is configured to (i) receive the current distance from the proximity sensor 16, (ii) determine a baseline distance by averaging the current distance over a predetermined time period, (iii) determine the difference between the current distance and the baseline distance, (iv) determine the rate of change of the difference, (v) determine the expected vertical acceleration of the micromobility vehicle 12 based on the rate of change of the difference, (vi) receive the speed of the micromobility vehicle from the speed sensor, (vii) determine the maximum permissible vertical acceleration of the micromobility vehicle 12 based on the speed of the micromobility vehicle 12, (viii) compare the expected vertical acceleration of the micromobility vehicle 12 with the maximum permissible vertical acceleration of the micromobility vehicle 12, and (ix) generate a collision warning by activating one or more warning devices 34 in response to the expected vertical acceleration being greater than the maximum permissible vertical acceleration, to warn the driver of the micromobility vehicle 12 of a potential collision. The controller can also be configured to: respond to a negative rate of change in velocity difference by setting the maximum permissible vertical acceleration to a first value based on the speed of the micro-mobility vehicle 12; and be configured to respond to a positive rate of change in velocity difference by setting the maximum permissible vertical acceleration to a second value based on the speed of the micro-mobility vehicle 12, wherein the first value and the second value are different. In this case, the negative rate corresponds to a potential collision with ground hazard, and the positive rate corresponds to a potential collision with above-ground hazard.

[0097] The proximity sensor 16 can be mounted on a micromobility vehicle having an adjustable tilting device 18, and the alarm system controller 14 can be further configured to control the adjustable tilting device 18 based on the speed of the micromobility vehicle 12 to adjust the measurement angle of the proximity sensor 16 relative to the ground. For example, the alarm system controller 14 can control the tilting device 18 to decrease the measurement angle of the proximity sensor 16 by pointing the proximity sensor 16 closer to the focal point in front of the micromobility vehicle 12. Similarly, the alarm system controller 14 can control the tilting device 18 to increase the measurement angle of the proximity sensor 16 towards the focal point in front of the micromobility vehicle 12. The alarm system controller 14 can, for example, control the tilting device 18 and the measurement angle based on the speed of the micromobility vehicle 12 detected by the speed sensor 17. For example, as the speed of the micromobility vehicle 12 increases, the alarm system controller 14 can increase the measurement angle to direct the proximity sensor 16 further away from the focal point in front of the micromobility vehicle 12. As the speed of the micromobile vehicle 12 decreases, the alarm system controller 14 can reduce the measurement angle to direct the proximity sensor 16 towards a focal point closer to the front of the micromobile vehicle 12. In this way, as the speed of the micromobile vehicle 12 increases, the alarm system controller 14 can focus on objects and potential hazards further away from the micromobile vehicle 12, and as the speed of the micromobile vehicle 12 decreases, the alarm system controller 14 can focus on objects and potential hazards closer to the micromobile vehicle 12. The tilting device 18 may include a tilting mechanism that physically tilts the proximity sensor 16 up and down. Additionally or alternatively, the tilting device 18 is implemented by electronically adjusting the focal point of the proximity sensor 16. For example, the alarm system controller 14 may be further configured to increase the measurement angle as the speed of the micromobile vehicle 12 increases to measure the current distance to areas farther from the micromobile vehicle 12, and decrease the measurement angle as the speed of the micromobile vehicle 12 decreases to measure the current distance to areas closer to the micromobile vehicle 12.

[0098] The foregoing description is illustrative in nature and is in no way intended to limit this disclosure, its application, or use. The broad teachings of this disclosure can be implemented in various forms. Therefore, although this disclosure includes specific embodiments, its true scope should not be so limited, as other modifications will become apparent upon study of the drawings, description, and appended claims. It should be understood that one or more steps within the method can be performed in a different order (or simultaneously) without altering the principles of this disclosure. Furthermore, although each of the embodiments described above has certain features, any one or more of those features described with respect to any embodiment of this disclosure can be implemented in features of any other embodiment and / or combined with features of other embodiments, even if such combination is not explicitly described. In other words, the described embodiments are not mutually exclusive, and substitution of one or more embodiments for each other remains within the scope of this disclosure.

[0099] Various terms are used to describe spatial and functional relationships between elements (e.g., between modules), including “connection,” “joint,” “interface,” and “coupling.” Unless explicitly described as “direct,” the relationship between the first and second elements described in the above disclosure includes a direct relationship where no other intervening elements exist between the first and second elements, as well as an indirect relationship between the first and second elements (spatially or functionally) involving one or more intervening elements.

[0100] As used herein, the phrase “at least one of A, B, and C” should be interpreted as meaning the logic of using the non-exclusive logical operator “OR” (A or B or C). For example, the phrase “at least one of A, B, and C” should be interpreted as including any of the following: (i) only A; (ii) only B; (iii) only C; (iv) A and B; (v) A and C; (vi) B and C; (vii) A, B, and C. The phrase “at least one of A, B, and C” should not be interpreted as meaning “at least one of A, at least one of B, and at least one of C”.

[0101] In a diagram, the direction of the arrows, as indicated by the arrows, typically indicates the flow of information (e.g., data or instructions) that the diagram is interested in. For example, when elements A and B exchange various kinds of information, but the information transmitted from element A to element B is relevant to the diagram, the arrow can point from element A to element B. This unidirectional arrow does not imply the absence of other information. Furthermore, for information sent from element A to element B, element B can send a request for or confirmation of receipt of that information to element A. The term subset does not necessarily require a suitable subset. In other words, a first subset of a first set can be congruent to (equal to) the first set.

[0102] In this application, which includes the following definitions, the term "module" or "controller" may be replaced by the term "circuit". The term "module" or "controller" may refer to or include a portion of processor hardware (shared, dedicated, or grouped) that executes code and memory hardware (shared, dedicated, or grouped) that stores the code executed by the processor hardware.

[0103] The module or controller may include one or more interface circuits. In some embodiments, the interface circuits(s) may implement a wired or wireless interface for connection to a local area network (LAN) or a wireless personal area network (WPAN). Implementations of a LAN include IEEE standard 802.11-2016 (also known as the Wi-Fi wireless network standard) and IEEE standard 802.3-2015 (also known as the Ethernet wired network standard). Implementations of a WPAN include IEEE standard 802.15.4 (including the ZigBee standard from the ZigBee Alliance) and Bluetooth wireless network standards from the Bluetooth Special Interest Group (SIG) (including core specification versions 3.0, 4.0, 4.1, 4.2, 5.0, and 5.1 from the Bluetooth SIG).

[0104] Modules or controllers may communicate with other modules or controllers using one or more interface circuits. Although modules or controllers may be described in this disclosure as logically communicating directly with other modules or controllers, in various implementations, modules or controllers may actually communicate via a communication system. This communication system includes physical and / or virtual networking devices such as hubs, switches, routers, and gateways. In some implementations, the communication system is connected to or traverses a wide area network (WAN) such as the Internet. For example, the communication system may include multiple LANs interconnected via the Internet or peer-to-peer leased lines using technologies including Multiprotocol Label Switching (MPLS) and Virtual Private Networks (VPNs).

[0105] In various implementations, the functionality of a module or controller can be distributed among multiple modules or controllers connected via a communication system. For example, multiple modules or controllers can implement the same functionality assigned by a load balancing system. In another embodiment, the functionality of a module or controller can be divided between server (also known as remote or cloud) modules or controllers and client (or user) modules or controllers. For example, a client module or controller may include a local or network application that executes on a client device and communicates with the server module or controller over the network.

[0106] As used above, the term "code" can include software, firmware, and / or microcode, and can refer to programs, routines, functions, classes, data structures, and / or objects. Shared processor hardware contains a single microprocessor that executes some or all of the code from multiple modules or controllers. Group processor hardware contains a microprocessor that, in combination with additional microprocessors, executes some or all of the code from one or more modules or controllers. References to multiple microprocessors include multiple microprocessors on a discrete die, multiple microprocessors on a single die, multiple cores of a single microprocessor, multiple threads of a single microprocessor, or a combination of the above.

[0107] Shared memory hardware includes a single memory device that stores some or all of the code from multiple modules or controllers. Group memory hardware includes a memory device that, in combination with other memory devices, stores some or all of the code from one or more modules or controllers.

[0108] The term "memory hardware" is a subset of the term "computer-readable medium." As used herein, the term "computer-readable medium" does not include transient electrical or electromagnetic signals propagating through a medium (e.g., on a carrier wave); therefore, the term "computer-readable medium" is considered tangible and non-transitory. Non-limiting embodiments of non-transitory computer-readable media include non-volatile storage devices (e.g., flash memory devices, erasable programmable read-only memory devices, or mask read-only memory devices), volatile storage devices (e.g., static random access memory devices or dynamic random access memory devices), magnetic storage media (e.g., analog or digital magnetic tape or hard disk drives), and optical storage media (e.g., CDs, DVDs, or Blu-ray discs).

[0109] The apparatus and methods described in this application can be implemented, partially or entirely, by a dedicated computer created by configuring a general-purpose computer to perform one or more specific functions embodied in a computer program. The aforementioned function blocks and flowchart elements serve as software specifications that can be routinely converted into computer programs by a technician or programmer.

[0110] The computer program includes processor-executable instructions stored on at least one non-transitory computer-readable medium. The computer program may also include or depend on stored data. The computer program may include a basic input / output system (BIOS) for interacting with the hardware of a dedicated computer, device drivers for interacting with specific devices of the dedicated computer, one or more operating systems, user applications, background services, background applications, etc.

[0111] Computer programs may include: (i) descriptive text to be parsed, such as HTML (Hypertext Markup Language), XML (Extensible Markup Language), or JSON (JS Object Notation); (ii) assembly code; (iii) object code generated from source code by a compiler; (iv) source code executed by an interpreter; and (v) source code compiled and executed by a real-time compiler, etc. By way of example only, the source code may be written using the syntax of languages ​​including: C, C++, C#, Objective C, Swift, Haskell, Go, SQL, R, Lisp, etc. Fortran, Perl, Pascal, Curl, OCaml, HTML5 (Hypertext Markup Language 5th Edition), Ada, ASP (Dynamic Server Web Pages), PHP (PHP: Hypertext Preprocessor), Scala, Eiffel, Smalltalk, Erlang, Ruby, Lua, MATLAB, SIMULINK and

[0112] The provision of exemplary embodiments will make this disclosure thorough and fully convey the scope of the inventive concept to those skilled in the art. Numerous examples of specific details (e.g., specific components, apparatus, and methods) are set forth to provide a thorough understanding of embodiments of this disclosure. It will be apparent to those skilled in the art that specific details are not required, that exemplary embodiments may be embodied in many different forms, and none of them should be construed as limiting the scope of this disclosure. In some exemplary embodiments, well-known processes, well-known apparatus structures, and well-known techniques are not described in detail.

[0113] The terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. As used herein, unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “the” may be intended to include the plural forms. The terms “comprising,” “including,” “including,” and “having” are inclusive and therefore specifically refer to the presence of the stated features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof. Unless expressly identified as an order of execution, the method steps, processes, and operations described herein should not be construed as necessarily having to be performed in the specific order discussed or illustrated. It should also be understood that additional or alternative steps may be employed.

Claims

1. A collision warning system for a micro-mobility vehicle, the collision warning system comprising: At least one proximity sensor is mounted to the micromobility vehicle, pointing towards a region in front of the micromobility vehicle, and configured to sense the current distance to the region in front of the micromobility vehicle, the region including at least one of a surface on which the micromobility vehicle will travel and an object in front of the micromobility vehicle. A speed sensor configured to sense the speed of the micromobility vehicle; At least one warning device; as well as A controller, communicating with the at least one proximity sensor, the speed sensor, and the at least one warning device, is configured to: (i) receive the current distance from the at least one proximity sensor; (ii) determine a baseline distance by averaging the current distance over a predetermined time period; (iii) determine the difference between the current distance and the baseline distance; (iv) determine the rate of change of the difference; (v) determine the expected vertical acceleration of the micromobility vehicle based on the rate of change of the difference; (vi) receive the speed of the micromobility vehicle from the speed sensor; (vii) determine the maximum permissible vertical acceleration of the micromobility vehicle based on the speed of the micromobility vehicle; (viii) compare the expected vertical acceleration of the micromobility vehicle with the maximum permissible vertical acceleration of the micromobility vehicle; and (ix) generate a collision warning by activating the at least one warning device in response to the expected vertical acceleration being greater than the maximum permissible vertical acceleration, thereby alerting the driver of the micromobility vehicle to a potential collision.

2. The collision warning system according to claim 1, wherein, The controller is further configured to: in response to the rate of the difference change being negative, set the maximum permissible vertical acceleration to a first value based on the speed of the micromobility vehicle; and in response to the rate of the difference change being positive, set the maximum permissible vertical acceleration to a second value based on the speed of the micromobility vehicle, wherein the first value and the second value are different. The negative velocity corresponds to a potential collision with ground hazard, and the positive velocity corresponds to a potential collision with above-ground hazard.

3. The collision warning system according to claim 1, wherein, The at least one proximity sensor is mounted to the micromobility vehicle having an adjustable tilting device, and wherein the controller is further configured to control the adjustable tilting device based on the speed of the micromobility vehicle to adjust the measurement angle of the at least one proximity sensor relative to the terrain.

4. The collision warning system according to claim 3, wherein, The controller is also configured to: increase the measurement angle as the speed of the micromobility vehicle increases to measure the current distance to the area farther from the micromobility vehicle; and decrease the measurement angle as the speed of the micromobility vehicle decreases to measure the current distance to the area closer to the micromobility vehicle.

5. The collision warning system of claim 1, further comprising at least one additional proximity sensor, the at least one additional proximity sensor being mounted to the micromobility vehicle as a side proximity sensor and configured to detect the distance to an object located on the side of the micromobility vehicle.

6. The collision warning system according to claim 5, wherein, The side proximity sensor is configured to detect the distance to an object located in a direction perpendicular to the direction of travel of the micromobility vehicle.

7. The collision warning system according to claim 5, wherein, The at least one additional proximity sensor is a radar sensor.

8. The collision warning system according to claim 1, wherein, The micro-mobility vehicle is an electric standing scooter.

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