Pedestrian alarm system

Abstract

This document describes a pedestrian warning system that draws a driver's attention to pedestrians on or near the road. The described system helps prevent collisions with pedestrians and other objects in poor visibility conditions or when drivers may be distracted. For example, the system can determine the presence of an object in or near the path of a main vehicle. The system can also determine the object's position relative to the main vehicle and control light strips to indicate the object's location. The indication may have specific characteristics to indicate the object's position relative to the main vehicle. In this way, the described pedestrian warning system can utilize sensors to focus a driver's attention on an object before a potential collision occurs and reduce traffic-related fatalities.

Description

Background Technology

[0001] When a vehicle is operated under manual or automatic control (e.g., via driver assistance or autonomous driving systems), the driver monitors the environment. For example, the driver must be aware of pedestrians and other objects near or in the road (e.g., cyclists, animals, skateboarders) and take evasive action to avoid hitting them. Many pedestrian injuries or fatalities in or near the road are due to driver distraction or poor visibility (e.g., low light, fog). When the driver needs to reclaim control from a driver assistance or autonomous driving system or take evasive action, they may not be able to react in time to avoid a collision. Although some driving systems warn the driver (e.g., audible alarms) or take evasive action (e.g., emergency braking) when a pedestrian or object is directly in front of the vehicle, these systems may result in uncomfortable driving or secondary collisions (e.g., a collision with another vehicle following the primary vehicle). Summary of the Invention

[0002] This document describes a pedestrian warning system that draws a driver's attention to pedestrians on or near the road. The described pedestrian warning system can help prevent collisions with pedestrians and other objects in environments with poor visibility or when drivers may be distracted. For example, the system can determine the presence of an object (e.g., a pedestrian, cyclist, animal) in or near the path of a main vehicle. Sensor data from external sensors can be used to determine the object's presence. The system can also determine the object's position relative to the main vehicle and control light strips to provide indication of the object. The indication can have specific characteristics to indicate the object's position relative to the main vehicle. In this way, the described pedestrian warning system can leverage increased visibility and multiple sensors to focus a driver's attention on objects before a potential collision occurs and reduce traffic-related fatalities.

[0003] As another example, a pedestrian warning system can also determine whether a driver is distracted based on sensor data from internal sensors. In response to determining that the driver is distracted and that an object is present in or near the driving path, the system can control the light strip to indicate the object using other characteristics. For example, other characteristics could include flashing red light. In this way, the described system can also improve vehicle safety by drawing the attention of an inattentive driver to objects in or near the road.

[0004] This invention provides a simplified concept related to pedestrian warning systems, which is further described in the detailed description and accompanying drawings. This invention is not intended to identify essential features of the claimed subject matter, nor is it intended to define the scope of the claimed subject matter. Attached Figure Description

[0005] This document describes one or more aspects of a pedestrian warning system in detail with reference to the following figures. The same numbers are generally used throughout the figures to refer to similar features and components:

[0006] Figure 1 An example environment in which a pedestrian alarm system can be implemented is shown;

[0007] Figure 2 An example configuration of a vehicle with a pedestrian warning system is shown;

[0008] Figure 3 An example flowchart of a pedestrian warning system is shown for providing a visible indicator of pedestrians in or near the road;

[0009] Figures 4-1 to 4-6 An example visible indicator of a pedestrian in or near a road, generated by a pedestrian warning system according to the technology of this disclosure, is shown; and

[0010] Figure 5 An example method for a pedestrian alarm system is shown. Detailed Implementation

[0011] Overview

[0012] Pedestrians account for an increasing number of traffic-related deaths. For example, pedestrians accounted for approximately 17% of traffic-related deaths in 2019, compared to 13% in 2010. While traffic-related pedestrian deaths have increased by more than 40% over the past decade, all other types of traffic-related deaths have increased by only about 5%. Many of these pedestrian injuries and fatalities on or near roads are related to driver distraction or poor visibility.

[0013] Some driving systems can warn the driver when a pedestrian or object is directly in front of the vehicle (e.g., an audible alarm). However, these systems may not provide a warning to the driver or another driving system early enough to take evasive action. Other driving systems can take evasive action when a pedestrian is directly in front of the vehicle (e.g., emergency braking), but these actions may result in uncomfortable driving or a secondary collision.

[0014] In contrast, this document describes the technology and system of a pedestrian warning system that can provide early warnings about pedestrians and focus driver attention on them. For example, the pedestrian warning system can determine the presence of an object (e.g., a pedestrian, cyclist, animal) in or near the path of a main vehicle. Sensor data from external sensors can be used to determine the object's presence. The system can also determine the object's position relative to the main vehicle and control light strips to indicate the object. The indication can have specific characteristics to indicate the object's position relative to the main vehicle. In this way, the described pedestrian warning system can utilize increased visibility and multiple sensors to focus driver attention on objects before a potential collision occurs and reduce the number of traffic-related collisions. The system can also improve vehicle safety and facilitate smooth handovers by warning drivers of inattentive behavior when the vehicle is operating in autonomous driving mode.

[0015] This example is just one illustration of the pedestrian warning system described. This document describes other examples and implementations.

[0016] Operating environment

[0017] Figure 1 An example environment 100 in which a pedestrian warning system can be implemented is shown. In the depicted environment 100, a vehicle 102 is traveling along a road 104, where a pedestrian 106 is located near or in the road 104. The pedestrian 106... Figure 1 The pedestrian 106 is shown as a person. In other implementations, the pedestrian 106 can be a cyclist, a skateboarder, a motorcyclist, an animal, or a similar object near or within the road 104 to which the vehicle 102 may collide. Although shown as a car, the vehicle 102 can represent other types of motorized vehicles (e.g., passenger trucks, cars, motorcycles, buses, tractors, semi-trailers), watercraft (e.g., boats), or aircraft (e.g., airplanes).

[0018] Vehicle 102 includes one or more external sensors 108, one or more internal sensors 110, and a pedestrian warning system 112. In the depicted environment 100, the external sensors 108 are mounted to or integrated into the front of vehicle 102. As described in more detail below, the external sensors 108 may include a camera system, radar system, lidar system, or ultrasonic system for detecting and tracking pedestrians 106. The external sensors 108 can provide sensor data about pedestrians 106, including the classification of pedestrians 106 (e.g., cyclist, pedestrian, animal) and tracking data for pedestrians 106. For example, the tracking data may indicate the relative position (e.g., distance and lateral positioning), heading, or speed of pedestrian 106 relative to vehicle 102.

[0019] In the depicted implementation, external sensors 108 are mounted on the front of vehicle 102. External sensors 108 can detect and track pedestrians 106 from any external surface of vehicle 102. For example, vehicle manufacturers can integrate radar systems, lidar systems, cameras, or ultrasonic sensors into bumpers, side mirrors, headlights, or any other internal or external location where pedestrian detection 106 is required. In some cases, vehicle 102 includes multiple types of external sensors 108 (such as radar systems and cameras) that provide a large instrument field of view or improved detection of pedestrians 106. Generally, vehicle manufacturers can design the placement of external sensors 108 to provide a specific field of view encompassing a region of interest. Example fields of view include 360-degree fields of view, one or more 180-degree fields of view, one or more 90-degree fields of view, etc., which can overlap or be combined into a field of view of a specific size.

[0020] An internal sensor 110 is mounted or integrated into the interior of vehicle 102 to detect the driver's orientation. The internal sensor 110 may include a camera or radar system that captures images of the driver. Specifically, the internal sensor 110 may be positioned to have a field of view that includes the driver's head. The internal sensor 110 can determine whether the driver is looking at road 104, pedestrian 106, or elsewhere. In this way, visual alerts regarding pedestrian 106 can be adapted to the driver's attention. As described in more detail below, if the driver is distracted and not looking at road 104, the pedestrian warning system 112 may flash a red light to regain the driver's attention and warn them that a pedestrian is in or near road 104.

[0021] The pedestrian warning system 112 can provide a feedback system to warn a driver of pedestrians 106 in or near the road 104 to prevent collisions or injuries. The pedestrian warning system 112 may include a pedestrian tracker 114, a driver monitoring system 116, and an alarm controller 118. The pedestrian warning system 112, pedestrian tracker 114, driver monitoring system 116, and alarm controller 118 can be implemented using hardware, software, firmware, or a combination thereof.

[0022] The pedestrian tracker 114 can detect and track pedestrians 106 in or near the road 104 based on sensor data from external sensor 108. The output of the pedestrian tracker 114 may include the relative position of the pedestrian 106, the tracking and predicted tracking of the pedestrian 106, and the probability that the pedestrian 106 will enter the travel path of the vehicle 102.

[0023] The driver monitoring system 116 can determine whether the driver is distracted. Based on the driver's attention and tracking of pedestrian 106, the alarm controller 118 can control light strips or other displays to warn the driver of pedestrian 106. For example, the alarm controller 118 can illuminate one or more groups of light strips in or integrated into the dashboard of vehicle 102 to indicate the relative position of pedestrian 106 and whether evasive action is required. As another example, if pedestrian 106 is detected in or near road 104 and the driver is distracted, the alarm controller 118 can flash one or more groups of light strips red. In this way, the pedestrian warning system 112 can increase the driver's awareness of pedestrian 106, especially in low visibility conditions or when the driver may be distracted.

[0024] Example vehicle configuration

[0025] Figure 2 An example configuration 200 of a vehicle 102 with a pedestrian alarm system 112 is shown. (For example, regarding...) Figure 1 The described vehicle 102 includes external sensors 108, internal sensors 110, and a pedestrian alarm system 112, which includes a pedestrian tracker 114, a driver monitoring system 116, and an alarm controller 118. Furthermore, the vehicle 102 may include one or more communication devices 202, one or more processors 204, a computer-readable storage medium (CRM) 206, and light strips 208.

[0026] Communication device 202 may include a sensor interface, a pedestrian alarm system interface, and a light strip interface. For example, when the various components of external sensor 108, internal sensor 110, and / or pedestrian alarm system 112 are integrated within vehicle 102, the sensor interface and pedestrian alarm system interface can transmit data (e.g., azimuth, distance calculation, and other characteristics associated with pedestrian 106) via the communication bus of vehicle 102. The pedestrian alarm system interface can transmit control data to the light strip interface via the communication bus of vehicle 102 in response to detecting a pedestrian 106 in or near road 104.

[0027] Processor 204 (e.g., an energy processing unit or electronic control unit) may be a microprocessor or a system-on-a-chip. Processor 204 may execute instructions stored in CRM 206. For example, processor 204 may process sensor data from external sensor 108 and internal sensor 110 and determine characteristics of pedestrian 106 (e.g., relative position, distance, and predictive tracking). Processor 204 may then control the operation of light bar 208 to focus the driver's attention on pedestrian 106 and avoid potential collisions or unsafe driving. For example, processor 204 may control light bar 208 to flash red based on data from external sensor 108 and internal sensor 110 to refocus the driver's attention on the relative position of road 104 and pedestrian 106.

[0028] The pedestrian alarm system 112 can be stored in CRM 206. (For example, for...) Figure 1 As described, the pedestrian warning system 112 may include a pedestrian tracker 114, a driver monitoring system 116, and an alarm controller 118. The pedestrian tracker 114 can detect pedestrians 106 in or near the road 104 and track and predict the path of pedestrians 106 to determine whether pedestrians 106 are in or may enter the travel path of the vehicle 102. The driver monitoring system 116 can determine whether the driver is focused on the road 104 or pedestrians 106, or whether they are otherwise distracted.

[0029] Based on outputs from pedestrian tracker 114 and driver monitoring system 116, alarm controller 118 can control the operation of light strip 208. Light strip 208 can be placed, for example, on or inside the dashboard of vehicle 102. In other implementations, light strip 208 can be integrated into the instrument cluster behind the steering wheel or another display area of ​​the vehicle. For example, light strip 208 can be a line at the top or bottom edge of a display screen or instrument cluster. Light strip 208 can be placed in other areas of vehicle 102 (e.g., in or near the windshield) to focus the driver's attention on road 104 and pedestrian 106.

[0030] The light strip 208 may include multiple groups or segments, which the alarm controller 118 causes to illuminate at different colors, intensities, or frequencies. For example, if pedestrian 106 is detected and the driver is distracted, the alarm controller 118 may cause one or more groups of light strips 208 to flash red. As another example, if pedestrian 106 is detected near road 104, the alarm controller 118 may cause one or more groups of light strips 208 to illuminate yellow or green. The position of one or more illuminating groups may correspond to the relative position of pedestrian 106 with respect to vehicle 102. The number of groups or the width of the illuminating groups may correspond to the distance of pedestrian 106 relative to vehicle 102.

[0031] Figure 3 Example flowchart 300 shows a pedestrian warning system used to provide a visible indicator for pedestrians in or near the road. For example, Figure 3 Pedestrian alarm systems can be Figure 1 and Figure 2 The pedestrian alarm system 112 may include a pedestrian tracker 114, a driver monitoring system 116, and an alarm controller 118.

[0032] Flowchart 300 indicates a series of operations that pedestrian alarm system 112 can repeatedly perform when vehicle 102 is traveling along road 104. If multiple pedestrians 106 are in or near road 104, pedestrian alarm system 112 can repeat the operations of flowchart 300 for each pedestrian 106 in parallel or sequentially. Flowchart 300 is shown as multiple sets of operations (or actions) to be performed, but is not limited to the order or combination of operations shown herein. Furthermore, any one or more operations can be repeated, combined, or recombined to provide other methods.

[0033] At point 302, pedestrian alarm system 112 or pedestrian tracker 114 detects pedestrians 106 in or near road 104. Pedestrians 106 are detected using sensor data from external sensor 108. Processing of the sensor data may be performed by pedestrian alarm system 112, pedestrian tracker 114, or another component of vehicle 102 (e.g., radar system). Pedestrian alarm system 112 or pedestrian tracker 114 may also determine the classification of pedestrians 106. Classification may include pedestrians, cyclists, motorcyclists, or animals.

[0034] At 304, the pedestrian warning system 112 or the driver monitoring system 116 obtains sensor data from the internal sensor 110. The sensor data includes images of the driver, radar data, or other sensor data, and can be used to determine whether the driver is distracted. For example, the driver monitoring system 116 can determine whether the driver's gaze is directed towards the road 104 and / or the pedestrian 106. Alternatively, another component of the vehicle 102 can monitor the driver's gaze and provide the pedestrian warning system 112 or the driver monitoring system 116 with indications of the driver's attention.

[0035] At point 306, the pedestrian warning system 112 or the driver monitoring system 116 determines whether the driver is distracted. Alternatively, the pedestrian warning system 112 or the driver monitoring system 116 may determine whether the driver has noticed or is likely to notice the pedestrian 106.

[0036] In response to determining that the driver is distracted, the pedestrian warning system 112 or the alarm controller 118 may cause the light strip 208 to output a flashing light 308. The flashing light 308 may include multiple or all groups that repeatedly illuminate the light strip 208 with red light. If a subset of the groups is illuminated, then the subset of groups may correspond to the relative position of the pedestrian 106. For example, the alarm controller 118 may flash three groups on the left-hand side of the light strip 208 to indicate that the pedestrian 106 is currently located to the left of the vehicle 102. The flashing light 308 may be red (or another color) that is likely to attract the driver's attention. In this way, the pedestrian warning system 112 may draw the driver's line of sight and attention to the road 104 and the pedestrian 106.

[0037] In response to determining that the driver is not distracted, the pedestrian warning system 112 or the alarm controller 118 may cause the light strip 208 to output one or more light groups having a first characteristic 310. The light groups having the first characteristic 310 may be a subset of the light strip 208 groups indicating the relative position of the pedestrian 106. For example, the alarm controller 118 may flash three groups on the left-hand side portion of the light strip 208 to indicate that the pedestrian 106 is currently to the left of the vehicle 102. If the pedestrian 106 is not currently in the path of the road 104 or the vehicle 102, the first characteristic may include green to indicate that a collision with the pedestrian 106 is unlikely. If the pedestrian is currently in or near the path of the road 104 or the vehicle 102, the first characteristic may include yellow, orange, or red to indicate that a collision with the pedestrian 106 is possible without evasive action.

[0038] The number of light-emitting groups or the width of the light-emitting portion of the light strip 208 can indicate the distance of a pedestrian 106 relative to a vehicle 102. For example, one group of lights can indicate that a pedestrian 106 is approximately 30 meters away from the vehicle 102, while three groups of lights can indicate that a pedestrian 106 is approximately 5 meters away from the vehicle 102. The pedestrian alarm system 112 or alarm controller 118 can change different characteristics of the light strip 208 to indicate relative position, distance, classification, or other attributes associated with the pedestrian 106. For example, the brightness or color of the light-emitting group can indicate the likelihood of a collision with the pedestrian 106.

[0039] At point 312, in response to the detection of a pedestrian 106 in or near road 104, pedestrian warning system 112 or pedestrian tracker 114 may generate a track associated with pedestrian 106. The track is generated using sensor data from external sensor 108. Processing of the sensor data may be performed by pedestrian warning system 112, pedestrian tracker 114, or another component of vehicle 102 (e.g., radar system). The track indicates the relative position of pedestrian 106 with respect to vehicle 102 over time (e.g., a series of data snapshots from external sensor 108).

[0040] At 314, pedestrian warning system 112 or pedestrian tracker 114 can use tracking to determine the possible future location of pedestrian 106. The possible future location can indicate the relative position of pedestrian 106 in the near future. For example, the possible future location can be determined by extending tracking using the speed and heading of pedestrian 106. Speed ​​and heading can be based on a recent snapshot of sensor data or a rolling average associated with pedestrian 106. The possible future location can include a margin of error or offset in the lateral direction (e.g., perpendicular to the travel path of vehicle 102) to indicate the general area where pedestrian 106 is likely to be located.

[0041] At 316, the pedestrian alarm system 112 or pedestrian tracker 114 can use tracking and / or possible future location to determine whether pedestrian 106 will enter the travel path of vehicle 102. If pedestrian 106 will not enter the travel path of vehicle 102, the pedestrian alarm system 112 or alarm controller 118 can cause the light bar 208 to output one or more light groups with the first characteristic 310.

[0042] At 318, in response to determining that pedestrian 106 will enter the travel path of vehicle 102, pedestrian warning system 112 or driver monitoring system 116 obtains sensor data from internal sensor 110. Operation 318 can reuse the sensor data obtained for operation 304, or based on updated or new sensor data from internal sensor 110.

[0043] At point 320, the pedestrian warning system 112 or the driver monitoring system 116 determines whether the driver is distracted. Alternatively, the pedestrian warning system 112 or the driver monitoring system 116 may determine whether the driver has noticed or is likely to notice the pedestrian 106. Determination 320 may be the same as determination 306, or a new determination based on new or updated sensor data from internal sensor 110.

[0044] In response to determining that the driver is distracted, the pedestrian warning system 112 or the alarm controller 118 may cause the light bar 208 to output a flashing light 308. In other implementations, the pedestrian warning system 112 or the alarm controller 118 may output another flashing light at a higher frequency or intensity than the flashing light 308 to instruct the driver to more urgently return his attention or gaze to the road 104 and the pedestrian 106.

[0045] In response to the driver's lack of distraction, the pedestrian warning system 112 or the alarm controller 118 may cause the light strip 208 to output one or more light groups having a second characteristic 322. The light groups having the second characteristic 322 may be a subset of the light strip 208 groups indicating the relative position of the pedestrian 106 relative to the vehicle 102. For example, the alarm controller 118 may flash three groups on the left-hand side of the light strip 208 to indicate that the pedestrian 106 is currently to the left of the vehicle 102. If the pedestrian 106 is not currently in the path of the road 104 or the vehicle 102, the second characteristic may be yellow or orange to indicate that a collision with the pedestrian 106 is possible based on a possible future location. If the pedestrian is currently in or near the path of the road 104 or the vehicle 102, the second color may be orange or red to indicate that a collision with the pedestrian 106 is possible without evasive action.

[0046] Figures 4-1 to 4-6 An example visibility indicator for a pedestrian in or near a road, generated by a pedestrian warning system according to the present disclosure, is shown. In the illustrated environments 400-1 to 400-6, a driver 402 is driving a vehicle 102 along a road 104, and a pedestrian 106 is in or near the road 104. The pedestrian warning system 112 provides a visibility indicator 404 within a light strip 208 to indicate the presence of pedestrian 106 to the driver 402.

[0047] exist Figure 4-1In environment 400-1, pedestrian 106 is located near the right-hand side of vehicle 102. In response to the detection of pedestrian 106, pedestrian alarm system 112 controls light strip 208-1 to provide a visible indicator 404-1 to warn driver 402. Light strip 208-1 is positioned on top of dashboard 406 of vehicle 102. In other implementations, light strip 208-1 may be integrated into dashboard 406 or positioned above dashboard 406. Light strip 208-1 may also be mounted to reflect off the windshield. Visibility indicator 404-1 is positioned on the right-hand side of light strip 208-1, corresponding to the relative position of pedestrian 106 with respect to vehicle 102.

[0048] In response to determining that the driver 402 is focused on road 104 or pedestrian 106, the visibility indicator 404-1 may be a steady light (e.g., not flashing). If the pedestrian warning system 112 or another system of vehicle 102 determines that pedestrian 106 is currently in the travel path of vehicle 102 or that the possible future location of pedestrian 106 is in the travel path or road 104, the visibility indicator 404-1 may be orange or red to indicate a potential collision.

[0049] exist Figure 4-2 In environment 400-2, pedestrian 106 is located near the left-hand side of vehicle 102. In response to the detection of pedestrian 106, pedestrian alarm system 112 controls light strip 208-1 to provide a visible indicator 404-2. The visible indicator 404-2 is positioned on the left-hand side of light strip 208-1, corresponding to the relative position of pedestrian 106. As pedestrian 106 and / or vehicle 102 move, the visible indicator 404-2 can laterally shift along light strip 208-1 to follow or track the relative position of pedestrian 106.

[0050] exist Figure 4-3 In environment 400-3, pedestrian 106 is located near the right-hand side of vehicle 102. In response to detecting pedestrian 106 and determining that driver 402 is not focused on road 104, pedestrian warning system 112 controls light bar 208-1 to provide a visible indicator 404-3. The visible indicator 404-3 may periodically flash and / or be colored red to draw the driver's attention to road 104 and / or pedestrian 106. Characteristics of the visible indicator 404-3 (e.g., frequency, brightness) may be configured to better attract the driver's attention. In other implementations, the visible indicator 404-3 may cause a large portion or all of light bar 208-1 to flash red (or another color) until driver 402 returns their attention to road 104 or pedestrian 106.

[0051] exist Figure 4-4 In environment 400-4, pedestrian 106 is located near the center of vehicle 102, but... Figure 4-3 Compared to environment 400-3, the distance (e.g., distance) between pedestrian 106 and vehicle 102 is greater. In response to the detection of pedestrian 106, pedestrian alarm system 112 controls light strip 208-1 to provide a visibility indicator 404-4. Visibility indicator 404-4 is positioned near the center of light strip 208-1, corresponding to the relative position of pedestrian 106 relative to vehicle 102. However, visibility indicator 404-4 has a smaller width than visibility indicator 404-3 to indicate that pedestrian 106 is further away from vehicle 102. The lateral width of visibility indicator 404-4 can be increased or decreased to track the relative distance of pedestrian 106.

[0052] exist Figure 4-5 In environment 400-5, pedestrian 106 is located near the right-hand side of vehicle 102. In response to the detection of pedestrian 106, pedestrian alarm system 112 controls light strip 208-2 to provide a visible indicator 404-5. Light strip 208-2 is positioned on top of instrument cluster 408 of vehicle 102. In other implementations, light strip 208 may be integrated into different parts of instrument cluster 408, or integrated into or near another display in instrument panel 406. Visible indicator 404-1 is positioned on the right-hand side of light strip 208-1, corresponding to the relative position of pedestrian 106.

[0053] exist Figure 4-6 In environment 400-6, pedestrian 106 is located near the left-hand side of vehicle 102. In response to the detection of pedestrian 106, pedestrian alarm system 112 controls light strip 208-2 to provide a visible indicator 404-6. The visible indicator 404-6 is positioned on the left-hand side of light strip 208-2, corresponding to the relative position of pedestrian 106. As described above, the width and position of the visible indicator 404-6 can be adjusted to track the relative position and distance of pedestrian 106.

[0054] Example Method

[0055] Figure 5 Example method 400 of pedestrian alarm system 112 is shown. Method 500 is shown as multiple sets of operations (or actions) to be performed, but is not limited to the order or combination of operations shown herein. Furthermore, any one or more operations may be repeated, combined, or rearranged to provide other methods. References may be made in the sections discussed below. Figure 1 Environment 100 and Figures 1 to 4-6 The entities detailed herein are for illustrative purposes only. This technique is not limited to being performed by one or more entities.

[0056] At point 502, based on sensor data obtained from one or more external sensors of the main vehicle, it is determined that an object is present in or near the main vehicle's path. For example, pedestrian warning system 112 may determine the presence of a pedestrian 106 in or near the path of vehicle 102 based on sensor data from external sensor 108. Pedestrian 106 may be a pedestrian, cyclist, skateboarder, motorcyclist, or animal. External sensor 108 includes one or more of a camera, radar system, lidar system, or ultrasonic system.

[0057] At point 504, the position of an object relative to the main vehicle is determined based on sensor data. For example, pedestrian warning system 112 can determine the position of pedestrian 106 relative to vehicle 102 based on sensor data from external sensor 108. Pedestrian warning system 112 can also determine the tracking associated with pedestrian 106. Based on the tracking, pedestrian warning system 112 can determine the possible future position of pedestrian 106 and whether that possible future position is within the travel path of vehicle 102. The possible future position of pedestrian 106 can include positive and negative offsets in the lateral direction, which is generally perpendicular to the travel path or road 104. In this way, pedestrian warning system 122 can provide a buffer zone around pedestrian 106 and the possible future position to further reduce the likelihood of a collision.

[0058] At 506, the light strip is controlled to provide an indication of an object having one or more characteristics. These characteristics indicate the object's position relative to the primary vehicle. For example, pedestrian warning system 112 may control light strip 208 to provide an indication of pedestrian 106. The indication has one or more characteristics, which at least indicate the position of pedestrian 106 relative to vehicle 102. Light strip 208 may be positioned on or within the dashboard 406 of vehicle 102. In other implementations, light strip 208 may be integrated into a display (e.g., an instrument cluster) on, within, or near the dashboard 406.

[0059] The pedestrian warning system 112 can also control the light strip 208 to provide indications of pedestrian 106 with additional characteristics in response to determining that a pedestrian's likely future location is within the travel path of the vehicle 102. These additional characteristics differ from the stated characteristics and indicate the pedestrian 106's likely future location within the travel path of the vehicle 102. For example, when pedestrian 106 is near road 104, the light strip 208 can provide an indication with a first color (e.g., green). When pedestrian 106 is within road 104, the light strip 208 can provide an indication with a second, different color (e.g., orange or red).

[0060] The aforementioned and other characteristics may further indicate the distance of the pedestrian relative to the vehicle 102, the classification of the pedestrian 106 (e.g., animal, pedestrian, cyclist), or the possible future location of the pedestrian 106. For example, the aforementioned and other characteristics may be the color, width, brightness, relative position, or height of the indicator output by the light bar 208. The width of the indicator may indicate the distance of the pedestrian 106 relative to the vehicle 102.

[0061] The pedestrian warning system 112 can also determine whether the driver is distracted based on sensor data from an internal sensor 110. The internal sensor 110 can be a camera or radar system and is positioned to have a field of view that includes the driver's head. The pedestrian warning system 112 can determine driver distraction by determining whether the driver's gaze is not directed towards the driving path or road 104, not towards the pedestrian 106, or is moving away from the driving path or road 104.

[0062] In response to determining that the driver is distracted and that a pedestrian 106 is present in or near the driving path or road 104, the pedestrian warning system 112 may control the light bar to provide an indication of the pedestrian having one or more other characteristics. These other characteristics differ from the stated characteristics. For example, the other characteristics could be repeated flashing and / or red indicators to draw the driver's attention to the driving path, road 104, or pedestrian 106.

[0063] The pedestrian warning system 112 can also determine the presence of another pedestrian 106 in or near the travel path or road 104 based on sensor data from external sensor 108. The pedestrian warning system 112 can determine the position of the other pedestrian relative to the vehicle 102 and control the light strip 208 to provide further indication of the other pedestrian 106. For example, the further indication could be the illumination of another portion of the light strip 208. In this way, the pedestrian warning system 112 can indicate the presence of multiple pedestrians in or near the road 104.

[0064] Example

[0065] Examples are provided in the following sections.

[0066] Example 1. A method comprising: determining, based on sensor data obtained from one or more external sensors of a primary vehicle, that an object exists in or near the path of the primary vehicle; determining, based on the sensor data, the position of the object relative to the primary vehicle; and controlling a light bar to provide indication of the object having one or more characteristics, the one or more characteristics indicating at least the position of the object relative to the primary vehicle.

[0067] Example 2. The method of Example 1, the method further comprising: determining whether the driver of the main vehicle is distracted based on other sensor data obtained from one or more internal sensors of the main vehicle; and controlling a light bar to provide an indication of the object having one or more other characteristics, the one or more other characteristics being different from the one or more characteristics, in response to determining that the driver of the main vehicle is distracted and that an object is present in or near the driving path of the main vehicle.

[0068] Example 3. The method of Example 2, wherein one or more other features include an indication of blinking.

[0069] Example 4. The method of Example 2 or 3, wherein: one or more external sensors include at least one of a camera, radar system, lidar system or ultrasonic system; and one or more internal sensors include at least one of a camera or radar system.

[0070] Example 5. The method of Example 4, wherein one or more internal sensors are positioned to have a view of the head of the driver of the main vehicle.

[0071] Example 6. A method of any one of Examples 2 to 5, wherein determining whether the driver of the main vehicle is distracted includes: determining whether the driver's gaze is not directed toward the driving path of the main vehicle; determining whether the driver's gaze is not directed toward an object; or determining whether the driver's gaze is far from the driving path of the main vehicle.

[0072] Example 7. A method of any of the foregoing examples, the method further comprising: determining a tracking associated with an object based on sensor data obtained from one or more external sensors; determining a possible future location of the object based on the tracking; determining whether the possible future location of the object is within the travel path of a main vehicle; and controlling a light bar to provide an indication of the object having one or more third characteristics, the one or more third characteristics being different from the one or more characteristics and indicating that the possible future location of the object is within the travel path of the main vehicle, in response to determining that the possible future location of the object is within the travel path of the main vehicle.

[0073] Example 8. The method of Example 7, wherein: one or more characteristics include an indicated first color; and one or more third characteristics include an indicated second color, which is different from the first color.

[0074] Example 9. The method of Example 7 or 8, wherein the possible future positions of the object include positive and negative offsets in the lateral direction, which is approximately perpendicular to the travel path of the main vehicle.

[0075] Example 10. The method of Example 7, wherein the one or more characteristics and one or more third characteristics further indicate at least one of the object's distance relative to the primary vehicle, the object's classification, or the object's possible future location.

[0076] Example 11. The method of Example 10, characterized in that the one or more characteristics and one or more third characteristics include at least one of indicated color, width, brightness, relative position or height.

[0077] Example 12. The method of Example 11, wherein the width of the indicator is configured to indicate the distance of the object relative to the main vehicle.

[0078] Example 13. A method of any of the foregoing examples, the method further comprising: determining, based on sensor data obtained from one or more external sensors of the main vehicle, that another object exists in or near the travel path of the main vehicle; determining, based on the sensor data, the position of the other object relative to the main vehicle; and controlling a light bar to provide another indication of the other object having one or more other characteristics, the one or more other characteristics at least indicating the position of the other object relative to the main vehicle.

[0079] Example 14. The method of any of the preceding examples, wherein the light strip is positioned on or within the dashboard of the main vehicle.

[0080] Example 15. The method of any of the preceding examples, wherein the light strip is integrated into a display on, in, or near the dashboard of the main vehicle.

[0081] Example 16. A method of any of the preceding examples, wherein the object is a pedestrian, a cyclist, or an animal.

[0082] Example 17. A system comprising one or more processors configured to perform a method of any of Examples 1 to 16.

[0083] Example 18. A computer-readable storage medium including computer-executable instructions that, when executed, cause a processor to perform a method of any one of Examples 1 to 16.

[0084] Conclusion

[0085] While various embodiments of the present disclosure have been described in the foregoing description and illustrated in the accompanying drawings, it should be understood that the present disclosure is not limited thereto, but can be practiced in various ways within the scope of the following claims. It will be apparent from the foregoing description that various modifications can be made without departing from the scope of the present disclosure as defined by the following claims.

Claims

1. A method, the method comprising: Based on sensor data obtained from one or more external sensors of the main vehicle, it is determined that an object exists in or near the main vehicle's travel path; Based on the sensor data, the position of the object relative to the main vehicle is determined; Based on the sensor data obtained from the one or more external sensors, a tracking method associated with the object is determined; Based on the tracking, the possible future location of the object is determined; Determine whether the possible future location of the object is within the travel path of the main vehicle; Control the light strip inside the main vehicle to provide indication of the object having one or more first characteristics, the one or more first characteristics indicating at least the position of the object relative to the main vehicle; as well as In response to determining the possible future location of the object in the travel path of the main vehicle, the light bar is controlled to provide an indication of the object having one or more second characteristics, the one or more second characteristics being different from the one or more first characteristics and indicating the possible future location of the object in the travel path of the main vehicle.

2. The method of claim 1, further comprising: Based on internal sensor data obtained from one or more internal sensors of the main vehicle, determine whether the driver of the main vehicle is distracted; as well as In response to determining that the driver of the main vehicle is distracted and the possible future location of the object in the driving path of the main vehicle, the light bar is controlled to provide an indication of the object having one or more third characteristics, which are different from the one or more first characteristics or the one or more second characteristics.

3. The method as described in claim 2, characterized in that, The one or more third characteristics include the blinking of the indication.

4. The method as described in claim 2, characterized in that: The one or more external sensors include at least one of a camera, radar system, lidar system, or ultrasonic system; and The one or more internal sensors include at least one of a camera or radar system.

5. The method as described in claim 4, characterized in that, The one or more internal sensors are positioned to have a view of the head of the driver of the main vehicle.

6. The method as described in claim 2, characterized in that, Determining whether the driver of the main vehicle is distracted includes: Determine whether the driver's line of sight is not directed toward the driving path of the main vehicle; Determine whether the driver's line of sight is not directed at the object; or Determine whether the driver's line of sight is far from the driving path of the main vehicle.

7. The method as described in claim 1, characterized in that: The one or more first characteristics include the indicated first color; and The one or more second characteristics include the indicated second color, which is different from the first color.

8. The method as described in claim 1, characterized in that, The possible future position of the object includes positive and negative offsets in the lateral direction, which is substantially perpendicular to the travel path of the main vehicle.

9. The method as described in claim 1, characterized in that, The one or more first characteristics and the one or more second characteristics further indicate at least one of the object's distance relative to the main vehicle, the object's classification, or the object's possible future location.

10. The method as described in claim 9, characterized in that, The one or more first characteristics and the one or more second characteristics include at least one of the indicated color, width, brightness, relative position, or height.

11. The method as described in claim 10, characterized in that, The width of the indicator is configured to indicate the distance of the object relative to the main vehicle.

12. The method of claim 1, further comprising: Based on the sensor data obtained from the one or more external sensors of the main vehicle, it is determined that another object exists in or near the travel path of the main vehicle; Based on the sensor data, the position of the other object relative to the main vehicle is determined; as well as The light bar is controlled to provide another indication of the other object having one or more third characteristics, which at least indicate the position of the other object relative to the main vehicle.

13. The method as described in claim 1, characterized in that, The light strip is positioned on or within the dashboard of the main vehicle.

14. The method as described in claim 1, characterized in that, The light strip is integrated into the dashboard, in the dashboard, or in a display near the dashboard of the main vehicle.

15. The method as described in claim 1, characterized in that, The objects in question are pedestrians, cyclists, or animals.

16. A system comprising one or more processors, the one or more processors being configured to: Based on sensor data obtained from one or more external sensors of the main vehicle, it is determined that an object exists in or near the main vehicle's travel path; Based on the sensor data, the position of the object relative to the main vehicle is determined; Based on the sensor data obtained from the one or more external sensors, a tracking method associated with the object is determined; Based on the tracking, the possible future location of the object is determined; Determine whether the possible future location of the object is within the travel path of the main vehicle; Control the light strip inside the main vehicle to provide indication of the object having one or more first characteristics, the one or more first characteristics indicating at least the position of the object relative to the main vehicle; as well as In response to determining the possible future location of the object in the travel path of the main vehicle, the light bar is controlled to provide an indication of the object having one or more second characteristics, the one or more second characteristics being different from the one or more first characteristics and indicating the possible future location of the object in the travel path of the main vehicle.

17. The system as claimed in claim 16, characterized in that, The one or more processors are further configured to: Based on internal sensor data obtained from one or more internal sensors of the main vehicle, determine whether the driver of the main vehicle is distracted; as well as In response to determining that the driver of the main vehicle is distracted and that the object is likely to be in the driving path of the main vehicle, the light bar is controlled to provide an indication of the object having one or more third characteristics, which are different from the one or more first characteristics or the one or more second characteristics.

18. The system as claimed in claim 17, characterized in that, The one or more third characteristics include the blinking of the indication.

19. A computer-readable storage medium comprising computer-executable instructions, which, when executed, cause a processor to: Based on sensor data obtained from one or more external sensors of the main vehicle, it is determined that an object exists in or near the main vehicle's travel path; Based on the sensor data, the position of the object relative to the main vehicle is determined; Based on the sensor data obtained from the one or more external sensors, a tracking method associated with the object is determined; Based on the tracking, the possible future location of the object is determined; Determine whether the possible future location of the object is within the travel path of the main vehicle; Control the light strip inside the main vehicle to provide indication of the object having one or more first characteristics, the one or more first characteristics indicating at least the position of the object relative to the main vehicle; as well as In response to determining the possible future location of the object in the travel path of the main vehicle, the light bar is controlled to provide an indication of the object having one or more second characteristics, the one or more second characteristics being different from the one or more first characteristics and indicating the possible future location of the object in the travel path of the main vehicle.

20. The computer-readable storage medium of claim 19, further comprising computer-executable instructions that, when executed, cause a processor to perform the following operations: Based on internal sensor data obtained from one or more internal sensors of the main vehicle, determine whether the driver of the main vehicle is distracted; and In response to determining that the driver of the main vehicle is distracted and that the object is likely to be in the driving path of the main vehicle, the light bar is controlled to provide an indication of the object having one or more third characteristics, which are different from the one or more first characteristics or the one or more second characteristics.

Images