Easily damaged road user identification system

Abstract

The present disclosure provides a "vulnerable road user identification system". A vehicle includes: a human-machine interface (HMI); a light sensor configured to receive a light pulse emitted from the lighting device, where the light pulse includes an original message in a modulation format; in one embodiment, the lighting device includes an HMI configured to receive an original message, a light pulse, and one or more controllers programmed to demodulate the light pulse to obtain the original message, where the original message identifies an object to which the lighting device is attached, convert the original message into a processed message, and output the processed message via the HMI.

Description

Technical Field

[0001] The present disclosure relates generally to a vehicle system and more particularly to a vehicle system for improving the conspicuity of vulnerable road users. Background Art

[0002] A vulnerable road user (VRU) generally refers to a road user that is not protected by an external shield such as a vehicle body. Typical examples of vulnerable road users include pedestrians, cyclists, and road workers. If the vehicle driver is aware of the presence of vulnerable road users in advance, he / she can perform corresponding maneuvers (e.g., reduce speed, leave a wider space) before encountering the vulnerable road user. Summary of the invention

[0003] In one or more illustrative examples of the present disclosure, a vehicle includes: a human-machine interface (HMI); a light sensor configured to receive light pulses emitted from a lighting device, wherein the light pulses include an original message in a modulated format; and one or more controllers programmed to demodulate the light pulses to obtain the original message, wherein the original message identifies an object to which the lighting device is attached, convert the original message into a processed message, and output the processed message via the HMI.

[0004] In one or more illustrative examples of the present disclosure, a method for a vehicle includes: in response to receiving a light pulse emitted from a lighting device via a light sensor, demodulating the light pulse to obtain an original message identifying an object; detecting the object via a second sensor; and performing a driving maneuver via one or more controllers of the vehicle to avoid the object.

[0005] In one or more illustrative examples of the present disclosure, a lighting device includes: a transmitter configured to emit visible light; a processor programmed to: generate a message indicating a location of the lighting device; modulate the message into a light pulse; and broadcast the light pulse along with the visible light via the transmitter. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] For a better understanding of the invention and to show how it may be carried out, embodiments of the invention will now be described, by way of non-limiting example only, with reference to the accompanying drawings, in which:

[0007] Figure 1 An exemplary block topology diagram of a vehicle system for identifying lighting devices associated with vulnerable road users according to one embodiment of the present disclosure is shown; and

[0008] Figure 2An exemplary flow chart of a process for detecting lighting devices and operating a vehicle is shown. DETAILED DESCRIPTION

[0009] As required, detailed embodiments of the present invention are disclosed herein; however, it should be understood that the disclosed embodiments are merely examples of the present invention that can be implemented in various forms and alternative forms. The drawings are not necessarily drawn to scale; some features may be enlarged or minimized to show details of specific components. Therefore, the specific structural details and functional details disclosed herein should not be interpreted as limiting, but only as a representative basis for teaching those skilled in the art to utilize the present invention in various forms.

[0010] The present disclosure generally provides a plurality of circuits or other electrical devices. All references to circuits and other electrical devices and the functions provided by them are not intended to be limited to only cover what is shown and described herein. Although specific labels can be assigned to various circuits or other electrical devices, such circuits and other electrical devices can be combined and / or separated from each other in any manner based on the specific type of electrical implementation required. It should be recognized that any circuit or other electrical device disclosed herein may include any number of microprocessors, integrated circuits, memory devices (e.g., flash memory, random access memory (RAM), read-only memory (ROM), electrically programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM) or other appropriate variations thereof) and software, which cooperate with each other to perform the operations disclosed herein. In addition, any one or more of the electrical devices may be configured to execute a computer program embodied in a non-temporary computer-readable medium, the computer program being programmed to perform any number of functions disclosed.

[0011] The present disclosure proposes, inter alia, a vehicle system for detecting and identifying vulnerable road users.More specifically, the present disclosure proposes a vehicle system for detecting and identifying vulnerable road users using light pulses emitted from lighting devices associated with the vulnerable road users.

[0012] refer to Figure 1, an exemplary block topology diagram of a vehicle system 100 of one embodiment of the present disclosure is shown. The vehicle 102 may include various types of automobiles, crossover utility vehicles (CUVs), sport utility vehicles (SUVs), trucks, recreational vehicles (RVs), or other mobile machines for transporting people or goods. In many cases, the vehicle 102 may be powered by an internal combustion engine. As another possibility, the vehicle 102 may be a battery electric vehicle (BEV) for transporting people or goods, a hybrid electric vehicle (HEV) powered by both an internal combustion engine and one or more mobile electric motors (such as a series hybrid electric vehicle (SHEV), a plug-in hybrid electric vehicle (PHEV), a parallel / series hybrid electric vehicle (PSHEV), or a fuel cell electric vehicle (FCEV)), a ship, an airplane, or other mobile machine. It should be noted that the system 100 shown is only an example, and more, fewer, and / or differently positioned elements may be used.

[0013] like Figure 1 As shown, the computing platform 104 may include one or more processors 106 configured to execute instructions, commands, and other programs that support the processes described herein. For example, the computing platform 104 may be configured to execute instructions of a vehicle application 108 to provide features such as navigation, data processing, and wireless communication. Various types of computer-readable storage media 110 may be used to maintain such instructions and other data in a non-volatile manner. Computer-readable media 110 (also referred to as processor-readable media or storage devices) include any non-transitory media (e.g., tangible media) that participate in providing instructions or other data that can be read by the processor 106 of the computing platform 104. Computer-executable instructions may be compiled or interpreted according to a computer program created using a variety of programming languages ​​and / or technologies, including but not limited to the following alone or in combination: Java, C, C++, C#, Objective C, Fortran, Pascal, JavaScript, Python, Perl, and Structured Query Language (SQL).

[0014] The computing platform 104 may be equipped with various features that allow a vehicle occupant / user to interface with the computing platform 104. For example, the computing platform 104 may receive input from human machine interface (HMI) controls 112 that are configured to provide occupant interaction with the vehicle 102. As one example, the computing platform 104 may interface with one or more buttons, switches, knobs, or other HMI controls (e.g., steering wheel audio buttons, call buttons, dashboard controls, etc.) that are configured to invoke functions on the computing platform 104.

[0015] The computing platform 104 may also drive or otherwise communicate with one or more displays 114, which are configured to provide visual output to the vehicle occupants via a video controller 116. In some cases, the display 114 may be a touch screen that is also configured to receive user touch input via the video controller 116, while in other cases, the display 114 may be just a display without touch input capabilities. The computing platform 104 may also drive or otherwise communicate with one or more cameras 118, which are configured to provide visual input via the video controller 116. As an example, the camera 118 may be a dash cam located in the vehicle cabin and configured to capture images / video in the forward direction of the vehicle 102. In the present disclosure, the camera 118 may be used as an optical receiver configured to receive light pulses emitted from the lighting device 120. (To be discussed in detail below.) The computing platform 104 may also drive or otherwise communicate with one or more speakers 122, which are configured to provide audio output and input to the vehicle occupants via an audio controller 124.

[0016] The computing platform 104 may also be provided with navigation and route planning features through a navigation controller 126, which is configured to calculate a navigation route in response to user input via, for example, the HMI controls 112, and output the planned route and instructions via the speaker 122 and the display 114. Position data required for navigation may be collected from a global navigation satellite system (GNSS) controller 128, which is configured to communicate with a plurality of satellites and calculate the position of the vehicle 102. The GNSS controller 128 may be configured to support various current and / or future global or regional positioning systems, such as the Global Positioning System (GPS), Galileo satellites, Beidou satellites, Global Navigation Satellite System (GLONASS), etc. Map data used for route planning may be stored in the storage device 110 as part of the vehicle data 130. The navigation software may be stored in the storage device 110 as one of the vehicle applications 108.

[0017] The computing platform 104 may also be configured to communicate with various components of the vehicle 102 via one or more in-vehicle networks 132. As some examples, the in-vehicle network 132 may include, but is not limited to, one or more of a controller area network (CAN), Ethernet, and a media oriented systems transport (MOST). In addition, the in-vehicle network 132 or portions of the in-vehicle network 132 may be a wireless network implemented via Bluetooth low energy (BLE), Wi-Fi, etc.

[0018] The computing platform 104 may be configured to communicate with various electronic control units (ECUs) 134 of the vehicle 102, which are configured to perform various operations. The ECU 134 may include a body control module (BCM) 136, which is configured to control various body operations of the vehicle 102. For example, the BCM 136 may be configured to control the door and / or trunk lock / unlock operations of the vehicle 102. The BCM 136 may also be configured to control the light and / or horn operations of the vehicle 102. The BCM 136 may also be configured to control the wiper operations of the vehicle 102. The ECU 134 may also include an autonomous driving controller (ADC) 138, which is configured to control the autonomous driving operations of the vehicle 102.

[0019] The vehicle 102 may be provided with various sensors 140 configured to implement various measurements and generate sensor data. For example, the sensor 140 may include an ultrasonic sensor 140 (e.g., a parking sensor 140) configured to detect objects near the vehicle 102. The sensor 140 may also include a lidar sensor 140 configured to detect objects at a greater distance (e.g., several hundred meters). In addition, in addition to or in place of the camera 118, the sensor 140 may also include a light sensor 140 configured to receive light pulses emitted from the lighting device 120. In the present disclosure, the term light sensor may be used collectively to refer to both one or more sensors 140 and cameras 118 provided with light detection capabilities.

[0020] The computing platform 104 may be configured to communicate with the lighting device 120 to obtain information about the user of the lighting device 120. The lighting device 120 may be any of a variety of types of portable devices provided with lighting capabilities, such as a flashlight, a helmet light, a bicycle headlight and / or taillight, a wearable device (e.g., a watch), a mobile phone, a tablet computer, etc. The lighting device 120 may be provided with one or more light emitters 150 configured to emit light pulses 152 to convey a message 151 indicating information about the user of the lighting device 120 to the vehicle 102 and other entities involved in road traffic. The light emitter 150 may include one or more light emitting elements, such as a light emitting diode (LED) for general lighting. In one example, the light emitter 150 may be configured to emit visible light, such as light with a wavelength range of 400nm to 700nm, when activated. Additionally or alternatively, the light emitter 150 may be configured to emit infrared light with a longer wavelength that is invisible to the human eye.

[0021] Regardless of the specific wavelength used, the lighting device 120 may also include a processor 154 configured to process digital signals and modulate the message 151 into light pulses 152 to communicate low-capacity, low-bit-rate digital information to the surrounding environment via the optical transmitter 150. The modulation may be facilitated via a device application 156 stored in a computer-readable storage medium 158. The computer-readable medium 158 (also referred to as a processor-readable medium or storage device) includes any non-transitory medium (e.g., a tangible medium) that participates in providing instructions or other data that can be read by the processor 154 of the lighting device 120.

[0022] Once light pulses 152 are captured by a compatible receiver of vehicle 102 , such as camera 118 and / or light sensor 140 , light pulses 152 may be demodulated into digital signals by processor 106 of vehicle 102 .

[0023] The message 151 incorporated into the light emitted by the light emitter 150 may be a pre-recorded message 151 stored in the storage device 158. For example, the message 151 may include an identifier of a user of the lighting device 120. The identifier may be temporary to maintain the anonymity of the user. Alternatively, the identifier may be a permanent identifier associated with the user. The message 151 may also include a road user category of the user. As a few non-limiting examples, the road user category may include a pedestrian category, a road worker category, a cyclist category, a scooter category, a skateboarder category, a wheelchair user category, etc.

[0024] In addition to pre-recorded information, the message 151 may also include dynamic information indicating the user's current status and intention. For example, the message 151 may also include the current location of the lighting device 120 presented in a latitude, longitude, and altitude format. The location data used in the message 151 may be obtained by the GNSS controller 158 of the lighting device 120. In addition, the message 151 may also include motion information of the lighting device 120, such as speed and heading direction. In addition, the message 151 may also include user intention information (e.g., intention to cross the street) of the user associated with the lighting device 120. The processor 154 may determine the user's intention using the current route trajectory as indicated by the location data from the GNSS controller 158 and the sensor data collected via various sensors 160. In addition or alternatively, the user's intention may be determined via the navigation application 156 and / or the learned behavior of vulnerable road users (e.g., learned behavior from artificial intelligence and machine learning models). The sensor 160 may include a gyroscope 160 configured to detect the orientation and level of the lighting device 120. Sensors 160 may also include a speed change sensor 160 configured to detect speed changes and vibrations of lighting device 120. In some examples, message 151 is in the form of a PSM message, such as a standard message specified in the SAE J2735 standard.

[0025] The present disclosure proposes a method for increasing the visibility of vulnerable road users by broadcasting messages 151 to other road participants (such as vehicles 102) using lighting devices 120. The lighting devices 120 may be associated with vulnerable road users participating in road traffic. For example, the lighting devices 120 may be worn by the road user, carried by the road user, or attached to the road user.

[0026] The vulnerable road user may use the lighting device 120 for lighting and visibility purposes. This may include allowing the road user to better observe his or her surroundings and allowing the road user to be more visible to others. For example, the lighting device 120 may be a helmet light 120 or a bicycle headlight 120 configured to illuminate the road ahead of the vulnerable road user. In some cases, the lighting device 120 may be reverse biased or omni-directionally biased so that visible light is visible not only from the forward direction of the lighting device 120, but also from the rear or other directions. Additionally or alternatively, the lighting device 120 may be a bicycle taillight 120 configured to provide a steady or flashing red light to make the vulnerable road user more visible to vehicles approaching from behind. Similarly, the bicycle taillight 120 may be forward biased or omni-directionally biased to allow other entities to see light not only from the rearward direction of the vulnerable road user, but also from other directions.

[0027] The lighting device 120 may be configured to provide lighting and message broadcast operations simultaneously using the transmitter 150. In some examples, the lighting and message broadcast operations may be controlled independently. For example, the transmitter 150 may be activated to provide light for lighting without broadcasting the message 151. Alternatively, the lighting and message broadcast operations may be controlled together, and the transmitter 150 may be configured to broadcast the message 151 as long as the lighting device 120 is turned on to provide lighting.

[0028] refer to Figure 2 , shows an exemplary flow chart of a process 200 for detecting a lighting device 120 and operating a vehicle 102. Figure 1 At operation 202, in response to being activated by a vulnerable road user, the lighting device 120 creates a message 151 using various data from the sensors 160. As discussed above, the message 151 may include pre-recorded static information, such as an identifier of the road user, a user category of the road user, etc. The message 151 may also include dynamic information, such as location information indicating the location of the user, motion information indicating the motion of the user (e.g., speed, direction), information indicating the intention of the user (e.g., as determined from the various sensors 160 and the controller 158 of the lighting device 120).

[0029] At operation 204, the lighting device 120 modulates (e.g., encodes) the message 151 into a light pulse 152 to be broadcast. There are a variety of methods and protocols to modulate digital data onto light. For example, the lighting device 120 can modulate the message 151 using one or more of amplitude shift keying (ASK), frequency shift keying (FSK), and / or phase shift keying (PSK). The lighting device 120 can be provided with a device application 156 to perform modulation by the processor 154.

[0030] At operation 206, lighting fixture 120 broadcasts light pulse 152 using transmitter 150. On the lighting fixture 120 side, process 200 returns to operation 202 to continue creating updated messages 151 based on new sensor 160 data, such as updated position and motion information.

[0031] Depending on the strength and power configuration of the emitter 150 of the lighting device 120, the light pulse 152 may be associated with a transmission range. The transmission range may range from tens of meters to hundreds of meters. Depending on the time of day, weather conditions, and other conditions, the transmission range may or may not be within the line of sight of the driver of the vehicle 102. If the vehicle 102 is within the transmission range, then at operation 210, the vehicle 102 may receive the light pulse 152. As discussed above, the vehicle 102 may be provided with one or more receiving devices, such as a camera 118 and / or a light sensor 140, to receive the light pulse 152.

[0032] In response to receiving the light pulses 152 broadcast from the lighting device 120, the vehicle 102 demodulates (eg, decodes) the light pulses 152 into the message 151 at operation 212. The demodulation operation 212 may be performed by the processor 106 with the assistance of a corresponding vehicle application 108.

[0033] At operation 214, the vehicle 102 processes the message 151 to generate a processed message. The processed message 151 can be presented to the vehicle driver via the HMI control 112. The received and demodulated raw message 151 may include raw data of the lighting device 120 that may be difficult for the driver to understand. Converting the raw data into a processed format can facilitate mutual understanding of the situation, especially for the driver of the vehicle 102.

[0034] For example, the original message 151 may include raw coordinate data, such as latitude, longitude, and altitude, to indicate the location of the vulnerable road user. However, the location data in the original format (e.g., coordinates) may be difficult for the driver of the vehicle 102 to understand. To address this issue, the computing platform 104 may use both the original message 151 and the vehicle information from the various vehicle sensors 140 to generate a processed message. The processed message may be easier for the driver to understand than the original message. Continuing with the above-mentioned location example, in response to obtaining the location data of the lighting device 120 and thus the location of the vulnerable road user in a coordinate format, the computing platform 104 converts the location data of the lighting device 120 into a format related to the current location of the vehicle 102 in the processed message, and outputs the processed message to the vehicle driver via the display 114 and / or the speaker 122. As an example, instead of indicating the coordinates of the lighting device 120, the processed message may include information such as "Watch out for pedestrians 50 meters ahead on the right" or "Oncoming bicycles are approaching you at 20mph." The processed message output by vehicle 102 can provide the driver with advance notice of a vulnerable road user, even if the driver has not yet seen the vulnerable road user, so that the driver can have more time to respond to the situation if any driving maneuvers are required (e.g., reducing speed).

[0035] As discussed above, the vehicle 102 may be provided with an autonomous driving feature to automatically respond to vulnerable road users. At operation 216, the vehicle 102 activates the vehicle sensors 140 to detect vulnerable road users in preparation for performing a driving maneuver in response, if any. As discussed above, the vehicle 102 may be provided with sensors 140 and cameras 118 to detect objects to facilitate the autonomous driving feature.

[0036] In response to detecting a vulnerable road user via the sensor 140 and / or the camera 118, the vehicle 102 analyzes the data and determines whether interference between the current trajectory of the vehicle 102 and the trajectory of the vulnerable road user is expected at operation 218. Despite receiving the light pulses 152 from the lighting device 120, sometimes the trajectory of the vulnerable road user and the trajectory of the vehicle 102 do not overlap. If this is the case, the process 200 proceeds to operation 220 and the vehicle 102 ignores the vulnerable road user. This may occur, for example, when a vulnerable road user who is a wheelchair or pedestrian is using a dedicated lane (e.g., a sidewalk) that does not interfere with the vehicle 102 lane that the vehicle 102 is crossing.

[0037] Otherwise, if the vehicle 102 determines that there is interference between the trajectory of the vehicle 102 and the trajectory of the vulnerable road user, the process 200 proceeds from operation 218 to operation 222, and the vehicle 102 performs a driving maneuver to alleviate the situation. For example, if a bicycle vulnerable road user is riding on the right side of the lane that the vehicle 102 is crossing, or the bicycle is not currently in the lane but has the intention of crossing the lane as indicated in the message 151, the interference of the trajectory can be detected. In response, the vehicle 102 can reduce speed in advance and / or leave more space with the vulnerable road user when passing. In addition or alternatively, the BCM 136 of the vehicle 102 can perform operations on the lights (e.g., activating the headlights of the vehicle 102) and the horn (e.g., gently activating the horn) to notify the vulnerable road user of the presence of the vehicle 102.

[0038] The algorithm, method or process disclosed herein can be delivered to or implemented by a computer, a controller or a processing device, which may include any dedicated electronic control unit or a programmable electronic control unit. Similarly, the algorithm, method or process can be stored in various forms as data and instructions that can be executed by a computer or a controller, including but not limited to information permanently stored on a non-writable storage medium such as a read-only memory device and information that can be changed and stored on a writable storage medium such as an optical disk, a random access memory device or other magnetic and optical media. The algorithm, method or process can also be implemented by a software executable object. Alternatively, suitable hardware components can be used, such as a combination of an application-specific integrated circuit, a field programmable gate array, a state machine or other hardware components or devices, or firmware, hardware and software components to implement the algorithm, method or process in whole or in part.

[0039] Although exemplary embodiments are described above, these embodiments are not intended to describe all possible forms covered by the claims. The words used in the specification are descriptive rather than limiting, and it should be understood that various changes can be made without departing from the spirit and scope of the present disclosure. The words "a processor" and "multiple processors" are interchangeable herein, as are the words "a controller" and "multiple controllers".

[0040] As previously described, the features of the various embodiments may be combined to form additional embodiments of the invention that may not be explicitly described or shown. Although various embodiments may have been described as providing advantages or being preferred over other embodiments or prior art implementations with respect to one or more desired characteristics, it will be appreciated by those of ordinary skill in the art that one or more features or characteristics may be compromised to achieve desired overall system properties, depending on the specific application and implementation. These properties may include, but are not limited to, strength, durability, marketability, appearance, packaging, size, serviceability, weight, manufacturability, ease of assembly, and the like. Thus, embodiments described as being less desirable than other embodiments or prior art implementations with respect to one or more characteristics are not outside the scope of this disclosure and may be desirable for a particular application.

[0041] According to the present invention, a vehicle is provided, having: a human-machine interface (HMI); a light sensor configured to receive light pulses emitted from a lighting device, wherein the light pulses include an original message in a modulated format; and one or more controllers programmed to demodulate the light pulses to obtain the original message, wherein the original message identifies an object to which the lighting device is attached, convert the original message into a processed message, and output the processed message via the HMI.

[0042] According to an embodiment, the one or more controllers are further programmed to notify the presence of the vehicle by performing at least one of activating a light of the vehicle or activating a horn of the vehicle due to the proximity of the vehicle to the lighting device.

[0043] According to an embodiment, the present invention is also characterized by a second sensor, which is configured to detect an object, wherein the one or more controllers are also programmed to: operate the second sensor to detect the object to which the lighting device is attached, use the current position of the object or the motion trajectory of the object to determine whether the object interferes with the current vehicle trajectory, and perform a driving maneuver in response to detecting that the object interferes with the current vehicle trajectory.

[0044] According to an embodiment, the driving maneuver comprises at least one of reducing the vehicle speed or steering the vehicle to maintain a distance from the object when passing the object.

[0045] According to an embodiment, the original message includes at least one of the following: the position of the lighting device, or the movement speed and direction of the lighting device.

[0046] According to an embodiment, the original message comprises an object class indicating that the object is at least one of: a pedestrian, a cyclist, a road worker or a wheelchair.

[0047] According to an embodiment, the light pulses are visible light having a wavelength range of 400 nm to 700 nm.

[0048] According to an embodiment, the light pulses are infrared light.

[0049] According to an embodiment, the original message comprises coordinates of the lighting device, and the one or more controllers are further programmed to: convert the coordinates to a relative position with reference to the vehicle; and incorporate the relative position into the processed message.

[0050] According to the present invention, a method for a vehicle includes: in response to receiving a light pulse emitted from a lighting device via a light sensor, demodulating the light pulse to obtain an original message identifying an object; detecting the object via a second sensor; and performing a driving maneuver via one or more controllers of the vehicle to avoid the object.

[0051] In one aspect of the invention, the method includes performing, via the one or more controllers, at least one of activating a light of the vehicle or activating a horn of the vehicle.

[0052] In one aspect of the invention, the driving maneuver includes at least one of reducing the speed of the vehicle or steering the vehicle to maintain a certain distance from the object when passing the object.

[0053] In one aspect of the present invention, the original message includes the coordinates of the lighting device, and the method further includes: using the coordinates of the original message to generate a relative position relative to the vehicle via the one or more controllers; incorporating the relative position into a processed message via the one or more controllers; and outputting the processed message via a human-machine interface.

[0054] In one aspect of the invention, the light pulses are in the form of visible light having a wavelength range of 400 nm to 700 nm.

[0055] According to the present invention, a lighting device is provided, which has: a transmitter configured to emit visible light; a processor programmed to: generate a message indicating the location of the lighting device; modulate the message into light pulses; and broadcast the light pulses together with the visible light via the transmitter.

[0056] According to an embodiment, the processor is further programmed to: use the motion sensor data to identify a motion intention of a user attached to the lighting device; and generate a message to include the motion intention.

[0057] According to an embodiment, the light pulses are broadcast as infrared light.

[0058] According to an embodiment, the processor is further programmed to modulate the message into the light pulses using at least one of: amplitude shift keying, frequency shift keying, or phase shift keying.

[0059] According to an embodiment, the message comprises an object class indicating at least one of: a pedestrian class, a cyclist class, a road worker class or a wheelchair class.

[0060] According to an embodiment, the message comprises a standard message specified in the SAE J2735 standard.

Claims

1. A vehicle comprising: Human-machine interface (HMI); a light sensor configured to receive light pulses emitted from the lighting device, wherein the light pulses include an original message in a modulated format; and One or more controllers programmed to demodulating the light pulses to obtain the original message, wherein the original message identifies an object to which the lighting device is attached, converting the original message into a processed message, and The processed message is output via the HMI.

2. The vehicle of claim 1 , wherein the one or more controllers are further programmed to notify the presence of the vehicle by performing at least one of activating a light of the vehicle or activating a horn of the vehicle due to the proximity of the vehicle to the lighting device.

3. The vehicle of claim 1 , further comprising a second sensor configured to detect an object, wherein the one or more controllers are further programmed to: operating the second sensor to detect the object to which the lighting device is attached, using the current position of the object or the motion trajectory of the object to determine whether the object interferes with the current vehicle trajectory, and In response to detecting that the object interferes with the current vehicle trajectory, a driving maneuver is performed.

4. The vehicle of claim 3, wherein the driving maneuver comprises at least one of reducing vehicle speed or steering the vehicle to maintain a distance from the object while passing the object. 5 . The vehicle of claim 1 , wherein the original message includes at least one of: a position of the lighting device, or a movement speed and direction of the lighting device.

6. The vehicle of claim 1, wherein the original message includes an object category indicating that the object is at least one of: a pedestrian, a cyclist, a road worker, or a wheelchair.

7. The vehicle of claim 1, wherein the light pulse is visible light having a wavelength range of 400 nm to 700 nm.

8. The vehicle of claim 1, wherein the light pulses are infrared light.

9. The vehicle of claim 1 , wherein the original message includes coordinates of the lighting device, and the one or more controllers are further programmed to: converting the coordinates to a relative position with reference to the vehicle; and The relative position is incorporated into the processed message.

10. A method for a vehicle, comprising: In response to receiving a light pulse emitted from the lighting device via the light sensor, demodulating the light pulse to obtain an original message identifying the object; detecting the object via a second sensor; as well as A driving maneuver is performed via one or more controllers of the vehicle to avoid the object.

11. The method of claim 10, further comprising: At least one of activating lights of the vehicle or activating a horn of the vehicle is performed via the one or more controllers.

12. The method of claim 10, wherein the driving maneuver comprises at least one of reducing the speed of the vehicle or steering the vehicle to maintain a distance from the object while passing the object.

13. The method of claim 10, wherein the original message includes coordinates of the lighting device, the method further comprising: generating, via the one or more controllers, a relative position with respect to the vehicle using the coordinates of the original message; incorporating the relative position into a processed message via the one or more controllers; as well as The processed message is output via a human-machine interface.

14. The method of claim 10, wherein the light pulses are in the form of visible light having a wavelength range of 400 nm to 700 nm.

15. A lighting device, comprising: an emitter configured to emit visible light; A processor programmed to: generating a message indicating a location of the lighting device; modulating the message into light pulses; and The light pulses are broadcast via the transmitter along with the visible light.

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