Cross-Reference to Related Applications

[0001] This application claims the benefit of U.S. Provisional Application Number

62/586,771, filed November 15, 2017, which is incorporated by reference in its entirety herein.

Technical Field

[0002] This application relates generally to safety systems, and more particularly to proximity detection.

Background

[0003] Proximity alert systems in motor vehicles often employ devices that emit sonar impulses, detect echoes of the impulses, and alert drivers to the presence of nearby persons, vehicles, animals, or other objects (all of which are collectively referred to hereinafter by the term“object”) based on the detection of the echoes, by providing an audible alert. The usefulness of such systems depends on the proximity and relative velocities of the objects being detected. Some systems are particularly useful for specific situations in which a motor vehicle is moving very slowly ( e.g ., while a motor vehicle is parking or backing out of a parking space or driveway, or when another vehicle is very close) but have little or no capability to assist in collision avoidance in other situations, such as when speeds are higher, or when another object that presents a collision risk is not as close to the actuator or emitter.

[0004] One particular need that is not addressed adequately by known collision avoidance systems is the need to avoid collisions, near collisions, and other harmful interactions between motor vehicles and bicycles. In addition to the risk of cyclists being struck from behind by faster moving motor vehicles, bicyclists also face risks associated with motor vehicles turning in front of them, or otherwise posing a danger to the cyclists. While benefits may be associated with provision of designated bike lanes, signage, and devices that increase the visibility of bicyclists (e.g., through the use of lights mounted on bicycles or helmets) drivers of motor vehicles are often unaware or insufficiently aware of potentially hazardous situations involving nearby bicycles. In some cases, it is believed that a cyclist may be visible to a vehicle operator and the vehicle operator may in fact see the cyclist, but the vehicle operator may not appreciate or exercise a level of care appropriate to the situation. There is a long-felt need for improved methods and systems to address the above problems.

[0005] Similarly, there is a need for improved methods and systems to decrease risks of collisions with persons in other situations ( e.g joggers and other pedestrians, construction workers, and motorcyclists, as well as with pets and other animals or objects).

Brief Description of the Drawings

[0006] FIG. 1 depicts a bicycle 110 including an alert apparatus 108;

[0007] FIG. 2 is a block diagram of an alert apparatus 200;

[0008] FIG. 3 is a flow chart depicting example operations;

[0009] FIG. 4 depicts a bicycle 406, a pet 412, and a person 414 all transmitting signals;

[0010] FIG. 5 depicts a group of bicycles 500 transmitting signals;

[0011] FIG. 6 depicts a motor vehicle 602, a bicycle 606, a pet 612, and a person 614 all having alert apparatuses;

[0012] FIG. 7 depicts first example of actuator 702 and a sensor 704 communicating via an audio signal 706; and

[0013] FIG. 8 depicts a second example of an actuator 802 and a sensor 804 communicating via an audio signal 806.

[0014] Elements in the figures are illustrated for simplicity and clarity and have not necessarily been drawn to scale. Also, common but well-understood elements that are useful or necessary in a commercially feasible embodiment may not be depicted. Certain actions and/or steps may be described or depicted in a particular order of occurrence while such specificity with respect to sequence is not actually required. The terms and expressions used herein have the ordinary technical meaning as is accorded to such terms and expressions by persons skilled in the technical field as set forth above except where different specific meanings have otherwise been set forth herein.

Detailed Description

[0015] In some embodiments, an apparatus for alerting a vehicle operator to the presence of a cyclist nearby comprises a housing configured to be carried by the cyclist, an actuator configured to propagate or transmit an audio signal, wherein the audio signal is configured to be perceptible by a sonar sensor associated with a motor vehicle, a modulation component, wherein the modulation component is configured to alter the audio signal during transmission, and a control circuit, wherein the control circuit is communicatively coupled to the modulation component and the actuator, and wherein the control circuit is configured to instruct the modulation component to alter the signal during transmission, and instruct the actuator to transmit the audio signal.

[0016] In some embodiments, the alert apparatus works in concert with an existing detection system of a motor vehicle ( e.g ., original equipment of the motor vehicle or equipment added to the motor vehicle after delivery) to cause the motor vehicle to present an alert to the operator. In some embodiments, the motor vehicle operator may be a human driver in the vehicle, a control system for a driverless vehicle, a remote control system, or other operator. In some embodiments, the motor vehicle can emit an audible, visual, and/or haptic alert to an operator via an indicator.

[0017] In some embodiments, the alert apparatus can be used in applications in which it may be useful to alert a vehicle operator to the presence of nearby objects such as persons, vehicles, or animals.

[0018] FIG. 1 depicts an embodiment comprising a bicycle 110 including an alert apparatus 108 carried by the bicycle. By way of example, in some embodiments, the alert apparatus 108 or portions thereof may be carried on a cyclist’s or other person’s body, helmet or other protective equipment or eyeware, carried in or on clothing, or otherwise associated with a mobile or stationary person, animal, bicycle, motorcycle, or other object. As illustrated in FIGS. 4-6, the systems described herein may be used to alert motorists to the presence of animals and other people (e.g., roadside construction workers, joggers, pedestrians, etc.) in addition to cyclists. In some embodiments, for animals such as pets, the apparatus can be disposed on a collar or article of clothing, or fixed to the body of the animal.

[0019] The alert apparatus 108 includes a housing and an actuator. The actuator transmits an audio signal 106. The audio signal can be infrasonic or ultrasonic, audible or inaudible by humans, and can have a variable frequency encompassing combinations of the above ranges. [0020] The audio signal 106 is perceptible by a sonar sensor 104 of a motor vehicle

102. Although only one sonar sensor 104 is depicted in FIG. 1, in some embodiments, the motor vehicle 102 may have several sonar sensors 104, and the sonar sensors 104 can be located about the motor vehicle 102 ( e.g ., in front and/or rear fascia, in pillars (e.g, the A- or B-pillar), within the cabin of the motor vehicle (e.g, behind the front or rear windshield or side glass), etc.).

[0021] In some embodiments, one or more sonar sensors can be original equipment included at the time of manufacture, operative to assist with parking, adaptive cruise control, autonomous and/or semi-autonomous driving, blind spot alerts, accident prediction (e.g, seatbelt pretensioners), cross-traffic warnings, etc. In some embodiments, one or more sensors may be aftermarket devices installed after manufacture of the motor vehicle 102, for example by a dealer, mechanic, or motorist. In some embodiments, one or more sonar sensors 104 can be custom designed and dedicated for use specifically with the alert apparatus 108.

[0022] Each sonar sensor 104 can be configured to receive one or more specific types of sonar signals having specific characteristics (e.g, strength, tone, pitch, amplitude, frequency, etc.) and the alert apparatus 108 can be configured to transmit one or more specific types of signals having these specific characteristics. In some embodiments, the sonar signals operate at a range of 15 to 75 feet and a frequency range of 20 to 60 kHz.

[0023] The specific characteristics of the signal(s) that the sonar sensor 104 is designed to perceive may vary from manufacturer-to-manufacturer, or otherwise may vary from vehicle-to-vehicle. To compensate and increase the likelihood that various sonar sensors in different vehicles will perceive the audio signal 106 transmitted by the alert apparatus 108, in some embodiments, the alert apparatus 108 can modulate the audio signal 106. The alert apparatus 108 can modulate the audio signal 106 by, for example, altering the strength, tone, pitch, amplitude, frequency, or other characteristics of the audio signal 106.

[0024] In some embodiments, the alert apparatus 108 can modulate the audio signal

106 by cycling through a number of characteristic combinations known to be used in various vehicles. Additionally, or alternatively, the alert apparatus 108 can cycle through

combinations randomly or in a pattern in a“brute force” manner. In some embodiments, the alert apparatus 108 can modulate the audio signal 106 rapidly enough that a large enough number of characteristic combinations can be used to provide a high likelihood that the sonar sensor 104 will perceive the audio signal 106. In some embodiments, the apparatus may cycle through roughly fifty combinations per seconds.

[0025] After receiving the audio signal 106, the motor vehicle 102 presents an alert via an indicator. The alert can take any suitable form, such as a visual alert, an audible alert, a haptic alert, or a combination thereof. If the sonar sensor is part of a system that was not designed to work in concert with the alert apparatus 108 ( e.g ., a blind spot warning system), the alert may not be specific as to the presence of a cyclist or other object. However, in some embodiments, the alert apparatus 108 can transmit the audio signal 106 in such a manner as to cause an existing system to present an alert differently than usual. For example, in the case of the blind spot monitoring system, the alert apparatus 108 can propagate the audio signal 106 with delays in between transmissions or pulses to cause the blind spot warning to alert intermittently, or in a pattern that differs from the way that the motor vehicle 102 typically presents a blind spot warning.

[0026] In some embodiments, the system may provide an alert that is specific to the presence of a cyclist (e.g., a light or icon in the instrument cluster that includes a word indicative of a particular object such as“cycle” or“bicycle,” or depicts a bicycle, an audible alert such as the word“bicycle,” being spoken, and/or present a haptic alert specific to the presence of the bicycle 110). In some embodiments, vehicle operators may be able to set preferences for the alert (e.g, type of alert, intensity (volume, brightness, severity) of the alert, proximity before the alert is triggered, etc.). In some embodiments, cyclists or others operating the actuator may be able to set preferences for the alert. For example, a cyclist may be able to set the apparatus 108 to propagate pulses of specific lengths, with specific delays between pulses, or the strength of the audio signal 106, and/or other variables to control the characteristics of the alert.

[0027] In situations where multiple persons such as cyclists are using systems as described herein simultaneously (e.g, in a group or peloton) it may be desirable to coordinate operation of the systems to prevent interference, as shown in Fig. 5.

[0028] Referring to FIG. 5, a group of bicycles 500 includes three bicycles: a first bicycle 502 at the rear of the group of bicycles 500; a second bicycle 504 in the middle of the group of bicycles 500; and a third bicycle 506 at the front of the group of bicycles 500. Each of the three bicycles, and/or cyclists operating the bicycles, includes an alert apparatus. As depicted in FIG. 5, the first bicycle 508 emits a first audio signal 508 that is directed rearwardly, the second bicycle 504 emits a second audio signal 510 that is directed laterally, and the third bicycle 506 emits a third audio signal 512 that is directed forwardly. Such coordination may enhance the likelihood that a vehicle detects the cyclists and/or prevent repetitive alerts from being presented by a vehicle.

[0029] Although each bicycle is referred to as emitting the audio signal for simplicity, it is the alert apparatus that emits the audio signals, and the alert apparatus may be carried by or affixed to an object other than the bicycle ( e.g ., a cyclist operating the bicycle). The alert apparatuses associated with each of the three bicycles may be configured to operate in any manner, manually and/or automatically. With respect to manual operation, a cyclist may configure his or her alert apparatus to emit audio signals in a specified direction, whether traveling in a group or alone. With respect to automatic operation, in some embodiments, the alert apparatuses of the bicycles communicate with one another to determine a direction in which to direct their audio signals. As one example, the alert apparatuses can make this determination based on the directions from which signals are received, global positioning system (GPS) data (e.g., generated by an alert apparatus or a device associated with the alert apparatus, such as a mobile device carried by the cyclist), a direction of travel, etc.

[0030] FIG. 2 is a block diagram of an alert apparatus 200. The alert apparatus 200 includes a housing 202. In some embodiments, an actuator 204, modulation component 206, and control circuit 208 are attached to the housing 202. The actuator 204, modulation component 206, and/or the control circuit 208 can be located within the housing 202 (i.e., attached to the inside the housing 202) and/or attached to the outside of the housing 202. Additionally, although FIG. 2 depicts the modulation component 206 and control circuit 208 as distinct components, in some embodiments, to modulation component 206 and control circuit 208 can be a single component. The modulation component 206 can be a digital regulator, such as a processor, oscillating crystal, or a series of transistors.

[0031] Alternatively, portions of the alert apparatus 200 can be separate from the housing 200. For example, in some embodiments, the modulation component 206 and the control circuit 208 can be attached to the housing 202, while the actuator 204 (or a portion of the actuator 204), is separate from the housing 202. In such embodiments, the actuator 204 can be mounted on the bicycle (e.g, at the rear of the frame, on the handle bars, etc.) while the housing 202 is located elsewhere. Additionally, the alert apparatus 200 can include multiple actuators 204. In this configuration, the actuator 204 can be communicatively coupled to the modulation component 206 and/or the control circuit 208. The actuator 204 can be communicatively coupled to the modulation component 206 and/or the control circuit 208 in a wired or wireless format.

[0032] Where the alert apparatus 200 is configured to be carried by a cyclist, in some embodiments, the cyclist can carry the alert apparatus 200 on his or her person ( e.g ., by wearing the alert apparatus 200 or placing the alert apparatus 200 in a pocket), on the bicycle (e.g., by mounting the alert apparatus 200 to the bicycle or placing the alert apparatus in a compartment or other carrier), etc. In some embodiments, the housing 202 includes a mounting component (e.g, an armband or strap, a mounting bracket, etc.) that aids the cyclist in carrying the alert apparatus 200.

[0033] The control circuit 208 can comprise a fixed-purpose hard-wired hardware platform (including but not limited to an application-specific integrated circuit (ASIC) (which is an integrated circuit that is customized by design for a particular use, rather than intended for general-purpose use), a field-programmable gate array (FPGA), and the like) or can comprise a partially or wholly-programmable hardware platform (including but not limited to microcontrollers, microprocessors, and the like). These architectural options for such structures are well known and understood in the art and require no further description here. The control circuit 208 is configured (for example, by using corresponding programming as will be well understood by those skilled in the art) to carry out one or more of the steps, actions, and/or functions described herein.

[0034] By one optional approach the control circuit 208 operably couples to a memory. The memory may be integral to the control circuit 208 or can be physically discrete (in whole or in part) from the control circuit 208 as desired. This memory can also be local with respect to the control circuit 208 (where, for example, both share a common circuit board, chassis, power supply, and/or housing) or can be partially or wholly remote with respect to the control circuit 208 (where, for example, the memory is physically located in another facility, metropolitan area, or even country as compared to the control circuit 208).

[0035] This memory can serve, for example, to non-transitorily store the computer instructions that, when executed by the control circuit 208, cause the control circuit 208 to behave as described herein. As used herein, this reference to“non-transitorily” will be understood to refer to a non-ephemeral state for the stored contents (and hence excludes when the stored contents merely constitute signals or waves) rather than volatility of the storage media itself and hence includes both non-volatile memory (such as read-only memory (ROM) as well as volatile memory (such as an erasable programmable read-only memory (EPROM).

[0036] The control circuit 208 can control the operations of the alert apparatus 200.

For example, the control circuit 208 can instruct the actuator 204 to transmit an audio signal. The audio signal is configured to be perceptible by a sonar sensor of a motor vehicle.

Accordingly, the audio signal can be on the infrasonic scale or the ultrasonic scale. The audio signal is perceived by the sonar sensor of the motor vehicle, causing the motor vehicle to present an alert to a motorist. In some embodiments, the sonar sensor and/or motor vehicle are designed to work in concert with the alert apparatus 200. In such embodiments, the modulation component 206 can alter the signal based on a set of predefined characteristics. For example, all alert apparatuses can transmit an audio signal having the same

characteristics so that motor vehicles recognize the audio signal as being transmitted by an alert apparatus.

[0037] Additionally, or alternatively, some sonar sensors and/or motor vehicles may not be designed to work in concert with the alert apparatus 200. In such embodiments, the actuator 204 can attempt to transmit an audio signal that the sonar sensors will recognize. In other words, the alert apparatus 200 can attempt to emulate signals that the sonar sensors and/or motor vehicles expects to receive ( e.g ., those generated by the motor vehicle, other motor vehicles (V2V), infrastructure (I2V or VII), and/or pedestrian-carried devices).

Because different sonar sensors and/or vehicles may be configured to recognize audio signals with different characteristics, the modulation component 206 can alter the audio signal in an attempt to transmit an audio signal that the sonar sensors will recognize. The control circuit can instruct the modulation component to alter the audio signal. The modulation component 206 can alter the audio signal by varying the strength, tone, pitch, amplitude, frequency, etc. of the audio signal. The modulation component 206 can alter the audio signal in a predetermined or random manner. Additionally, the modulation component 206 can alter the audio signal at any suitable interval. For example, the modulation component can alter the audio signal in a manner, based on a known or estimated number of possible combinations, that is likely (e.g., to a threshold) that the audio signal will be perceived by the sonar sensors. For example, the modulation component 206 can alter the audio signal as little as, for example, two times per second, to as many as several thousand times per second. [0038] Further, in some embodiments, the alert apparatus 200 can determine the characteristics of audio signals that will be recognized by the sonar sensors. For example, the alert apparatus 200 can perceive audio signals transmitted by the vehicle, determine the characteristics of the audio signal transmitted by the motor vehicle, and transmit an audio signal having those characteristics. In such embodiments, the control circuit 208 can determine the characteristics of the audio signal transmitted by the motor vehicle.

[0039] Although FIG. 2 depicts the alert apparatus 200 as including the actuator 204, the modulation component 206, and the control circuit 208, embodiments are not so limited. That is, the alert apparatus 200 can include components in addition to those depicted in FIG.

2 as well fewer components than those depicted in FIG. 2. For example, in some

embodiments, the alert apparatus 200 can include a power supply ( e.g ., a battery or capacitor), a power generator (e.g., a coil and magnet system, solar cell, etc.), receiver, transceiver, and/or a transformer.

[0040] While the discussion of FIG. 2 provides additional detail regarding an alert apparatus, the discussion of FIG. 3 describes example operations for use of an alert apparatus.

[0041] FIG. 3 is a flow chart depicting example operations for alerting motorists to the presence of cyclists nearby, according to some embodiments. The flow begins at block 302.

[0042] At block 302, an audio signal is transmitted. For example, an alert apparatus can transmit the audio signal. The alert apparatus can transmit the audio signal via an actuator. The audio signal is configured to be perceived by a sonar sensor of a motor vehicle. Accordingly, the audio signal is a sonar signal and can be in the infrasonic range or ultrasonic range. When received, the audio signal causes the motor vehicle to present an alert. In other words, the alerts the motorist of the presence of the alert apparatus. Accordingly, the alert apparatus can be carried by, attached to, embedded in, etc. any animal or object to the presence of which motorists should be alerted. For example, the alert apparatus can be used to alert motorists of cyclists, pedestrians, wild animals, domestic animals, warning signs, objects in work zones, etc. Additionally, the audio signal can be configured to be perceived by sonar sensors of any type of motor vehicle, such as terrestrial vehicles, aquatic vehicles, and aerial vehicles. The flow continues at block 304. [0043] At block 304, the audio signal is altered. For example, the alert apparatus can alter the audio signal. The alert apparatus can modulate the audio signal via a modulation component. The alert apparatus can alter the audio signal at any suitable frequency. The modulation component can alter the audio signal by varying the strength, tone, pitch, amplitude, frequency, etc. of the audio signal. In some embodiments, the alert apparatus alters the audio signal because the sonar sensors are not configured to work in concert with the alert apparatus so the alert apparatus must attempt to transmit an audio signal that will be recognized by the sonar sensors. The alert apparatus alters the audio signal during transmission. That is, the alert apparatus loops between transmitting the audio signal at block 302 and altering the audio signal at block 304. In some embodiments, the alert apparatus continues this flow until it is turned off, at which point the flow ends.

[0044] The device can be configured to generate a constant signal, one that can be deciphered by a vehicle in the event that the vehicle has pre-calibrated its sensor to listen to the generated signal frequency. In this event, the actuator and sensor have been programmed in a joint effort to alert the driver of the presence of an object equipped with the actuator.

[0045] Signal augmentation occurs when two or more devices are used within range of one another. This augmentation increases the range of the signal generated from the devices by increasing its strength. When groups of workers, animals, or bicyclists are equipped with the device, the strength of the signal, and therefore its propagated distance (the range) is increased due to signal augmentation.

[0046] While the discussion of FIGS. 1 - 3 and 5 depict alert apparatuses associated with ( e.g ., affixed to, mounted on, or carried by operators of) bicycles, FIGS. 4 and 6 depict other objects having associated alert devices.

[0047] FIG. 4 depicts a bicycle 406, a pet 412, and a person 414 all transmitting signals. The bicycle 406 includes an alert apparatus, and transmits an audio signal 408, as discussed previously. The pet 412 also includes an associated alert apparatus that transmits an audio signal 410. The alert apparatus may be associated with the pet 412 in that the alert apparatus is carried by the pet 412. For example, the alert apparatus may be contained in and/or affixed to a collar or other article worn by the pet 412 or implanted within the pet 412, for example, subcutaneously. The person 414 also includes an associated alert apparatus that transmits an audio signal 416. The alert apparatus may be associated with the person 414 in that the person 414 carries the alert apparatus (e.g., in his or her pocket, on his or her arm, etc.), incorporated with his or her clothing or protective gear, etc. The person 414 may benefit from such an alert apparatus if he or she is, for example, a pedestrian, a jogger, a construction worker, etc., on or near a road, parking lot, or other location where motor vehicles may be traveling.

[0048] FIG. 6 depicts a motor vehicle 602, a bicycle 606, a pet 612, and a person 614 all having alert apparatuses. Like FIG. 5, the bicycle 606, pet 612, and person 614 all include associated alert apparatuses that transmit audio signals 608, 610, and 622, respectively. The bicycle 606 includes a first alert apparatus 622. The pet 612 includes a second alert apparatus 624. The person 614 includes a third alert apparatus 626. Additionally, the motor vehicle 602 includes an alert apparatus 618 that transmits a fourth audio signal 620. The motor vehicle’s 602 alert apparatus can be a dedicated alert apparatus ( e.g ., of the type similar to that associated with the bicycle 606) or hardware associated with the motor vehicle 602 that can transmit the fourth audio signal 620 to be perceived by other alert apparatuses (e.g., such as that carried by the person 614).

[0049] FIGS. 7 and 8 illustrate example audio transmissions.

[0050] FIG. 7 depicts a first example of actuator 702 and a sensor 704 communicating via an audio signal 706. The actuator 702 transmits the audio signal 706. As depicted in FIG. 7 by the varying wave shape of the audio signal 706, the audio signal 706 transmitted by the actuator 702 is being varied by a modulation component.

[0051] FIG. 8 depicts a second example of an actuator 802 and a sensor 804 communicating via an audio signal 806. The actuator 802 transmits the audio signal 806. As depicted in FIG. 8 by the varying shape of the audio signal 806, the audio signal 806 transmitted by the actuator 802 is being varied by a modulation component.

[0052] In some embodiments, information theory can be used to determine the minimum amount of information necessary to relay a message as explained in Claude E. Shannon’s“A Mathematical Theory of Communication.” Information theory can be used to determine the correct pitch, tone, strength, amplitude, and frequency of the signal propagated from actuator to sensor. lnformation: the average amount of information needed to 1D a classification of an object in set T.

Information Split: the information for each split for each attribute (xi) weighted by the percentage of each split, multiplied by the information required to classify a case in Ti .

Information Gain: the gain at each attribute Xi .

[0053] In some embodiments, an apparatus for alerting motorists to the presence of a cyclist nearby comprises a housing, wherein the housing is configured to be carried by the cyclist, an actuator attached to the housing, wherein the actuator is configured to transmit an audio signal, wherein the audio signal is configured to be perceptible by a sonar sensor of a motor vehicle, a modulation component, wherein the modulation component is configured to modulate the audio signal during transmission, and a control circuit, wherein the control circuit is communicatively coupled to the modulation component and the actuator, and wherein the control circuit is configured to instruct the modulation component to modulate the signal during transmission, and instruct the actuator to transmit the audio signal.

[0054] In some embodiments, a system for alerting motorists to the presence of cyclists nearby comprises an alert apparatus, wherein the alert apparatus comprises a housing, an actuator, wherein the actuator is configured to transmit an audio signal, and a modulation component, wherein the modulation component is configured to alter the audio signal during transmission, and a motor vehicle, wherein the motor vehicle comprises one or more sensors, wherein the one or more sensors are configured to receive sonar signals, and an indicator, wherein the indicator is configured to present an alert based on the reception of the sonar signals by the one or more sensors. [0055] In some embodiments, an apparatus, and a corresponding method performed by the apparatus, comprises transmitting, via an actuator, a sonar signal, wherein the actuator is contained within a housing, the housing configured to be carried by the cyclist, and while transmitting the sonar signal, altering, via a modulation component, the sonar signal.

[0056] Those skilled in the art will recognize that a wide variety of other

modifications, alterations, and combinations can also be made with respect to the above described embodiments without departing from the scope of the invention, and that such modifications, alterations, and combinations are to be viewed as being within the ambit of the inventive concept.