Object detection system and method

Abstract

The invention provides an object detection system and method. A system communicatively coupled with a vehicle is disclosed. A system may include a detection unit configured to measure sound emitted by an object and a processor communicatively coupled with the detection unit. The processor may be configured to obtain an input from the detection unit, and to detect a presence of an object proximate to the first vehicle based on the input. The processor may also be configured to estimate at least one of an object position or an object direction relative to the first vehicle in response to detecting the presence of the object, and control vehicle component operation based on the estimation of the at least one of the object position or the object direction. The system may be part of a vehicle, or may be part of a user device communicatively coupled to the vehicle.

Description

Technical Field

[0001] The present disclosure relates to vehicles and, more particularly, to systems and methods for detecting the presence of objects proximate to a vehicle. Background Art

[0002] Many modern vehicles have built-in cameras and sensors to help operators monitor other vehicles / pedestrians approaching the vehicle and prevent undesirable situations. However, in some situations, even with these cameras / sensors, the vehicle may not be able to detect other vehicles / pedestrians. For example, when another vehicle (e.g., a second vehicle) may be hidden or approaching around a road corner, the vehicle's cameras / sensors may not be able to detect the second vehicle. Similarly, when the object / pedestrian is not in the vehicle's field of view (or not in direct line of sight), the vehicle's cameras / sensors may not be able to detect smaller objects or pedestrians.

[0003] Therefore, there is a need for a system and method for effectively detecting the presence of other vehicles / pedestrians to enhance user experience and prevent adverse situations. Summary of the Invention

[0004] This disclosure describes a system and method for detecting objects in proximity to a first vehicle. The objects may include a second vehicle, pedestrians, small objects (such as electric scooters, skateboards, electric bicycles, etc.) that may not be visible to the first vehicle driver and may not be captured by the vehicle's cameras and / or other vehicle sensors.

[0005] The system may include a detection unit that may be configured to measure sounds emitted by an object. In some aspects, the detection unit may include an ultrasonic sensor that may be configured to measure sounds within an ultrasonic frequency range. The system may also include a processor that may be configured to obtain input from the detection unit, detect the presence of an object proximate to the vehicle based on the input, and perform a predetermined action based on the object presence detection. In some aspects, the system may be configured to estimate the object position and / or object orientation relative to the vehicle in response to the object presence detection, and perform a predetermined action based on the object position and / or orientation.

[0006] In some aspects, the predetermined action may include controlling the operation of a vehicle component based on the detection of the presence of an object and / or an estimation of the position / direction of the object. For example, as part of the predetermined action, the system may control vehicle speed, vehicle steering wheel torque, door opening, etc. In other aspects, the predetermined action may include outputting a notification to the vehicle driver via a vehicle human-machine interface (HMI) to indicate the presence of an object approaching the vehicle. In other aspects, the predetermined action may include outputting a notification to an object (e.g., a user device associated with a pedestrian) to indicate that the vehicle is approaching the object. In other aspects, the predetermined action may include activating tactile feedback at a vehicle component (such as a vehicle steering wheel, door handles, etc.) to indicate the presence of an object.

[0007] In some aspects, the system can be part of a vehicle. In other aspects, the system can be part of a user device (e.g., a mobile phone, a smartwatch, etc.) that can be communicatively coupled to the vehicle. When the system can be part of a vehicle, the detection unit can include an ultrasonic sensor that can be built into the vehicle. On the other hand, when the system can be part of a user device, the detection unit can include an ultrasonic sensor that can be built into the user device.

[0008] The present disclosure discloses a system and method that facilitates the detection of objects that may be hidden and may not be visible to the vehicle driver and may not be captured or detected by the vehicle's cameras or other vehicle sensors. In addition, the system is configured to detect the out-of-line object / vehicle even if the object / vehicle is not emitting sounds within the range of human hearing (and may be emitting signals in the ultrasonic range, such as signals emitted by ultrasonic parking sensors). Ultrasonic signals have a better signal-to-noise ratio than sounds within the range of human hearing; therefore, the system is configured to effectively detect out-of-line objects / vehicles. The system can be configured to automatically control the operation of vehicle components to prevent any adverse situations from occurring due to the presence of objects close to the vehicle. In addition, the system can output notifications to the vehicle driver and / or pedestrians to further prevent any adverse situations from occurring.

[0009] These and other advantages of the present disclosure are provided in detail herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Detailed description of the invention is described with reference to the accompanying drawings. The use of the same reference numerals may indicate similar or identical items. Various embodiments may utilize elements and / or components other than those illustrated in the drawings, and some elements and / or components may not be present in various embodiments. The elements and / or components in the drawings are not necessarily drawn to scale. Throughout this disclosure, singular and plural terms may be used interchangeably, depending on the context.

[0011] Figure 1An example environment is depicted in which techniques and structures for providing the systems and methods disclosed herein may be implemented.

[0012] Figure 2 A block diagram of a security system according to the present disclosure is depicted.

[0013] Figure 3 Depicted are example scenarios for object detection according to the present disclosure.

[0014] Figure 4 A flow chart depicts an example method for detecting objects proximate to a vehicle according to the present disclosure. DETAILED DESCRIPTION

[0015] The present disclosure will be described more fully hereinafter with reference to the accompanying drawings, in which example embodiments of the disclosure are shown and which are not intended to be limiting.

[0016] Figure 1 An example environment 100 is depicted in which techniques and structures for providing the systems and methods disclosed herein may be implemented. The environment 100 may include a vehicle 102 (e.g., a first vehicle). The vehicle 102 may take the form of any passenger or commercial vehicle, such as, for example, a car, a work vehicle, a crossover, a van, a minivan, a truck, a taxi, a bus, etc. In addition, the vehicle 102 may be a manually driven vehicle and / or configured to operate in a fully autonomous (driverless) mode and / or a partially autonomous mode. In some aspects, the vehicle 102 may include a traction battery or battery pack ("vehicle battery," not shown) that may provide energy for vehicle propulsion. In other aspects, the vehicle 102 may include any other powertrain system, such as a gasoline engine. Although Figure 1 A four-wheeled vehicle is depicted, but the present disclosure may also be applied to two-wheeled vehicles, such as electric bicycles, scooters, motorcycles, etc.

[0017] Vehicle 102 may travel on a road network 104, which may be located in a city, a rural area, a suburban area, etc. Environment 100 may also include another vehicle 106 that may travel on road network 104. Vehicle 106 may be the same as or different from vehicle 102. For example, vehicle 106 may be an electric vehicle. In some aspects, vehicle 106 may not be in the direct line of sight or field of view of vehicle 102 (or in a blind spot). For example, vehicle 106 may be hidden around a road corner, such as Figure 1 shown.

[0018] Environment 100 may also include a security system (in Figure 2100). In some aspects, the safety system ("system") can be part of the vehicle 102. In other aspects, the system can be part of other devices, such as user devices associated with pedestrians on the road network 104 (e.g., Figure 2 202). The user device may include, but is not limited to, a smartphone, a smartwatch, or any wearable device. In another aspect, the system may be part of an infrastructure including, but not limited to, a parking facility, a garage, or any other infrastructure on the road network 104. For example, the system may be part of an Internet of Things (IoT) device around a home.

[0019] The system may include one or more ultrasonic sensors that may be configured to measure sound emitted / reflected by an object in the ultrasonic frequency range (e.g., above 20 kHz). The object may be a vehicle 106 (e.g., a second vehicle), a pedestrian (e.g., Figure 3 Pedestrian 302 shown in FIG), such as electric scooters, skateboards, electric bicycles ( Figure 1 Small objects such as those not shown in the figure.

[0020] When the system is part of vehicle 102, the system may include ultrasonic sensors that may be built into vehicle 102. The ultrasonic sensors associated with vehicle 102 may be configured to measure sounds within the ultrasonic frequency range that are close to vehicle 102. For example, the ultrasonic sensors associated with vehicle 102 may be configured to measure sounds emitted by ultrasonic sensors associated with vehicle 106. In some aspects, the ultrasonic sensors may be positioned around / peripheral to vehicle 102. For example, six ultrasonic sensors may be positioned in the front of the vehicle and six ultrasonic sensors may be positioned in the rear of the vehicle. In some aspects, the ultrasonic sensors may be positioned on the vehicle's glass and / or on the vehicle's rigid structure. The ultrasonic sensors may be any type of ultrasonic sensor, which may include short-range ultrasonic sensors and long-range ultrasonic sensors. Although the above description describes an aspect in which vehicle 102 includes twelve ultrasonic sensors, the present disclosure is not limited to the described aspect. Vehicle 102 may include a greater or lesser number of ultrasonic sensors without departing from the scope of the present disclosure.

[0021] The system can be configured to obtain input from the ultrasonic sensor and detect the presence of an object near the vehicle 102 based on the input. In other words, the system can be configured to detect / identify the presence of an object based on sounds measured by the ultrasonic sensor in the ultrasonic frequency range. In response to detecting the presence of an object, the system can estimate the object's position and / or orientation relative to the vehicle 102 based on the input from the ultrasonic sensor and perform a predetermined action based on the estimation.

[0022] In some aspects, the predetermined action may include a vehicle human machine interface (HMI) ( Figure 2 The system may output a first notification to the vehicle driver / operator (illustrated as HMI 216 in FIG. 1 ) or a user device associated with the vehicle driver. The notification may indicate the presence of an object approaching the vehicle 102. The notification may also include information associated with the object's location and / or orientation relative to the vehicle 102, so that the vehicle driver can manipulate vehicle movement accordingly and / or take remedial action. For example, the system may output a notification to the vehicle driver indicating that a pedestrian may be approaching the vehicle 102 from the right side of the vehicle.

[0023] In another aspect, the predetermined action may include outputting a second notification to the subject to indicate the presence of a vehicle proximate to the subject. For example, the system may output an audible notification to the pedestrian via a vehicle speaker or a user device associated with the pedestrian to indicate the presence of a vehicle proximate to the subject.

[0024] In another aspect, the predetermined action can include controlling the operation of a vehicle component based on an estimate of the object's position and / or orientation relative to the vehicle 102. To control the operation of the vehicle component, in an exemplary aspect, the system can first identify a door (including a tailgate and a liftgate) that may be facing the object and control the opening of the identified door. For example, the system can inhibit the door from opening or enable a dual activation mode (e.g., activating a dual pull mode) for the identified door, wherein a vehicle user may be required to double-pull / double-push the door handle to open the identified door. Such operations can indicate to the vehicle operator / driver that the object may be approaching the vehicle 102 (e.g., approaching the identified door).

[0025] In another exemplary aspect, as part of the predetermined action, the system can hinder the steering wheel torque associated with the vehicle's steering wheel or hinder the vehicle's speed / movement to prevent the vehicle from moving toward the object. In yet other aspects, the system can activate haptic feedback in vehicle components (e.g., the vehicle's steering wheel and / or door handles) to indicate the presence of an object and / or prevent the vehicle from moving toward the object.

[0026] The above examples should not be construed as limiting, and the system may control any other vehicle components in any manner to indicate the presence of an object without departing from the scope of the present disclosure.

[0027] When the system is part of a user device associated with a pedestrian, the system can obtain input from an ultrasonic sensor (not shown) built into the user device. For example, when the user device is likely to be close to the vehicle 102, the ultrasonic sensor associated with the user device can measure sounds associated with the vehicle 102 in the ultrasonic frequency range. In response to obtaining input from the ultrasonic sensor (associated with the user device), the system can identify the presence of a vehicle close to the user device based on the input. The system can also estimate the vehicle position and / or vehicle direction relative to the user device based on the input obtained, and can perform one or more predetermined actions. For example, in response to vehicle presence detection, the system can output a notification to the vehicle driver (e.g., via the vehicle HMI) to indicate that the pedestrian may be close to the vehicle 102. The notification can also indicate the vehicle position and / or vehicle direction relative to the user device. Additionally or alternatively, the system can output a notification to the pedestrian via the user device to indicate that the vehicle 102 may be close to the pedestrian.

[0028] Combined with the following Figure 2 Describe additional system details.

[0029] The vehicle 102 implements and / or performs operations as described herein in accordance with the vehicle owner's manual and safety guidelines. Additionally, any actions taken by the vehicle driver based on recommendations or notifications provided by the vehicle 102 should comply with all regulations specific to the location (e.g., federal, state, country, city, etc.) and operation of the vehicle 102. Recommendations or notifications as provided by the vehicle 102 should be considered suggestions and followed only in accordance with any regulations specific to the location and operation of the vehicle 102.

[0030] Figure 2 Depicted is a block diagram of a security system 200 (or system 200) according to the present disclosure. Figure 3 To describe Figure 2 In some aspects, the system 200 can be external to the vehicle 102. For example, the system 200 can be part of infrastructure and / or a user device 202 associated with a pedestrian. In other aspects, the system 200 can be part of the vehicle 102.

[0031] The system 200 can be communicatively coupled to the vehicle 102, the user device 202, and one or more servers 204 (or servers 204) via one or more networks 206 (or networks 206). The server 204 can be part of a cloud-based computing infrastructure and can be associated with and / or include a telematics service delivery network (SDN) that provides digital data services to the vehicle 102, the infrastructure, and / or the user device 202. In some aspects, the server 204 can be configured to store information associated with ultrasonic signals associated with vehicles (such as the vehicle 102 and the vehicle 106), etc. The server 204 can be configured to transmit the information to the vehicle 102 / system 200 at a predefined frequency or when the vehicle 102 / system 200 transmits a request to the server 204 to obtain the above information.

[0032] The vehicle 102 may include a plurality of units including, but not limited to, a vehicle transceiver 208, a vehicle detection unit 210, a vehicle memory 212, a vehicle processor 214, and a vehicle human-machine interface 216 (HMI 216) that may be communicatively coupled to one another. The vehicle detection unit 210 may include a vehicle camera, an ultrasonic sensor, a radio detection and ranging (radar) sensor, a light detection and ranging (lidar) sensor, a thermal camera, etc. The vehicle detection unit 210 may be configured to detect the presence of an object proximate to the vehicle 102.

[0033] The HMI 216 may be configured to receive vehicle driver input to control vehicle operation. Additionally, the HMI 216 may be configured to output one or more notifications to the vehicle driver based on input obtained from the vehicle detection unit 210 and / or other components or devices (such as the system 200, infrastructure, user device 202, etc.).

[0034] The vehicle transceiver 208 can be configured to transmit / receive signals / information / data to / from external systems and devices via the network 206. For example, the vehicle transceiver 208 can transmit information / signals / data obtained from the vehicle detection unit 210 to the system 200 via the network 206. As another example, the vehicle transceiver 208 can receive one or more notifications from the system 200 (and / or other devices) via the network 206 and transmit the notifications to the HMI 216. As yet another example, the vehicle transceiver 208 can receive instructions (e.g., to control vehicle operation) from the system 200 and transmit the instructions to the vehicle processor 214.

[0035] The vehicle processor 214 may be configured to communicate with one or more memory devices (e.g., the vehicle memory 212 and / or the vehicle memory 214) configured to communicate with a corresponding computing system. Figure 2The vehicle processor 214 may utilize the vehicle memory 212 to store programs and / or store data in code to perform various aspects of the present disclosure. The vehicle memory 212 may be a non-transitory computer-readable storage medium or memory that stores program code that enables the vehicle processor 214 to perform operations according to the present disclosure. The vehicle memory 212 may include any one or a combination of volatile memory elements (e.g., dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), etc.), and may include any one or more non-volatile memory elements (e.g., erasable programmable read-only memory (EPROM), flash memory, electronically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), etc.).

[0036] The system 200 may include a system detection unit 218, a system transceiver 220, a system processor 222, and a system memory 224, which may be communicatively coupled to one another. The system transceiver 220 may be configured to transmit signals / information / data to / from systems and devices via the network 206, including the vehicle 102 (e.g., via the vehicle transceiver 208), the user device 202, the server 204, and the like.

[0037] The system detection unit 218 can be configured to detect the presence of an object in proximity to the vehicle 102. In some aspects, the system detection unit 218 can include one or more ultrasonic sensors, such as those described above in conjunction with Figure 1 As described above, the system detection unit 218 can measure sounds near the vehicle 102 (e.g., in the ultrasonic frequency range, i.e., above 20 kHz). When the system 200 is part of the vehicle 102, the system detection unit 218 can include an ultrasonic sensor built into the vehicle 102. When the system 200 is part of the user device 202, the system detection unit 218 can include an ultrasonic sensor built into the user device 202.

[0038] The system processor 222 may be configured to communicate with one or more memory devices (eg, system memory 224 and / or Figure 2The system processor 222 may utilize the system memory 224 to store programs and / or store data in code to perform various aspects of the present disclosure. The system memory 224 may be a non-transitory computer-readable storage medium or memory that stores program code that enables the system processor 222 to perform operations according to the present disclosure. The system memory 224 may include any one or a combination of volatile memory elements (e.g., dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), etc.), and may include any one or more non-volatile memory elements (e.g., erasable programmable read-only memory (EPROM), flash memory, electronically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), etc.).

[0039] As described above, in some aspects, the system 200 may be part of the vehicle 102. In such cases, the system detection unit 218 may include an ultrasonic sensor built into the vehicle 102. In such a scenario, the system transceiver 220 may receive input from the system detection unit 218 and may transmit the input to the system memory 224 for storage purposes. Additionally or alternatively, the system transceiver 220 may transmit the input to the system processor 222. The system processor 222 may obtain the input directly from the system transceiver 220 or from the system memory 224. In response to obtaining the input, the system processor 222 may determine / detect the presence of an object (such as the vehicle 106 or a similar object) proximate to the vehicle 102 based on the input. Figure 3 For example, the system processor 222 may detect the presence of an object when the distance between the vehicle 102 and the object may be less than a predetermined threshold. As another example, the system processor 222 may detect that the pedestrian 302, which is hidden behind bushes (and may not be visible to the vehicle driver, vehicle cameras, etc.), may be approaching the vehicle 102 based on input received from the system detection unit 218.

[0040] In response to object presence detection (i.e., when the distance between vehicle 102 and the object is less than a predetermined threshold), system processor 222 may estimate the object's position and / or the object's direction relative to vehicle 102. For example, system processor 222 may determine whether pedestrian 302 may be approaching from the left side of the vehicle or from the right side of the vehicle. As another example, system processor 222 may determine whether vehicle 106 (hidden behind corner infrastructure on road network 104) may be moving toward vehicle 102 from the front of the vehicle.

[0041] In another aspect, the system processor 222 can be configured to control the operation of vehicle components based on an estimate of the object's position and / or object's orientation relative to the vehicle 102. For example, the system processor 222 can automatically control / impede vehicle steering torque and / or vehicle speed based on the estimated object's position and / or object's orientation in response to detecting the presence of an object to prevent the vehicle from moving toward the object. As another example, the system processor 222 can control the opening of a vehicle door that may be facing the detected object (e.g., inhibit the door from opening) to prevent any adverse situation from occurring (e.g., preventing the vehicle from contacting the object). In some aspects, the system processor 222 can identify a vehicle door that may be facing the object based on the estimated object's position and / or orientation, and can control the door opening accordingly. In another aspect, the system processor 222 can activate tactile feedback on a vehicle component (such as a vehicle steering wheel) to indicate to the vehicle driver the presence of an object near the vehicle 102, thereby signaling the vehicle driver to stop moving the vehicle toward the object.

[0042] In another aspect, the system processor 222 can increase the sensitivity of the vehicle's sensor suite based on object presence detection. For example, the system processor 222 can increase the sensitivity of a radar sensor, a lidar sensor, a thermal camera, etc. (to accurately detect the object's location / direction) in response to detecting the presence of an object. In yet another aspect, the system processor 222 can identify which vehicles are moving around the vehicle 102 in response to detecting the presence of an object / vehicle near the vehicle 102. For example, the system processor 222 can obtain ultrasonic signals from different vehicles near the vehicle 102 and measure the distance between the vehicle 102 and the corresponding vehicle based on the obtained ultrasonic signals. The system processor 222 can also determine distance changes in real time based on the ultrasonic signals and identify which vehicles may be moving near the vehicle 102 based on the distance changes.

[0043] In another aspect, the system processor 222 can output a warning notification to the vehicle driver (via the HMI 216) and / or the pedestrian 302 (via the user device 202 and / or the vehicle's external speakers) in response to detecting the presence of the object to prevent any adverse situation from occurring. In an exemplary aspect, the system processor 222 can output a warning notification when the distance between the vehicle 102 and the object may be less than a predetermined threshold. Figure 1Details associated with notifications (e.g., first and second notifications) are described. In some aspects, the first and second notifications may include information associated with the position / orientation of an object (such as pedestrian 302) relative to vehicle 102. In other words, system processor 222 may output the first and second notifications based on an estimate of the object's position and / or orientation. Similarly, system processor 222 may detect the presence of other small objects (such as electric scooters / skateboards / electric bicycles) in proximity to vehicle 102 and perform one or more of the predetermined actions described above.

[0044] In some aspects, the system processor 222 can be configured to calibrate noise (e.g., external noise) to accurately detect the presence of an object. For example, the system processor 222 can calibrate the noise based on sounds / noises that the vehicle 106 may typically make when the vehicle 106 may be moving. In some aspects, the system processor 222 can set thresholds for noise levels typically associated with various vehicle propulsion systems / sensors / and features to help develop appropriate triggers for the ultrasonic sensor to detect the presence of a vehicle.

[0045] In addition, as above combined Figure 1 As depicted, the system 200 may be part of a user device 202. In this scenario, the system detection unit 218 may include an ultrasonic sensor built into the user device 202. In this case, the system processor 222 may obtain input from the ultrasonic sensor associated with the user device 202. In response to obtaining the input from the ultrasonic sensor, the system processor 222 may identify / detect the presence of a vehicle proximate to the user device 202 based on the obtained input.

[0046] In an exemplary aspect, the system processor 222 may detect the presence of a vehicle proximate to the user device 202 when the distance between the user device 202 and the vehicle 102 may be less than a predetermined threshold. In further aspects, the system may estimate the vehicle position and / or vehicle orientation relative to the user device 202 based on input obtained from the ultrasonic sensor, and may perform one or more predetermined actions. For example, in response to the detection of the presence of a vehicle proximate to the user device 202, the system processor 222 may output a notification to the vehicle driver (e.g., via the HMI 216) to indicate that the pedestrian 302 may be proximate to the vehicle 102. The notification may also indicate the vehicle position and / or vehicle orientation relative to the user device 202. In further aspects, the user device 202 may output a notification to the pedestrian 302 to indicate the presence of a vehicle proximate to the pedestrian 302. As an example, as Figure 3As shown, when pedestrian 302 may be walking between parallel parked cars or between / behind bushes and is walking close to traffic approaching vehicle 102, user device 202 may output a "STOP" notification to pedestrian 302 via the user device speaker.

[0047] In an additional aspect, the system processor 222 (associated with the vehicle 102) may obtain input from the system detection unit 218 and, based on the obtained input, determine that the vehicle 106 located proximate to the vehicle 102 may pose a threat to the vehicle 102. In this case, the system processor 222 may apply Morse code of ultrasonic waves to identify whether the vehicle 106 may pose a threat to the vehicle 102. An example of such identification is described below. The examples described below should not be construed as limiting.

[0048] In an exemplary aspect, vehicle 102 may be located inside a garage, and vehicle 106 may be parked in front of the garage door. In such a situation, system detection unit 218 may obtain an ultrasonic signal from vehicle 106 and transmit the ultrasonic signal to system processor 222 or system memory 224. System processor 222 may obtain the ultrasonic signal from system detection unit 218 and / or system memory 224 and compare the ultrasonic signal with pre-stored ultrasonic signals associated with vehicle 106 (which system processor 222 may obtain from server 204). Based on the comparison, system processor 222 may determine whether vehicle 106 may pose a threat to vehicle 102 (or whether it is a known threat to vehicle 102). In other words, system processor 222 may determine that vehicle 106 may pose a threat to vehicle 102 based on ultrasonic signatures associated with vehicle 106. As an example, when the ultrasonic signal from vehicle 106 does not match the pre-stored ultrasonic signature, system processor 222 may determine that vehicle 106 may pose a threat to vehicle 102. Based on a determination that the vehicle 106 may pose a threat or "potential threat," the system processor 222 may perform predetermined actions, such as outputting a threat notification to a user device associated with the vehicle operator, and / or controlling the operation of vehicle components based on the determination. For example, the system processor 222 may activate a vehicle camera to capture vehicle images and transmit the vehicle images to the system memory 224 and / or the server 204 to document / record any vehicle obstructions / parking obstructions.

[0049] In an additional aspect, the system processor 222 can control the operation (e.g., sampling) of the ultrasonic sensor (i.e., the system detection unit 218) to conserve vehicle / user device power or energy. For example, the system processor 222 can receive input from the ultrasonic sensor (to detect the presence of an object) while the ultrasonic sensor is otherwise activated to perform other operations / sensing. In another aspect, the system processor 222 can sample the ultrasonic sensor at an acceptable rate that prevents a key-off (KOL) issue but is faster than sampling every 6 hours (or a predefined number of hours).

[0050] Figure 4 A flow chart depicts an example method 400 for detecting an object proximate to a vehicle according to the present disclosure. Figure 4 The following process is exemplary and is not limited to the steps described below. Furthermore, alternative embodiments may include more or fewer steps than shown or described herein, and may include the steps in an order different from that described in the following exemplary embodiments.

[0051] refer to Figure 4 At step 402, method 400 may begin. At step 404, method 400 may include obtaining input from system detection unit 218 by system processor 222. As described above, system detection unit 218 may include a built-in ultrasonic sensor of vehicle 102 or a built-in ultrasonic sensor of user device 202.

[0052] At step 406, the method 400 may include detecting, by the system processor 222, the presence of an object proximate to the vehicle 102 based on the obtained input. The object may be a vehicle 106 (e.g., a second vehicle), a pedestrian 302, a pedestrian such as an electric scooter, a skateboard, an electric bicycle ( Figure 1 Small objects such as those not shown in the figure.

[0053] At step 408, method 400 may include estimating, by system processor 222, an object position and / or an object orientation relative to vehicle 102 in response to object presence detection. At step 410, method 400 may include controlling, by system processor 222, vehicle component operation based on the estimated object position and / or object orientation. At step 412, method 400 may end.

[0054] In the above disclosure, reference has been made to the accompanying drawings which form a part of the above disclosure, which illustrate specific implementations in which the present disclosure may be practiced. It will be understood that other implementations may be utilized and structural changes may be made without departing from the scope of the present disclosure. References in this specification to "one embodiment," "an embodiment," "an example embodiment," etc. indicate that the embodiment being described may include certain features, structures, or characteristics, but every embodiment may not necessarily include the certain features, structures, or characteristics. Furthermore, such phrases do not necessarily refer to the same embodiment. In addition, when features, structures, or characteristics are described in conjunction with an embodiment, whether or not explicitly described, those skilled in the art will recognize such features, structures, or characteristics in conjunction with other embodiments.

[0055] Furthermore, where appropriate, the functions described herein may be implemented in one or more of the following: hardware, software, firmware, digital components, or analog components. For example, one or more application-specific integrated circuits (ASICs) may be programmed to implement one or more of the systems and procedures described herein. Certain terms are used throughout the specification and claims to refer to specific system components. As will be appreciated by those skilled in the art, components may be referred to by different names. This document is not intended to distinguish between components that have different names but the same function.

[0056] It should also be understood that the word "example" as used herein is intended to be non-exclusive and non-limiting in nature. More specifically, the word "example" as used herein indicates one of several examples, and it should be understood that no undue emphasis or preference is placed on the particular example being described.

[0057] Computer-readable media (also known as processor-readable media) include any non-transitory (e.g., tangible) medium that participates in providing data (e.g., instructions) that can be read by a computer (e.g., by a processor of a computer). Such media can take many forms, including but not limited to non-volatile media and volatile media. A computing device may include computer-executable instructions, where the instructions may be executable by one or more computing devices (such as those listed above) and stored on a computer-readable medium.

[0058] With respect to the processes, systems, methods, heuristics, and the like described herein, it should be understood that although the steps of such processes, etc. have been described as occurring according to a certain ordered sequence, such processes can be practiced by performing the described steps in an order different from that described herein. It should also be understood that certain steps can be performed simultaneously, other steps can be added, or certain steps described herein can be omitted. In other words, the descriptions of the processes herein are provided for the purpose of illustrating various embodiments and should in no way be construed as limiting the claims.

[0059] Therefore, it should be understood that the above description is intended to be illustrative and not restrictive. Upon reading the above description, many embodiments and applications other than the examples provided will be apparent. The scope should not be determined with reference to the above description, but rather with reference to the appended claims and the full range of equivalents to which such claims are entitled. It is anticipated and expected that the technology discussed herein will develop in the future, and that the disclosed systems and methods will be incorporated into such future embodiments. In short, it should be understood that the present application is capable of modification and variation.

[0060] Unless otherwise expressly indicated to the contrary in this document, all terms used in the claims are intended to be given their ordinary meaning as understood by the skilled person described herein. Specifically, unless a claim states an express limitation to the contrary, the use of singular articles such as "one", "the", "said" should be interpreted as describing one or more of the indicated elements. Unless otherwise specifically stated or understood otherwise within the context when used, conditional language such as, in particular, "can", "might", "can" or "may" is generally intended to express that certain embodiments may include certain features, elements and / or steps, while other embodiments may not include certain features, elements and / or steps. Therefore, such conditional language is generally not intended to imply that one or more embodiments require each feature, element and / or step in any way.

[0061] In one aspect of the invention, the object is a second vehicle or a person.

[0062] In one aspect of the invention, controlling the operation of the vehicle component includes blocking a steering wheel torque associated with a steering wheel of the vehicle or blocking a vehicle speed to prevent the vehicle from moving toward the object.

[0063] In one aspect of the invention, controlling operation of a vehicle component includes identifying a door facing the object based on an estimate of at least one of the object's position or the object's orientation; and inhibiting opening of the door.

[0064] In one aspect of the invention, controlling vehicle component operation includes identifying a door facing the object based on an estimate of at least one of the object's position or the object's orientation; and enabling a dual activation mode of door opening.

[0065] According to the present invention, a non-transitory computer-readable storage medium in a distributed computing system is provided, the non-transitory computer-readable storage medium having instructions stored thereon, which, when executed by a processor, causes the processor to: obtain input from a detection unit, wherein the detection unit is configured to measure sound emitted by an object; detect the presence of an object proximate to a vehicle based on the input; estimate at least one of the object's position or the object's direction relative to the vehicle in response to detecting the presence of the object; and control the operation of a vehicle component based on the estimate of at least one of the object's position or the object's direction.

Claims

1. A system communicatively coupled to a first vehicle, the system comprising: a detection unit configured to measure a sound emitted by the object; as well as a processor communicatively coupled to the detection unit, wherein the processor is configured to: obtaining input from the detection unit; detecting a presence of the object proximate to the first vehicle based on the input; estimating at least one of an object position or an object orientation relative to the first vehicle in response to detecting the presence of the object; and Vehicle component operation is controlled based on the estimate of at least one of the object position or the object orientation.

2. The system of claim 1, wherein the object is a second vehicle or a person.

3. The system of claim 1, wherein the system is part of the first vehicle. 4 . The system of claim 1 , wherein the detection unit comprises a built-in ultrasonic sensor in the first vehicle.

5. The system of claim 1, wherein the system is part of at least one of a mobile device or a smart watch. 6 . The system of claim 1 , wherein the processor is further configured to output a first notification on a first vehicle human machine interface (HMI) or a mobile device based on the estimate of at least one of the object position or the object orientation. 7 . The system of claim 1 , wherein the processor is further configured to output a second notification to the subject based on the estimate of at least one of the subject's position or the subject's orientation.

8. The system of claim 7, wherein the second notification comprises an audible notification.

9. The system of claim 1, wherein the processor controls the vehicle component operation by activating haptic feedback in a vehicle steering wheel to prevent the vehicle from moving toward the object.

10. The system of claim 1, wherein the processor controls the vehicle component operation to prevent the vehicle from moving toward the object by hindering a steering wheel torque associated with a vehicle steering wheel or hindering a vehicle speed.

11. The system of claim 1 , wherein the processor controls the vehicle component operation by identifying a door facing the object and inhibiting the door from opening based on the estimate of at least one of the object's position or the object's direction.

12. The system of claim 1, wherein the processor controls the vehicle component operation by identifying a door facing the object based on the estimation of at least one of the object's position or the object's direction and enabling a dual activation mode for opening the door.

13. The system of claim 1 , wherein the processor is further configured to: determining that the object poses a threat to the first vehicle based on the input, wherein the input includes an ultrasonic signature of the object; and Operation of the vehicle component is controlled based on the determination.

14. The system of claim 13, wherein the processor controls the vehicle component operation by activating a vehicle camera.

15. A method comprising: obtaining, by a processor, an input from a detection unit, wherein the detection unit is configured to measure a sound emitted by an object; determining, by the processor, a presence of the object proximate to the vehicle based on the input; estimating, by the processor, at least one of an object position or an object orientation relative to the vehicle in response to determining the presence of the object; as well as Vehicle component operation is controlled by the processor based on the estimate of at least one of the object position or the object orientation.

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