System and method for reducing vehicle-bicycle collision

Abstract

To reduce effectively and efficiently a risk of a collision between a vehicle and a bicycle.SOLUTION: According to an embodiment, a method is provided for mitigating a collision between a first vehicle and a bicycle located in the vicinity of the first vehicle. The method includes: acquiring environmental information around the first vehicle; acquiring first information associated with the bicycle from the environmental data; receiving second information associated with the bicycle from a second vehicle; predicting a trajectory of the bicycle based on the first and second information; determining a risk of a collision between the first vehicle and the bicycle based on the predicted trajectory; and providing feedback to a driver of the first vehicle based on the risk of collision and the predicted trajectory.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] Exemplary embodiments of the present disclosure relate to vehicle safety systems, and more particularly to collision mitigation systems implemented in vehicles to mitigate collisions with bicycles. [Background technology]

[0002] In the related art, various approaches have been introduced to mitigate vehicle collisions. For example, a forward collision warning (FCW) system uses sensors (e.g., radar or camera) to monitor the road ahead and, when an imminent collision is detected, alerts the driver with a visual and / or audio warning. As another example, automatic emergency braking (AEB) detects a potential frontal collision and automatically activates the vehicle's braking system to mitigate the potential collision.

[0003] Nevertheless, related art systems and approaches are primarily designed to mitigate collisions between motorized vehicles (e.g., cars, trucks, etc.) and require the motorized vehicle's on-board sensors to have a clear forward view to operate effectively. However, related art systems and approaches are less effective at mitigating collisions between motorized vehicles and bicycles for at least the following reasons:

[0004] First, bicycles are typically smaller than motorized vehicles and have limited visibility when driven on roads. Therefore, bicycles can easily be blocked by other objects on the road, and a vehicle's view of the bicycle can easily be obstructed by other vehicles ahead. Safety systems in the related art can be limited in their effectiveness when a clear or direct line of sight to the bicycle is obstructed. This makes it difficult for a vehicle to detect a bicycle when there are vehicles or other objects moving around the bicycle. This limitation can increase the risk of a collision between a vehicle and a bicycle.

[0005] Furthermore, bicycles may have complex movement trajectories compared to vehicles, which are inherently dynamic and difficult to predict due to various influencing factors such as weather conditions, road surface conditions, cargo carried by the bicycle, the cyclist's experience level, and other environmental or human-centric factors.

[0006] For example, cyclists' behavior varies based on experience, decision-making, reaction time, personality, and the like, which makes it complicated and difficult to predict the movements of a bicycle in advance. For example, a bicycle may enter the road without prior warning, a cyclist may suddenly operate the bicycle without any specific reason, and the like.

[0007] Furthermore, when compared to motorized vehicles, bicycles are lighter in weight and more susceptible to external influences such as wind gusts, uneven road surfaces, changes in weight distribution, and the like. Therefore, compared to motorized vehicles, bicycles are more susceptible to lean angles and may suddenly tip over. These factors increase the difficulty and complexity of predicting bicycle trajectories based solely on historical or static data.

[0008] In addition, cyclists can easily access and use bicycles without knowledge of traffic rules and regulations. Similarly, vehicle drivers from different regions or locations may not be aware of local traffic rules and regulations. For example, in some regions or locations, it is illegal for motorized vehicles to ride alongside bicycles, motorized vehicles should maintain a minimum distance from bicycles, and the like. Cyclists or drivers who are not familiar with local traffic rules and regulations may easily violate the rules and regulations without realizing it, thereby increasing the risk of collisions.

[0009] For at least the above reasons, there exists a need to provide a solution that effectively and efficiently mitigates collisions between vehicles and bicycles. Summary of the Invention

[0010] SUMMARY OF THE INVENTION Exemplary embodiments consistent with the present disclosure provide methods, systems, and apparatus for effectively and efficiently determining the risk of a collision between a vehicle and a bicycle and mitigating the risk of a subsequent collision.

[0011] According to an embodiment, there is provided a method executed by at least one processor of a system in a first vehicle for mitigating a collision between a first vehicle and a bicycle in the vicinity of the first vehicle, the method including the steps of: acquiring environmental information around the first vehicle from at least one onboard sensor; acquiring first information associated with the bicycle from the environmental information, the first information including one or more of a location of the bicycle, a type of bicycle, and a type of cyclist riding the bicycle; receiving second information associated with the bicycle from a second vehicle, the second information including information captured by one or more onboard sensors of the second vehicle; predicting a trajectory of the bicycle according to the first information and the second information; determining a risk of collision between the first vehicle and the bicycle based on the predicted trajectory; and providing feedback to a driver of the first vehicle according to the risk of collision and the predicted trajectory.

[0012] According to an embodiment, a system for mitigating a collision between a first vehicle and a bicycle in proximity to the first vehicle is provided. The system includes a memory storage that stores computer-executable instructions and at least one processor communicatively coupled to the memory storage. The at least one processor is configured to execute the instructions to perform the following steps: acquire environmental information around the first vehicle from at least one onboard sensor; acquire first information associated with the bicycle from the environmental information, the first information including one or more of a location of the bicycle, a type of bicycle, and a type of cyclist riding the bicycle; receive second information associated with the bicycle from a second vehicle, the second information including information captured by one or more onboard sensors of the second vehicle; predict a trajectory of the bicycle according to the first information and the second information; determine a risk of a collision between the first vehicle and the bicycle based on the predicted trajectory; and provide feedback to a driver of the first vehicle according to the risk of collision and the predicted trajectory.

[0013] Additional aspects will be set forth in part in the description that follows, and in part will be apparent from the description, or may be realized by practice of the illustrated embodiments of the present disclosure. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 illustrates an example use case diagram in which example embodiments may be implemented. [Figure 2] FIG. 2 illustrates a functional block diagram of an exemplary vehicle system for mitigating a collision between a first vehicle and a bicycle in proximity to the first vehicle, according to one or more embodiments. [Figure 3A] FIG. 3A illustrates a diagram of an exemplary use case in which a bicycle trajectory is predicted, according to one or more embodiments. [Figure 3B] FIG. 3B shows a side view of a bicycle on a road, according to one or more embodiments. [Figure 4]FIG. 4 shows an exemplary graph aligned relative to bicycle probability distribution and steering feedback strength, according to one or more embodiments. [Figure 5] FIG. 5 illustrates a block diagram of example components of a vehicle system according to one or more embodiments. [Figure 6] FIG. 6 illustrates a flow diagram of an exemplary method for mitigating a collision between a first vehicle and a bicycle in proximity to the first vehicle, according to one or more embodiments. DETAILED DESCRIPTION OF THE INVENTION

[0015] The features, advantages, and significance of exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which like reference numerals refer to like elements, and in which:

[0016] The following detailed description of exemplary embodiments refers to the accompanying drawings. The foregoing disclosure provides illustration and description, but is not intended to be exhaustive or to limit the embodiments to the precise form disclosed. Modifications and variations are possible in light of the above disclosure or may be acquired from practice of the embodiments. Furthermore, one or more features or components of one embodiment may be incorporated into or combined with another embodiment (or one or more features of another embodiment). Additionally, in the flowcharts and descriptions of operations provided below, it will be understood that one or more operations may be omitted, one or more operations may be added, one or more operations may be performed (at least partially) concurrently, and the order of one or more operations may be rearranged.

[0017] Although particular combinations of features are recited in the claims and / or disclosed in the specification, these combinations are not intended to limit the disclosure of possible embodiments. Indeed, many of these features can be combined in ways not specifically recited in the claims and / or disclosed in the specification. Although each dependent claim set forth below may depend directly on only one claim, the disclosure of possible embodiments includes each dependent claim in combination with all other claims in the claim set.

[0018] No element, act, or instruction used herein should be construed as critical or essential unless explicitly described as such. Also, as used herein, the terms "have," "having," "include," "including," and the like are intended to be open-ended terms. Furthermore, the phrase "based on" is intended to mean "based at least in part on," unless expressly stated otherwise. Furthermore, "[A] and / or [B]," "at least one of [A] and [B]," or "at least one of [A] or [B]" should be understood to include A only, B only, or both A and B.

[0019] Throughout this specification, references to "one embodiment," "an embodiment," "a non-limiting exemplary embodiment," or similar language mean that a particular feature, structure, or characteristic described in connection with the illustrated embodiment is included in at least one embodiment of the present disclosure. Thus, the phrases "in one embodiment," "in an embodiment," "in a non-limiting exemplary embodiment," and similar language throughout this specification may, but do not necessarily, all refer to the same embodiment.

[0020] Furthermore, the described features, advantages, and characteristics of the present disclosure may be combined in any suitable manner in one or more embodiments. Those skilled in the art will recognize, in light of the description herein, that the present disclosure can be practiced without one or more of the specific features or advantages of a particular embodiment. In other instances, additional features and advantages may be recognized in some embodiments that may not be present in all embodiments of the present disclosure.

[0021] Additionally, the term "vehicle" as described herein refers to motorized vehicles such as cars, trucks, buses, motorcycles, and other suitable types of motor vehicles powered by an engine, motor, or other mechanical means. While the present disclosure is described herein with respect to "bicycles," it is contemplated that exemplary embodiments of the present disclosure may also be applicable to other suitable types of non-motorized vehicles or means of transportation (e.g., skateboards, roller skates, kick scooters, etc.) without departing from the scope of the present disclosure.

[0022] 1 shows a diagram of an exemplary use case in which exemplary embodiments can be implemented. In this exemplary use case, a bicycle 110 and multiple vehicles 120-150 are traveling on a road 160. The road 160 comprises road edges and lane lines that define two vehicle lanes. Vehicle 120 is traveling alongside bicycle 110, while vehicles 130-150 are traveling behind vehicle 120 and bicycle 110.

[0023] In the related art, vehicle 140 may not be able to detect bicycle 110 because its line of sight to bicycle 110 is blocked by vehicle 130. Similarly, vehicle 150 may not be able to detect bicycle 110 because its line of sight to bicycle 110 is blocked by vehicles 120 and 130. These situations pose a risk of a collision between bicycle 110 and one or more of vehicles 140-150.

[0024] Meanwhile, the cyclist of bicycle 110 and the driver of vehicle 120 may have violated one or more local traffic rules and regulations, but the cyclist and / or driver may not be aware of them. For example, the distance between vehicle 120 and bicycle 110 is narrow and does not meet the minimum overtaking distance set by laws regarding safe overtaking or laws regarding vulnerable road users, road 160 may be located in a no-overtaking zone where overtaking bicycle 110 is prohibited, the area in which road 160 is located includes restrictions on riding alongside bicycles, so riding alongside bicycle 110 violates rules and regulations, and bicycle 110 should not enter road 160 because road 160 is reserved for motorized vehicles.

[0025] Exemplary embodiments of the present disclosure enable a vehicle to efficiently determine collision risk and perform one or more actions to mitigate the collision risk, even when a bicycle is not directly visible. Furthermore, one or more feedbacks are provided to the driver and cyclist, allowing the driver and cyclist to obtain real-time information about the situation. For example, the driver and cyclist may be alerted to a potential collision and may then take appropriate action to avoid the collision. If the driver and / or cyclist violates (or is predicted to violate) one or more traffic rules and regulations, the vehicle notifies the relevant driver and / or cyclist in a timely manner.

[0026] According to an embodiment, a system (herein referred to as a "vehicle system") is provided and implemented in a vehicle. The system is configured to acquire first information about a bicycle through one or more on-board sensors and simultaneously receive second information captured by one or more surrounding vehicles. By utilizing the combined information, cooperative sensing between vehicles on a road is achieved, and the vehicle system can effectively detect the presence of a bicycle, thereby predicting the bicycle's trajectory and determining the collision risk between the vehicle and the bicycle. Subsequent actions, including providing feedback to the vehicle driver (e.g., visual alerts, auditory alerts, steering control, etc.), sharing information with surrounding drivers and cyclists, informing the vehicle driver and / or cyclist of local traffic rules and regulations, and the like, are taken to prevent a collision.

[0027] 2 illustrates a functional block diagram of an exemplary vehicle system 200, according to one or more embodiments. Vehicle system 200 may be implemented in one or more vehicles (e.g., vehicles 120-150) and may interact with other systems and components of the vehicles to facilitate efficient and effective collision risk determination and mitigation.

[0028] As examples, vehicle system 200 may interact with the vehicle's braking system to control the vehicle's speed according to the collision risk determined by vehicle system 200, interact with the vehicle's steering system to provide steering vibration alerts and / or active steering corrections according to the determined collision risk and / or the bicycle's predicted trajectory, interact with the in-vehicle infotainment (IVI) system to provide visual and / or audible alerts to the driver, and interact with other suitable systems in the vehicle to actively assist the vehicle driver in collision avoidance maneuvers and enhance overall vehicle control and stability in potential collision situations.

[0029] As shown in FIG. 2 , the vehicle system 200 includes multiple functional modules 210-280. One or more of the modules 210-280 may be implemented in various forms, such as hardware, firmware, or a combination of hardware and software. In this regard, it is contemplated that one or more operations described herein with respect to each of the modules 210-280 may be performed by hardware (e.g., a processor, etc.) in executing software or computer-executable instructions for implementing the modules 210-280. It is further contemplated that one or more of the modules 210-280 may be integrated into a single module (e.g., the receiver module 230 and the transmitter module 260 may be combined into a transceiver module, the object detector module 220, the trajectory predictor module 240, and the collision avoidance module 250 may be combined into a collision mitigation module, etc.) without departing from the scope of the present disclosure.

[0030] Sensing module 210 collects data or information (herein "sensing data") from various on-board sensors (described further below with respect to FIG. 5) and then performs one or more operations to process the sensing data to consolidate meaningful data and improve data accuracy before providing the sensing data to other modules of vehicle system 200. For example, sensing module 210 performs one or more data filtering operations to reduce noise in the sensing data, performs one or more data calibration operations to correct for systematic errors in the sensing data, performs one or more data fusion operations to integrate or compile sensing data from multiple sensors to provide a comprehensive and coherent representation of the vehicle's surroundings, and the like. After processing the sensing data, module 210 provides the processed data to other modules of vehicle system 200 (e.g., object detector module 220, trajectory predictor module 240, etc.) for further use or processing.

[0031] The object detector module 220 is configured to detect and identify one or more objects of interest in the vehicle's surroundings. Specifically, the object detector module 220 is configured to detect and extract various information associated with a bicycle (herein "bicycle information") from the sensing data provided by the sensing module 210, such as the location of the bicycle, the type of bicycle, the type of cyclist, any cargo on the bicycle, the speed at which the bicycle is traveling, the steering behavior of the cyclist, a flag specifying whether the cyclist is violating (or attempting to violate) one or more traffic rules and regulations, and the like. In some embodiments, the object detector module 220 is configured to detect and extract various information associated with the road on which the bicycle is traveling, such as bicycle lane information (e.g., bicycle lanes separated from motorized vehicles by physical barriers, buffer bicycle lanes with painted buffer zones between the bicycle lane and the road lane, bicycle lanes marked with painted lines or special colors, width of the bicycle lane, etc.), roadside infrastructure (e.g., barriers, guardrails, etc.), and the like, from the sensing data provided by the sensing module 210.

[0032] According to an embodiment, the sensing data includes image data captured by one or more onboard cameras, and the object detector module performs one or more image processing operations to detect and extract information about objects of interest (e.g., bicycles, cyclists, bicycle lanes, etc.) from the one or more images. For example, the object detector module 220 performs one or more operations such as edge detection, histogram analysis, shape or texture detection, and the like, to identify objects of interest from the image data. In some embodiments, the cameras include a forward-facing camera capable of detecting bicycles in front of the vehicle, a side-facing camera capable of detecting bicycles beside the vehicle, and a rear-facing camera capable of detecting bicycles behind the vehicle.

[0033] According to an embodiment, the object detector module 220 is configured to classify or categorize detected objects into various classes based on their respective characteristics, such as size, shape, and the like. For example, upon detecting a bicycle, the object detector module 220 classifies the bicycle into a specific type of bicycle, such as a road bike, a mountain bike, a single-speed / fixed-gear bicycle, a cargo bike, a throttle-assist e-bike, a pedal-assist e-bike, and the like. Similarly, the object detector module 220 may classify cyclists according to the cyclist's age, the cyclist's behavior, the cyclist's facial expression, and the like. Furthermore, the object detector module 220 may classify bicycles according to the cargo on the bicycle, such as the amount of cargo on the front / rear of the bicycle, the number of child seats mounted on the bicycle, and the like.

[0034] Without departing from the scope of the present disclosure, object detector module 220 may be configured to detect and classify other objects, such as vehicles, pedestrians, road markings, traffic signs, road surface conditions, road lane configurations, bicycle lanes, and other suitable objects or settings around the vehicle or along the travel route. Such information is used by vehicle system 200 to determine whether a driver and / or cyclist is violating (or attempting to violate) one or more traffic rules and regulations. Upon obtaining information about the object of interest, object detector module 220 provides the information to other modules of vehicle system 200 (e.g., trajectory predictor module 240, collision avoidance module 250, etc.) for further use or processing.

[0035] The receiver module 230 is configured to receive data or information from one or more devices outside the vehicle system 200. According to an embodiment, the receiver module 230 performs vehicle-to-vehicle (V2V) communication with one or more surrounding vehicles and vehicle-to-infrastructure (V2I) communication with external devices, such as roadside infrastructure or radio stations, thereby receiving data or information from other vehicles and external devices in real time or near real time. The received information includes bicycle information and environmental information captured by one or more onboard sensors of the surrounding vehicles, traffic information, local traffic rules and regulations information, surrounding vehicle information (e.g., driving speed, current location, etc.), and the like. According to an embodiment, the received information further includes alerts or warnings, such as alerts of a potential collision between a surrounding vehicle and a bicycle, alerts of potential sudden braking of surrounding vehicles to avoid a collision, red flags indicating that a particular cyclist and / or a particular driver of a surrounding vehicle may not be familiar with local traffic rules and regulations, and the like.

[0036] According to an embodiment, receiver module 230 is configured to process the received information or data. For example, receiver module 230 may decode encoded information, perform error checking, perform data integrity checks, and the like. Additionally, receiver module 230 may provide the received information to other modules of vehicle system 200 (e.g., trajectory predictor module 240, collision avoidance module 250, etc.) for further use or processing.

[0037] Trajectory predictor module 240 is configured to predict the trajectory of the bicycle in real time (or near real time) based on information obtained from object detector module 220 and receiver module 230. As described above with respect to modules 220 and 230, the information provided to trajectory predictor module 240 includes various bicycle information (e.g., bicycle traveling speed, cyclist steering behavior, bicycle location, bicycle type, cyclist type, cargo on the bicycle, etc.) captured by one or more on-board sensors of the vehicle and one or more on-board sensors of surrounding vehicles, and various environmental information (e.g., weather conditions, time of day, lighting conditions, road conditions, traffic conditions, local traffic rules and regulations, etc.). In some embodiments, the information provided to trajectory predictor module 240 includes information about the road or lane on which the bicycle is traveling.

[0038] Based on the received information, trajectory predictor module 240 predicts or forecasts the future trajectory of the bicycle. For example, based on the bicycle information, module 240 predicts one or more of the following: future movements of the bicycle, possible routes the bicycle may take, potential positions of the bicycle relative to vehicles and / or surrounding vehicles, relative or absolute speed of the bicycle, and the like.

[0039] According to an embodiment, the trajectory predictor module 240 adjusts or fine-tunes the predicted bicycle trajectory based on environmental information. For example, the module 240 considers real-time conditions such as road surface conditions, weather conditions, surrounding visibility, and other conditions that may affect the bicycle trajectory, and then adjusts the predicted bicycle trajectory based on the real-time conditions.

[0040] Reference is made to FIG. 3A , which illustrates an exemplary use case in which a bicycle's trajectory is predicted, according to one or more embodiments. In the example of FIG. 3A , trajectory predictor module 240 determines, based on environmental information, that a curve will appear in the road or lane ahead of the bicycle. Accordingly, module 240 determines the likely trajectory of the bicycle, taking into account, for example, the bicycle's traveling speed, the load on the bicycle, and / or the bicycle's traveling direction. Accordingly, module 240 adjusts the determined trajectory based, for example, on road surface conditions, weather conditions, and the like.

[0041] According to an embodiment, the trajectory predictor module 240 is further configured to determine or predict a lean angle of the bicycle. For example, the trajectory predictor module 240 may determine one or more potential lean angles of the bicycle based on bicycle information (e.g., bicycle type, bicycle load, bicycle speed, cyclist behavior, etc.).

[0042] See FIG. 3B, which shows a side view of a bicycle on a road. As shown in FIG. 3B, the bicycle's lean angle defines the angle at which the bicycle leans or leans sideways (i.e., toward the road) relative to a vertical axis. In other words, the lean angle represents the bicycle's angular change from an upright position. According to an embodiment, based on the bicycle information and the environmental information, module 240 determines a stability threshold that, when exceeded, may cause the bicycle to lose stability and tip over sideways. The stability threshold is affected by various real-time factors, including the bicycle's traveling speed, the coefficient of friction between the tires and the road surface, and the like.

[0043] In some embodiments, module 240 is configured to compute at least one probability distribution for the bicycle, which provides a probabilistic representation of one or more future behaviors of the bicycle, taking into account the likelihood or uncertainty of the bicycle. According to embodiments, module 240 predicts or computes a probability distribution for a predicted bicycle trajectory and a predicted lean angle over time. Alternatively or additionally, module 240 may be configured to compute a probability distribution for the lateral position of the bicycle. The probability distribution defines or represents the likelihood or probability of one or more events, such as the probability that the bicycle will tip over or roll onto its side due to excessive leaning, the probability that the bicycle will oversteer (turn too sharply) or understeer (not turn enough) while turning on the predicted trajectory, the probability that the bicycle will collide with an obstacle or hazard along its predicted trajectory, the probability that the bicycle will violate local traffic rules and regulations along the predicted trajectory (e.g., trespassing in a prohibited area, riding alongside a vehicle, etc.), and the like.

[0044] According to an embodiment, module 240 predicts the probability distribution using one or more probabilistic filtering algorithms (e.g., Kalman filtering, etc.). Furthermore, bicycle information (e.g., cyclist information, bicycle type, cargo information, etc.) is utilized by module 240 to compute or calculate the probability distribution. Furthermore, module 240 adjusts or fine-tunes the probability distribution based on, for example, one or more of the bicycle information. For example, module 240 adjusts the probability distribution according to the type of cyclist (e.g., increasing the probability of the bicycle tipping over suddenly based on determining that the cyclist falls into the category of “child” or “elderly”), the type and / or number of cargo items mounted on the bicycle (e.g., widening the probability distribution of the trajectory and lean angle based on determining that multiple child seats are mounted on the bicycle), the type of bicycle drive (e.g., narrowing the probability distribution of the trajectory and lean angle based on determining that the bicycle is an electrically assisted bicycle), and the like.

[0045] According to an embodiment, module 240 is configured to continuously (or periodically) update the trajectory prediction, lean angle prediction, and calculation of the probability distribution of the predicted trajectory and lean angle based on real-time (or near real-time) information obtained from on-board sensors and surrounding vehicles, taking into account the bicycle's current state and environmental conditions. Additionally, module 210 provides information about the predicted bicycle trajectory, the predicted lean angle of the bicycle, and / or the probability distribution of the predicted trajectory and lean angle to other modules of vehicle system 200 (e.g., collision avoidance module 250, transmitter module 260, etc.) for further use or processing.

[0046] 2, collision avoidance module 250 is configured to determine the risk of a collision between the vehicle and the bicycle based on at least the predicted trajectory of the bicycle. According to an embodiment, module 250 compares one or more of the relative positions between the vehicle and the bicycle, the traveling speeds of the vehicle and the bicycle, and the predicted trajectories of the vehicle and the bicycle, thereby calculating or computing the risk of a collision. According to an embodiment, module 250 dynamically assesses the risk of a collision by continuously (or periodically) receiving updated bicycle trajectory from module 240.

[0047] Additionally, module 250 determines the collision risk by taking into account whether the cyclist and / or driver has violated (or has a probability of violating) one or more traffic rules and regulations. According to an embodiment, based on a determination that the cyclist / driver has violated one or more traffic rules and regulations or a determination that the cyclist / driver may not be familiar with traffic rules and regulations, module 250 increases the determined collision risk by a predetermined percentage. By way of example, module 250 may increase the determined collision risk by 5% based on a determination that the cyclist has violated a traffic rule, increase the determined collision risk by 10% based on a determination that the cyclist has violated a traffic rule, and the like.

[0048] Upon determining the risk of collision, module 250 takes (or instructs other modules to take) one or more actions to reduce the risk of collision and mitigate a potential collision between the vehicle and the bicycle.

[0049] According to an embodiment, module 250 instructs user interface (UI) module 270 to generate one or more user interfaces that provide one or more feedbacks to the driver of the vehicle according to the risk of collision and / or the predicted trajectory. For example, UI module 270 generates, based on the risk of collision, at least one graphical user interface (GUI) including a visual alert corresponding to the risk of collision (e.g., the visual alert has a first color intensity corresponding to a first level of collision risk and a second color intensity corresponding to a second level of collision risk, a first icon corresponding to the first level of collision risk, a second icon corresponding to the second level of collision risk, etc.) and / or at least one audio user interface (VUI) including an audio alert corresponding to the risk of collision (e.g., the audio alert has a first volume corresponding to the first level of collision risk and a second volume corresponding to the second level of collision risk, etc.). Module 270 then provides at least one GUI to a visual device in the vehicle (e.g., a head-up display (HUD), an infotainment display, a navigation device display, etc.) and provides at least one VUI to an auditory device in the vehicle (e.g., a speaker, a buzzer, etc.), thereby presenting a visual and / or an auditory alert to the driver.

[0050] According to an embodiment, module 250 instructs vehicle control module 280 to perform one or more vehicle control maneuvers according to the risk of collision and / or the predicted trajectory. For example, vehicle control module 280 calculates the optimal steering angle and trajectory adjustment required to maintain a safe clearance distance from the bicycle while maintaining vehicle stability, and then provides steering guidance to adjust the vehicle's steering wheel based on the optimal steering angle, thereby creating a virtual barrier or safety zone between the vehicle and the bicycle. As another example, vehicle control module 280 sends a signal to the vehicle's electronic control unit (ECU) to activate a vibration motor disposed within the steering wheel to generate steering wheel vibrations according to respective risks of collision (e.g., the steering wheel vibrations have a first strength / intensity corresponding to a first level of collision risk and a second strength / intensity corresponding to a second level of collision risk, etc.). It is contemplated that vehicle control module 280 may perform other appropriate operations, such as controlling the vehicle's braking system or throttle system, to reduce collision risk and avoid collisions without departing from the scope of the present disclosure.

[0051] According to an embodiment, module 250 provides information associated with collision risk avoidance, such as information about the risk of collision, information about visual and / or audible alerts (obtained from UI module 270), and / or information about vehicle control (obtained from vehicle control module 280), to transmitter module 260. Transmitter module 260 is configured to receive collision risk avoidance information from module 250 and information about the predicted trajectory and lean angle of the bicycle and information about their probability distributions from module 240. Transmitter module 260 thus transmits said information to one or more surrounding vehicles via V2V communication and / or to a device associated with the cyclist on the bicycle via a cellular network.

[0052] According to embodiments in which module 250 determines that a driver and / or cyclist is violating (or has a certain probability of violating) one or more traffic rules and regulations, module 250 instructs module 260 to share the information with one or more relevant users. In some examples, module 260 provides an alert or notification to the driver and / or cyclist associated with the violation along with the relevant traffic rule or regulations. Alternatively, module 260 may broadcast the driver and / or cyclist information along with the relevant traffic rule or regulations to surrounding vehicles or bicycles.

[0053] According to embodiments, one or more of modules 210-280 utilize and leverage one or more artificial intelligence (AI) and / or machine learning (ML) models to perform one or more operations described herein. For example, module 220 utilizes one or more AI / ML models to detect and identify one or more objects from sensing data, module 240 utilizes one or more AI / ML models to predict or calculate probability distributions for predicted bicycle trajectories and lean angles, module 250 utilizes one or more AI / ML models to determine appropriate actions to reduce collision risk, and the like. In some embodiments, module 220 utilizes one or more AI / ML models (e.g., semantic segmentation models, etc.) to detect the lane in which the bicycle is traveling.

[0054] Additionally, one or more of modules 210-280 may be configured to continuously (or periodically) perform one or more of the operations described herein based on real-time (or near-real-time) conditions of the bicycle, vehicle, and environmental conditions. For example, module 210 continuously acquires sensing data from one or more on-board sensors, module 220 continuously detects objects of interest, module 230 continuously acquires information from one or more surrounding vehicles and / or external devices, module 240 continuously predicts the bicycle's trajectory and lean angle, module 250 continuously predicts collision risk and determines appropriate operations associated with the collision risk, module 270 continuously updates the GUI and / or VUI to present the latest information, module 280 continuously adjusts vehicle control operations according to the latest collision risk, module 260 continuously provides updated information to one or more surrounding vehicles and cyclists, and the like.

[0055] A non-limiting exemplary use case (in which the operation of vehicle system 200 is implemented) will now be described with reference to Figure 1. For purposes of explanation only, it will be assumed that each of vehicles 120-140 has vehicle system 200 implemented therein.

[0056] Referring again to FIG. 1 , a vehicle system within vehicle 130 acquires environmental information about the vehicle 130 from at least one onboard sensor. The system then determines first information associated with bicycle 110 based on the environmental information. Additionally, the system within vehicle 130 acquires second information associated with bicycle 110 from vehicle 120. The first information includes bicycle information about bicycle 110, such as one or more of the following: a location of bicycle 110, a type of bicycle 110, a type of cyclist riding bicycle 110, and the like. The second information includes bicycle information determined by the system of vehicle 120 based on the environmental information about the vehicle 120 (captured by one or more onboard sensors within vehicle 120), and further includes one or more of: a trajectory and lean angle of bicycle 110 predicted by the system of vehicle 120; a probability distribution of the predicted trajectory and lean angle; a collision risk determined by the system of vehicle 120; an alert or warning about a potential collision; and a vehicle control performed by the system of vehicle 120.

[0057] Upon obtaining the first information and the second information, the system in vehicle 130 predicts the trajectory of bicycle 110 according to the first information and the second information. In some embodiments, it is contemplated that the system of vehicle 130 may further obtain additional information associated with bicycle 110 from other vehicles (e.g., vehicles ahead of vehicle 120, vehicles from the oncoming lane, etc.), and then predict the trajectory of bicycle 110 based on the additional information. Furthermore, the system of vehicle 130 may further predict the lean angle of bicycle 110 and calculate a probability distribution of the predicted bicycle trajectory and lean angle.

[0058] Having predicted at least the trajectory of the bicycle, a system within the vehicle 130 determines the risk of collision between the vehicle 130 and the bicycle 110 based on the predicted trajectory.

[0059] Thus, the system within vehicle 130 provides feedback to the driver of vehicle 130 according to the risk of collision and the predicted trajectory. For example, the system within vehicle 130 generates steering feedback (e.g., steering wheel vibration and / or steering guidance that applies a corrective steering maneuver to drive vehicle 130 away from bicycle 110 and create a virtual barrier between vehicle 130 and bicycle 110, etc.) based on the risk of collision. Furthermore, the system within vehicle 130 generates at least one GUI including a visual alert (e.g., a collision warning icon having a color corresponding to the risk of collision, a flashing sign having an intensity corresponding to the risk of collision, an animation simulating a collision, etc.) based on the risk of collision, and then presents the at least one GUI to the driver via a display within vehicle 130 (e.g., a HUD, an infotainment display, a navigation device display, etc.). Furthermore, the system within vehicle 130 generates an audio alert (e.g., an alarm sound or warning buzzer having a volume corresponding to the risk of collision, a voice prompt describing the level of the collision risk, etc.) based on the risk of collision.

[0060] According to an embodiment, the system of vehicle 130 compares the most recent risk of collision with a previous risk of collision and then adjusts the intensity of the feedback accordingly. Specifically, the system increases the intensity of the feedback (e.g., increases the color intensity of a visual alert displayed on the first vehicle's display, increases the volume of an auditory alert output by the first vehicle's speaker, increases the intensity of a steering wheel vibration of the first vehicle, etc.) based on a determination that the most recent / current risk of collision is higher than the previous risk of collision. Conversely, the system decreases the intensity of the feedback (e.g., decreases the color intensity of a visual alert, decreases the volume of an auditory alert, decreases the intensity of a steering wheel vibration, etc.) based on a determination that the most recent / current risk of collision is lower than the previous risk of collision.

[0061] According to an embodiment, the system of the vehicle 130 is configured to adjust the strength of the feedback according to the bicycle's probability distribution. See FIG. 4 , which illustrates an exemplary graph aligned relative to the bicycle's probability distribution and steering feedback strength, according to one or more embodiments. As shown in FIG. 4 , the bicycle has a probability distribution related to the bicycle's lateral position. The probability distribution is predicted or calculated by the system of the vehicle 130 in real time (or near real time) based on first information (obtained from the sensing module and / or object detector module) and second information (obtained from one or more external devices or vehicles via the receiver module). In this regard, the system of the vehicle 130 may calculate or predict a steering feedback strength distribution representing a predicted or expected steering feedback strength at each lateral position of the bicycle based on the bicycle's probability distribution. Accordingly, the system of the vehicle 130 adjusts the real-time strength of the steering feedback based on the strength distribution. It is contemplated that the system may adjust the strength of other feedback (e.g., visual alerts, auditory alerts, steering guidance, vehicle braking, etc.) in a similar manner without departing from the scope of the present disclosure.

[0062] 1 , the systems of vehicle 130 communicate with and exchange information with surrounding vehicles (e.g., vehicle 120, vehicle 140, and vehicle 150). For example, environmental information captured by on-board sensors of vehicle 130, including images showing bicycle 110 and vehicle 120, is useful for vehicle 120 to determine or enhance collision risk assessment and mitigation maneuvers. Thus, upon obtaining environmental information, the systems of vehicle 130 transmit the information to vehicle 120.

[0063] Similarly, information obtained or determined by the systems of vehicle 130, such as bicycle information, predicted bicycle trajectory and lean angle, bicycle probability distribution, collision risk, and the like, is useful to vehicles 140 and 150 because vehicles 140 and 150 do not have direct visibility of bicycle 110. Accordingly, the systems of vehicle 130 communicate with and share information with vehicles 140 and 150. In this manner, vehicles 140 and 150 can utilize the shared information to effectively determine the risk of collision with bicycle 110 and take one or more actions to mitigate the risk of collision in a timely manner, even when vehicles 140 and 150 do not have direct or clear visibility of bicycle 110.

[0064] Additionally, vehicles 120-150 continuously (or periodically) communicate with one another to exchange information. In this case, vehicles 120-150 may cross-reference or verify information acquired and / or determined by on-board sensors with information acquired from other vehicles, cross-reference or verify information acquired from one vehicle with information acquired from another vehicle, and the like. As an example, vehicle 130 may use information acquired from vehicle 120 to verify the accuracy or integrity of information acquired by on-board sensors. As another example, vehicle 140 may use information acquired from vehicle 120 to verify information acquired from vehicle 130, or may use information acquired from vehicle 130 to verify information acquired from vehicle 120, before using the information acquired to determine collision risk or before taking any action to mitigate collision risk. In this manner, the accuracy of the information used to determine collision risk can be improved, resulting in accurate determination of collision risk and action to mitigate collision risk.

[0065] Furthermore, upon determining a collision risk, one or more of vehicles 120-150 notifies or warns the cyclist of bicycle 110. For example, vehicle 120 provides an alert of a potential collision between vehicle 120 (or any of vehicles 130-150) and bicycle 110 to a device associated with the cyclist of the bicycle. The alert may be provided via frequency modulation (FM) radio communication, amplitude modulation (AM) radio communication, cellular network, satellite radio communication, cellular network communication (e.g., 3G, 4G, 5G, etc.), communication via Bluetooth®, communication via Wi-Fi®, and / or other suitable wireless communication. In this manner, the cyclist can be timely alerted of a potential collision so that the cyclist can take proactive action (e.g., by exiting the road, altering their trajectory, reducing their speed, etc.) to avoid the collision. Similarly, upon determining a violation (or potential violation) of at least one traffic rule / traffic regulation, one or more of the vehicles 120-150 notify or warn the relevant driver and / or cyclist so that the relevant driver and / or cyclist becomes aware of the violation and can take timely action to avoid the violation.

[0066] Next, a description of exemplary components of a vehicle system that can be implemented in one or more vehicles to mitigate bicycle collisions is provided. Reference is made to FIG. 5, which illustrates a block diagram of exemplary components of a vehicle system 500, according to one or more embodiments. System 500 in FIG. 5 corresponds to system 200 in FIG. 2, and thus, unless expressly described otherwise, it is intended that features described herein with respect to system 200 and system 500 are applicable to one another. Furthermore, one or more components of system 200 (e.g., modules 210-280) may be implemented by one or more components of system 500.

[0067] 5, system 500 includes at least one bus 510, at least one processor 520, at least one memory 530, at least one storage component 540, at least one on-board sensor 550, at least one input / output component 560, and at least one communication interface 570. It is contemplated that system 500 may include more or fewer components than those shown in FIG. 5 without departing from the scope of the present disclosure. For example, in some embodiments, input / output component 560 may include dedicated input components and dedicated output components that operate independently of one another, multiple storage components 540 may be included, and similar variations are possible.

[0068] At least one bus 510 includes one or more components that enable communication between components of system 500 and between these components and other systems / components within the vehicle. For example, bus 510 may include a Controller Area Network (CAN) bus, a Local Interconnect Network (LIN) bus, an Ethernet bus, and other types of buses that enable vehicle components such as components 520-570, actuators, electronic control units (ECUs), and the like, to communicate with each other in real time (or near real time).

[0069] At least one processor 520 may be implemented in hardware, firmware, or a combination of hardware and software. According to an embodiment, processor 520 may include a central processing unit (CPU), a graphics processing unit (GPU), a tensor processing unit (TPU), an accelerated processing unit (APU), a microprocessor, a microcontroller, a digital signal processor (DSP), a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), and / or another type of processing or computing component. In some examples, processor 520 may include one or more processors programmable to perform one or more operations described herein. Furthermore, processor 520 may include multiple processing units, each dedicated to performing a specific operation (e.g., a dedicated processing unit for each of modules 210-280 in FIG. 2).

[0070] The at least one memory 530 includes random access memory (RAM), read-only memory (ROM), and / or another type of dynamic or static storage device (e.g., flash memory, magnetic memory, and / or optical memory) that stores information and / or instructions used by the processor 520. The at least one storage component 540 stores information and / or software related to the operation and use of the system 500. For example, the storage component 540 may include a hard disk (e.g., a magnetic disk, optical disk, magneto-optical disk, and / or solid-state disk), a compact disk (CD), a digital versatile disk (DVD), a floppy disk, a cartridge, a magnetic tape, and / or another type of non-transitory computer-readable medium along with a corresponding drive.

[0071] According to an embodiment, storage component 540 is configured to store computer-readable or computer-executable instructions for implementing one or more modules of the system (e.g., modules 210-280), one or more AI / ML models for implementing one or more operations of modules 210-280, one or more sensing data, one or more bicycle information, one or more environmental information, one or more data obtained from external devices or other devices, one or more predicted bicycle trajectories, one or more predicted bicycle lean angles, one or more probability distributions for the bicycle, one or more risks of a collision between the vehicle and the bicycle, one or more past actions taken to mitigate previous collision risk, one or more feedback provided to the driver, one or more information shared with another vehicle, one or more map data, one or more traffic rules and regulations corresponding to one or more locations in the map data, and / or the like. Storage component 540 provides the stored information to memory 530 for execution by processor 520.

[0072] The at least one on-board sensor 550 may include one or more sensors mounted on the vehicle and configured to detect, measure, and capture respective sensing data. For example, the at least one sensor 550 may include an accelerometer that measures and captures data associated with vehicle acceleration / deceleration, vehicle speed, and / or vehicle distance traveled, an image sensor (e.g., a camera, etc.) that detects and captures image data around or near the vehicle, a Light Detection and Ranging (LiDAR) sensor that detects and captures data associated with light in one or more light spectrums, such as the visible spectrum, the infrared spectrum, the ultraviolet spectrum, and / or other light spectrums, an audio sensor (e.g., a microphone, etc.) that detects and captures audio data inside and / or outside the vehicle, a temperature sensor that measures and captures data associated with temperature inside and / or outside the vehicle, a position sensor (e.g., a Global Positioning System (GPS) receiver, an Inertial Measurement Unit (IMU), etc.) that measures and captures data associated with the location, position, and / or orientation of the vehicle, and a sensor that measures and captures data associated with the position of parts of the vehicle and objects. air sensors that measure and capture data associated with the air inside and / or outside the vehicle (e.g., oxygen levels, pollution levels, humidity levels, etc.); weather sensors (e.g., rain sensors, snow sensors, wind speed sensors, visibility sensors, etc.) that measure and capture weather conditions around the vehicle (e.g., the likelihood and intensity of precipitation, the presence or absence of snow or accumulated snow, wind direction, likelihood of wind gusts, likelihood of fog / mist / haze, etc.); proximity sensors (e.g., ultrasonic sensors, LiDAR, radar, etc.) that measure the distance between the vehicle and surrounding objects (e.g., bicycles); FM / AM receivers that detect radio signals from radio station road infrastructure and thereby receive information (e.g., broadcast weather forecasts, traffic updates, emergency alerts, local traffic rules and regulations, etc.); and other sensors suitable for deployment in the vehicle.

[0073] The at least one input / output component 560 includes one or more input components (e.g., a touchscreen display, a keyboard, a keypad, a mouse, buttons, switches, and / or a microphone) that enable the system 500 to receive information, for example, via user input. Additionally or alternatively, the input / output component 560 includes one or more output components (e.g., a display, a speaker, a navigation device, one or more light emitting diodes (LEDs), etc.) that provide output information from the system 500.

[0074] At least one communication interface 570 includes transceiver-like components (e.g., a transceiver and / or a separate receiver and transmitter) that enable system 500 to communicate with other devices, for example, via a wired connection, a wireless connection, or a combination of wired and wireless connections. Communication interface 570 enables system 500 to receive information from and / or provide information to one or more devices outside the vehicle (e.g., one or more devices in other vehicles, devices mounted on road infrastructure, devices on bicycles, etc.). For example, communication interface 570 may include an Ethernet interface, an optical interface, a coaxial interface, an infrared interface, a radio frequency (RF) interface, a universal serial bus (USB) interface, a Wi-Fi interface, a cellular network interface, or the like.

[0075] According to one or more embodiments, communication interface 570 includes at least one input / output (I / O) interface, at least one network interface, at least one sensor interface, at least one storage interface, or the like, that enables components 520-560 to communicate with other devices outside the vehicle. Additionally, communication interface 570 may include one or more application programming interfaces (APIs) that enable system 500 (or one or more components included in system 500) to communicate with one or more software applications (e.g., software applications deployed on the cyclist's device, software applications implemented in the vehicle systems of surrounding vehicles, etc.). According to embodiments, receiver module 230 and transmitter module 260 (or one or more operations associated therewith) are implemented by communication interface 570.

[0076] The system 500 performs one or more operations described herein in response to execution by at least one processor 520 of computer-executable instructions for implementing one or more of the functional modules 210-280 in Figure 2. These computer-executable instructions are stored by a non-transitory computer-readable storage medium, such as memory 530 and / or storage component 540. A computer-readable storage medium is defined herein as a non-transitory memory device. A memory device may include memory space within a single physical storage device or memory space spread across multiple physical storage devices.

[0077] Computer-executable instructions (e.g., software instructions, etc.) may be loaded into memory 530 and / or storage component 540 from another computer-readable storage medium or another device (e.g., a remote server, external storage, etc.) via communication interface 570. When executed, the computer-executable instructions stored in memory 530 and / or storage component 540 cause processor 520 to perform one or more processes described herein. Additionally or alternatively, hardwired circuitry may be used in place of or in combination with software instructions to perform one or more processes described herein. Thus, the implementations described herein are not limited to any specific combination of hardware circuitry and software.

[0078] 6 illustrates a flow diagram of an exemplary method 600 for mitigating a collision between a first vehicle and a bicycle in proximity to the first vehicle, according to one or more embodiments. Method 600 is performed by at least one processor (e.g., processor 520) of a system (e.g., vehicle system 200, vehicle system 500, etc.) implemented in the first vehicle upon execution of associated computer instructions stored in at least one memory storage of the system (e.g., memory 530, storage component 540, etc.).

[0079] 6, in operation 610, at least one processor is configured to obtain environmental information about the first vehicle from at least one on-board sensor (e.g., on-board sensor 550). The environmental information may include information about one or more objects about the vehicle (e.g., a bicycle, a road obstacle, another vehicle, etc.), lane information (the lane in which the bicycle is traveling), weather conditions (e.g., sunny, rainy, foggy, snowy, etc.), timing information (e.g., current time, daytime, nighttime, etc.), lighting conditions (e.g., bright environment, dark environment, etc.), road conditions (e.g., slippery road, uneven road surface, winding road, etc.), traffic information (e.g., traffic congestion, local traffic rules and regulations, etc.), a history of previous bicycle accidents near the point at which the bicycle is traveling, and the like. According to an embodiment, the at least one on-board sensor includes a camera, and the environmental information includes at least one image captured by the camera.

[0080] Execution of the computer-readable instructions for implementing the sensing module results in operation S610 being performed by at least one processor, the specific operations of which have been described above with respect to module 210 in Figure 2. Thus, for the sake of brevity, further description of the specific operations for obtaining environmental information will be omitted below.

[0081] Upon obtaining the environmental information, method 600 proceeds to operation S620, where the at least one processor is configured to obtain first information associated with the bicycle from the environmental information. The first information includes one or more of a location of the bicycle, a type of bicycle, and a type of cyclist riding the bicycle. According to embodiments in which the environmental information includes at least one image, the at least one processor performs one or more image processes on the at least one image to identify an object of interest (e.g., a bicycle, a cyclist, etc.), and then performs one or more classification / categorization operations to determine the type of bicycle, the type of cyclist, and the location of the bicycle.

[0082] Execution of the computer-readable instructions for implementing the object detector module results in operation S620 being performed by at least one processor, the specific operations of which have been described above with respect to module 220 in Figure 2. Thus, for the sake of brevity, further description of the specific operations for detecting and extracting the first information from the environmental information will be omitted below.

[0083] 6, in operation S630, the at least one processor is configured to receive second information associated with the bicycle. The second information includes information acquired from the second vehicle and captured by one or more on-board sensors of the second vehicle, and information calculated based on the information. For example, the second information includes environmental information captured by the on-board sensors of the second vehicle, bicycle information acquired by a system of the second vehicle based on the associated environmental information, bicycle trajectory information predicted by the system of the second vehicle, bicycle lean angle information predicted by the system of the second vehicle, bicycle probability distribution predicted or calculated by the system of the second vehicle, collision risk determined by the system of the second vehicle, feedback generated by the system of the second vehicle according to the associated collision risk and predicted trajectory, potential collision alerts / warnings generated by the system of the second vehicle, red flags indicating that the cyclist and / or the driver of the second vehicle may not be familiar with local traffic rules and regulations, and the like. Additionally or alternatively, the at least one processor may be configured to obtain the second information directly from a device located on the bicycle (such as a mobile device of the cyclist).

[0084] Execution of the computer-readable instructions for implementing the receiver module results in operation S630 being performed by at least one processor, the specific operations of which have been described above with respect to module 230 in Figure 2. Thus, for the sake of brevity, further description of the specific operations for receiving the second information will be omitted below.

[0085] It should be noted that operations S610-S630 may be performed in any suitable order without departing from the scope of the present disclosure. For example, operation S630 may be performed simultaneously with operation S610 or operation S620, after operation S610 or operation S620, or before operation S610 or operation S620.

[0086] Upon obtaining the first information and the second information, the method 600 proceeds to operation S640, where the at least one processor is configured to predict a trajectory of the bicycle according to the first information and the second information. According to an embodiment, the at least one processor is further configured to predict a lean angle of the bicycle and calculate a probability distribution of the bicycle based on the predicted trajectory and the predicted lean angle.

[0087] Execution of the computer-readable instructions for implementing the trajectory predictor module results in operation S640 being performed by at least one processor, the specific operations of which have been described above with respect to module 240 in Figure 2. Therefore, for the sake of brevity, further description of the specific operations for predicting a bicycle trajectory will be omitted below.

[0088] Upon predicting the bicycle trajectory, method 600 proceeds to operation S650, where the at least one processor is configured to determine a risk of collision between the first vehicle and the bicycle based on the predicted trajectory. Operation S650 is performed by the at least one processor upon executing computer-readable instructions for implementing a collision avoidance module, the specific operations of which have been described above with respect to module 250 in FIG. 2. Thus, for the sake of brevity, further description of the specific operations for determining the collision risk will be omitted below.

[0089] Upon determining the collision risk, method 600 proceeds to operation S660, where the at least one processor is configured to provide feedback to the driver of the first vehicle according to the risk of collision and the predicted trajectory. According to an embodiment, providing feedback includes generating steering feedback based on the risk of collision. The steering feedback includes at least one of steering vibration and steering guidance away from the bicycle.

[0090] According to an embodiment, the feedback includes an alert of a potential collision between the first vehicle and the bicycle. In this regard, providing the feedback includes generating at least one GUI including a visual alert based on the risk of collision and presenting the at least one GUI to the driver via a display within the first vehicle. Additionally or alternatively, providing the feedback may include generating an audio alert based on the risk of collision and presenting the audio alert to the driver via a speaker within the first vehicle.

[0091] According to an embodiment, in addition to providing feedback to the driver of the first vehicle, the at least one processor provides feedback to a third vehicle (e.g., a potential collision alert, etc.) and / or provides feedback to a device associated with the cyclist on the bicycle (e.g., a potential collision alert, etc.). In some examples, the at least one processor provides feedback to the third vehicle with or without using the first information (obtained in operation S620).

[0092] Execution of the computer-readable instructions for implementing one or more of the UI module, the vehicle control module, and the transmitter module results in operation S660 being performed by at least one processor, the specific operations of which have been described above with respect to modules 270, 280, and 260, respectively, in Figure 2. Therefore, for the sake of brevity, further description of the specific operations for providing feedback will be omitted below.

[0093] Once the feedback has been provided, method 600 may be terminated or ended. Alternatively, method 600 may return to operation S610 such that the at least one processor repeats operations S610-S660 for at least a predetermined period of time. In this manner, the vehicle system continuously or repeatedly determines the risk of a collision with the bicycle based on the real-time state of the bicycle and actual environmental conditions.

[0094] 6 are merely example operations performed by the vehicle system of the exemplary embodiment, and it is contemplated that the scope of the present disclosure should not be limited thereto. In particular, at least one processor of the system may be configured to implement or perform one or more additional operations of modules 210-280.

[0095] For example, when providing feedback to the driver and / or cyclist, the at least one processor may compare the most recent / current risk of collision (determined in operation S650) with the previous risk of collision (determined in a previous operation loop) and then adjust the intensity of the feedback accordingly. For example, the at least one processor may increase the intensity of the feedback (e.g., increase the color intensity of a visual alert, increase the volume of an auditory alert, increase the intensity of a steering wheel vibration, etc.) based on a determination that the most recent / current risk of collision is higher than the previous risk of collision. Conversely, the system may decrease the intensity of the feedback (e.g., decrease the color intensity of a visual alert, decrease the volume of an auditory alert, decrease the intensity of a steering wheel vibration, etc.) based on a determination that the most recent / current risk of collision is lower than the previous risk of collision. In this manner, the feedback presented to the driver and / or cyclist can adapt to changing conditions in real time (or near real time), thereby increasing the effectiveness of collision prevention and mitigation.

[0096] In light of at least the above, exemplary embodiments of the present disclosure address challenges posed by the dynamic nature of bicycle behavior and state. Specifically, exemplary embodiments enable vehicles to capture environmental information and share the captured information with surrounding vehicles, thereby enabling real-time (or near-real-time) cooperative sensing between vehicles. Thus, exemplary embodiments enable vehicles to efficiently and effectively predict and prevent collisions with bicycles, particularly in scenarios where clear or direct visibility of the bicycle is unavailable.

[0097] Furthermore, drivers or cyclists who are not familiar with local traffic rules and regulations are notified and alerted in a timely manner, and corrective action is taken by the driver or cyclist, which further reduces the risk of collision while avoiding violations of local traffic rules and regulations.

[0098] Additionally, the illustrative embodiments utilize adaptive predictive analytics based on real-time bicycle information and environmental conditions, thereby enabling the vehicle system to dynamically adjust collision risk prediction and collision risk mitigation actions according to changing conditions.

[0099] To this end, exemplary embodiments provide robust and accurate collision risk predictions in dynamic environments, increasing the effectiveness of collision avoidance maneuvers and improving safety for both drivers and cyclists in situations where bicycle trajectories and behaviors are less predictable. Additionally, exemplary embodiments provide human-centric safety enhancements by automatically presenting appropriate feedback to relevant users, leading to more informative predictions and improved collision avoidance when roads include diverse users (e.g., drivers of different types of vehicles, cyclists from various backgrounds, etc.).

[0100] The features, advantages, and significance of the exemplary embodiments described herein above are only a part of the present disclosure and are not intended to be exhaustive or limit the scope of the present disclosure. Further descriptions of the features, components, configurations, operations, and implementations of the exemplary embodiments of the present disclosure, as well as related technical advantages and technical significance, are provided below.

[0101] It should be understood that the specific order or hierarchy of blocks within the processes / flowcharts disclosed herein is an example of an example approach. Based on design preferences, it should be understood that the specific order or hierarchy of blocks within the processes / flowcharts may be rearranged. Additionally, some blocks may be combined or omitted. The accompanying method claims present elements of the various blocks in a sample order and are not meant to be limited to the specific order or hierarchy presented.

[0102] Some embodiments relate to systems, methods, and / or computer-readable media at any possible level of technical detail. Further, as described herein above, one or more of the above-described components may be implemented as instructions stored on a computer-readable medium and executable by at least one processor (and / or may include at least one processor). A computer-readable medium includes a non-transitory computer-readable storage medium having computer-readable program instructions thereon for causing a processor to perform operations.

[0103] A computer-readable storage medium is a tangible device that can hold and store instructions for use by an instruction execution device. Computer-readable storage media are, for example, but not limited to, electronic, magnetic, optical, electromagnetic, or semiconductor storage devices, or any suitable combination of the foregoing. A non-exhaustive list of more specific examples of computer-readable storage media includes the following: portable computer diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disk read-only memory (CD-ROM), digital versatile disks (DVD), memory sticks, floppy disks, mechanically encoded devices such as punch cards or ridge structures in grooves on which instructions are stored, and any suitable combination of the foregoing. Computer-readable storage media, as used herein, should not be construed as a transitory signal itself, such as an electric wave or other freely propagating electromagnetic wave, a waveguide or other transmission medium (e.g., light pulses passing through a fiber optic cable), or an electrical signal transmitted over an electrical wire.

[0104] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network such as the Internet, a local area network, a wide area network, and / or a wireless network. The network may include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium within the respective computing / processing device.

[0105] The computer readable program code / instructions for performing operations are either source code or object code written in any combination of one or more programming languages, including assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, configuration data for integrated circuits, or object code written in one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, or the like, and procedural programming languages ​​such as the "C" programming language or similar programming languages. The computer readable program instructions may execute entirely on the user's computer, partially on the user's computer as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection may be to an external computer (e.g., through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry, including, for example, a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), executes computer-readable program instructions by utilizing state information of the computer-readable program instructions to personalize the electronic circuitry to perform aspects or operations.

[0106] These computer-readable program instructions may be provided to a general-purpose computer, special-purpose computer, or other programmable data processing device to manufacture a machine, such that the instructions, when executed by a processor of the computer or other programmable data processing device, create means for implementing the function(s) / act(s) identified in the flowchart and / or block diagram block(s). These computer-readable program instructions may be stored on a computer-readable storage medium capable of directing a computer, programmable data processing device, and / or other apparatus to function in a particular manner, such that the computer-readable storage medium having instructions stored therein comprises an article of manufacture containing instructions that implement an aspect of the function(s) / act(s) identified in the flowchart and / or block diagram block(s).

[0107] The computer-readable program instructions may be loaded into a computer, other programmable data processing device, or another apparatus to cause the computer, other programmable device, or other apparatus to perform a series of operational steps to generate a computer-implemented process, such that the instructions, which execute on the computer, other programmable device, or other apparatus, implement aspects of the function / acts identified in a block or blocks of the flowcharts and / or block diagrams.

[0108] The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer-readable media according to various embodiments. In this regard, each block in the flowcharts or block diagrams represents a module, segment, or portion of instructions, comprising one or more executable instructions for implementing specified logical functions. The methods, computer systems, and computer-readable media may include additional, fewer, different, or differently arranged blocks than depicted in the figures. In some alternative embodiments, the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks shown in succession may actually be executed concurrently or near concurrently, and the blocks may sometimes be executed in the reverse order, depending on the functionality involved. It should also be noted that each block of the block diagrams and / or flowchart diagrams, and combinations of blocks in the block diagrams and / or flowchart diagrams, may be implemented by special-purpose hardware-based systems that perform the specified functions or acts or execute a combination of special-purpose hardware and computer instructions.

[0109] It will be apparent that the systems and / or methods described herein may be implemented in different forms of hardware, firmware, or a combination of hardware and software. The actual specific control hardware or software code used to implement these systems and / or methods is not limiting of the implementation. Thus, the operation and behavior of the systems and / or methods are described herein without reference to specific software code. It will be understood that software and hardware can be designed to implement the systems and / or methods based on the description herein.

Claims

1. 1. A method executed by at least one processor of a system in a first vehicle for mitigating a collision between a first vehicle and a bicycle proximate to the first vehicle, the method comprising: acquiring environmental information about the first vehicle from at least one on-board sensor; obtaining first information associated with the bicycle from the environmental information, the first information including one or more of a location of the bicycle, a type of the bicycle, and a type of cyclist riding the bicycle; receiving second information associated with the bicycle from a second vehicle, the second information including information captured by one or more on-board sensors of the second vehicle; predicting a trajectory of the bicycle according to the first information and the second information; determining a risk of collision between the first vehicle and the bicycle based on the predicted trajectory; providing feedback to a driver of the first vehicle according to the risk of collision and the predicted trajectory; A method comprising:

2. The method of claim 1 , wherein the feedback includes an alert of a potential collision between the first vehicle and the bicycle.

3. The method of claim 2 , further comprising providing one or more of the first information and the potential collision alert to a third vehicle.

4. The method of claim 2 , further comprising providing an alert of the potential collision to a device associated with a cyclist of the bicycle.

5. The method of claim 1 , wherein the at least one on-board sensor includes a camera, and the environmental information includes at least one image captured by the camera.

6. 5. The method of claim 1, wherein the step of providing feedback comprises generating steering feedback including at least one of steering wheel vibration and steering guidance away from the bicycle based on the risk of collision.

7. The step of providing feedback comprises: generating a graphical user interface (GUI) including a visual alert based on the risk of collision; presenting the GUI to the driver via a display within the first vehicle; and 5. The method of claim 1, comprising:

8. The step of providing feedback comprises: generating an audible alert based on the risk of collision; presenting the audible alert to the driver via a speaker within the first vehicle; and 5. The method of claim 1, comprising:

9. comparing said risk of collision with a previous risk of collision; increasing a strength of the feedback based on a determination that the risk of collision is higher than a previous risk of collision; reducing a magnitude of the feedback based on a determination that the risk of collision is lower than a previous risk of collision; The method of claim 1 , further comprising:

10. increasing the intensity of the feedback includes one or more of increasing a color intensity of a visual alert displayed on a display of the first vehicle, increasing a volume of an audible alert output by a speaker of the first vehicle, and increasing an intensity of a vibration of a steering wheel of the first vehicle; 10. The method of claim 9, wherein decreasing the intensity of the feedback comprises one or more of: decreasing a color intensity of the visual alert, decreasing a volume of the audible alert, and decreasing an intensity of a vibration of the steering wheel.

11. 1. A system for mitigating a collision between a first vehicle and a bicycle proximate to the first vehicle, comprising: memory storage for storing computer-executable instructions; at least one processor communicatively coupled to the memory storage to execute the instructions; acquiring environmental information about the first vehicle from at least one on-board sensor; obtaining first information associated with the bicycle from the environmental information, the first information including one or more of a location of the bicycle, a type of the bicycle, and a type of cyclist riding the bicycle; receiving second information associated with the bicycle from a second vehicle, the second information including information captured by one or more on-board sensors of the second vehicle; predicting a trajectory of the bicycle according to the first information and the second information; determining a risk of collision between the first vehicle and the bicycle based on the predicted trajectory; providing feedback to a driver of the first vehicle according to the risk of collision and the predicted trajectory; and at least one processor that executes A system comprising:

12. The system of claim 11 , wherein the feedback includes an alert of a potential collision between the first vehicle and the bicycle.

13. The system of claim 12 , wherein the at least one processor is further configured to provide one or more of the first information and the potential collision alert to a third vehicle.

14. 13. The system of claim 12, wherein the at least one processor is further configured to provide an alert of the potential collision to a device associated with a cyclist of the bicycle.

15. The system of claim 11 , wherein the at least one on-board sensor includes a camera, and the environmental information includes at least one image captured by the camera.

16. 15. The system of any one of claims 11 to 14, wherein the at least one processor is configured to provide the feedback by generating steering feedback including at least one of steering wheel vibration and steering guidance away from the bicycle based on the risk of collision.

17. The at least one processor: generating a graphical user interface (GUI) including a visual alert based on the risk of collision; presenting the GUI to the driver via a display within the first vehicle; and The system of claim 11 , configured to provide the feedback by:

18. The at least one processor: generating an audible alert based on the risk of collision; presenting the audible alert to the driver via a speaker within the first vehicle; and The system of claim 11 , configured to provide the feedback by:

19. The at least one processor further comprises: comparing said risk of collision with a previous risk of collision; increasing a strength of the feedback based on a determination that the risk of collision is higher than a previous risk of collision; 15. The system of claim 11, configured to reduce an intensity of the feedback based on a determination that the risk of collision is lower than a previous risk of collision.

20. the at least one processor is configured to increase the intensity of the feedback by one or more of: increasing a color intensity of a visual alert displayed on a display of the first vehicle; increasing a volume of an audible alert output by a speaker of the first vehicle; and increasing an intensity of a vibration of a steering wheel of the first vehicle; 20. The system of claim 19, wherein the at least one processor is configured to decrease the intensity of the feedback by one or more of: decreasing a color intensity of the visual alert, decreasing a volume of the audible alert, and decreasing an intensity of the steering wheel vibration.

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