GB2413449A - Vehicular based forward scanning device for collision avoidance - Google Patents

Vehicular based forward scanning device for collision avoidance Download PDF

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Publication number
GB2413449A
GB2413449A GB0409038A GB0409038A GB2413449A GB 2413449 A GB2413449 A GB 2413449A GB 0409038 A GB0409038 A GB 0409038A GB 0409038 A GB0409038 A GB 0409038A GB 2413449 A GB2413449 A GB 2413449A
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United Kingdom
Prior art keywords
safety zone
vehicle
length
zone system
safety
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GB0409038A
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GB0409038D0 (en
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Neil Sim
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Individual
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Individual
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Publication of GB0409038D0 publication Critical patent/GB0409038D0/en
Publication of GB2413449A publication Critical patent/GB2413449A/en
Withdrawn legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/93185—Controlling the brakes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9321—Velocity regulation, e.g. cruise control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Traffic Control Systems (AREA)

Abstract

A vehicular based forward scanning device is disclosed for alerting a driver of a vehicle when an obstacle enters a predetermined detection zone 1 in front of the vehicle. The detection zone 1 is an area of variable size having a fixed width and a variable length calculated based on vehicle speed and steering angle. The detection zone 1 may be further modified according to direction of motion, weather conditions, gradient of the vehicle's path and weight of the vehicle's load. The arrangement may further provide line of sight communications enabling transfer of data, messages and warnings between vehicles equipped with the system. The scanning device may be a radar or lidar device.

Description

The safety zone system The safety zone system is a vehicular based forward
scanning warning device with the primary aim of alerting the driver of the pertaining vehicle, while in forward motion, when an obstacle enters its path with an objective to avoid a collision. The safety zone system will scan the vehicle's preceding route, warning the driver if an obstacle penetrates a predetermined safety zone. The safety zone will encompass an area of varying dimensions situated to the front of the vehicle, with a constant width similar to or less than the vehicle's width, and a length calculated constantly when the vehicle is in motion by using the braking distance of the vehicle at the speed it is travelling at the moment of the scan, the distance needed by the vehicle to brake safely to avoid a collision. The safety zone sampling frequency, the amount of times a second that the length of the zone is calculated and the zone scanned for obstacles would be factory set.
The safety zone system will only work efficiently if the safety zone is kept on the vehicle's preceding route, the path along which the vehicle will travel. An obvious flaw will occur when the vehicle is cornering, the safety zone will swing off the vehicle's preceding path and produce a false alert. To counteract this deficiency, the angle of the vehicle's steering will be taken into account while calculating the safety zone's area, the sharper the corner, the more tilt on the steering, the more the length of the safety zone is reduced, holding it on the vehicle's path and eliminating false alerts, but with the compromise of a decreased safety zone around corners.
To optimise the safety zone system's effectiveness on corners the leading length edge of the safety zone may be left extended compared to the following length edge, or flared in the direction of the manoeuvre, thus a left turn would evoke the left edge's length to remain greater than the right edge, creating a tapered effect on the safety zone.
The safety zone will therefore have a fixed width base and a length calculated constantly when the vehicle is in forward motion by using the braking distance of the vehicle at the speed it is travelling relative to the angle of the steering, the faster and straighter the vehicle travels, the longer the safety zone will become and vice versa. The faster and further an obstacle penetrates the safety zone, the more serious the warning given, until an imminent collision alert is deployed.
The safety zone system will principally consist of a central controller, collating and analysing onboard vehicular data with information supplied by forward facing scanning sensors with an aim of warning the driver by audible tones and through a display in the dashboard of impending or possible danger. Localised proximity, line of sight communication could be incorporated within the safety zone system, enabling the transfer of data, messages and warnings between vehicles installed with the foresaid system creating an intelligent interactive network.
The scanning and communication elements of the safety zone system may be constructed and implemented in various ways, the scanning and obstacle sensing perhaps by radar (radio detection and ranging) or lidar (light detection and ranging) which is ideal for measuring distances accurately and quickly. Communication between safety zone systems (vehicle to (R - ) vehicle) would be vis-a-vis, perhaps via high powered bluetooth communication links, enabling instant connections and swift interference free data transfer backwards and forwards.
The safety zone system may perform any or all of the following functions.
The first function would allow the storage of vehicle user information, owner details, classification, etc. within the safety zone system These details could be entered into the system's memory perhaps through the dashboard display or by remote control. This information could then be extracted by the proper authorities, police, traffic wardens etc. when the vehicle is stationary or in motion using a vis-a-vis communicating device.
The second function allows level settings within the safety zone system, menus will guide the user through options on the dashboard display, perhaps altering settings to increase/decrease the braking distances (within limit), select the level of second-hand messages (messages sent by other systems) opting maybe to receive messages from only two vehicles in front/behind.
Select how many vehicles it would warn (decaying level) and setting the speed at which the controller will start scanning, perhaps 5 mph.
The third function would give the safety zone system the power to slow or halt it's vehicle, if any safety zone penetration is detected. The greater the zone penetration, the slower the vehicle would be forced to travel. The safety zone system would activate the vehicle's braking system to alter the vehicle's velocity, allowing a swift response to impending danger and avoiding any human error delays.
Fourth, it would have the ability to compute the safety zone's length using a formula similar to, zone length = braking distance - braking distance * (angle of steering wheel/constant value).
The constant value would be approximately 90 or a bespoke number for the user.
Examples.
a. Vehicle travailing at 60 mph on a straight road would have a braking distance of 240 feet.
zone length would be 240 feet = 240 - 240*(0/90) b. Vehicle travelling at 60 mph on a medium bend with 30 degree tilt on the steering.
zone length would be 160 feet = 240 - 240*(30/90) c. Vehicle travelling at 30 mph on a sharp bend with 80 degree tilt on the steering wheel.
zone length would be 14 feet = 120 - 120*(80/90) The fifth function would allow the weather to be taken into consideration, increasing the braking distance in adverse weather conditions, therefore increasing the zone's length, this could be done by the addition of a rain/weather sensor within the system.
The sixth function would allow the gradient of the vehicle's path to be taken into consideration, decreasing the braking distance on a rising inclination, therefore decreasing the zone's length and vice versa, this could be done with the addition of a gradient sensor within the system.
The seventh function would allow the weight of the vehicle's passengers and luggage to be taken into consideration, the heavier the load, the longer the braking distance increasing the zone's length and vice versa. A displacement sensor situated in the vehicle's suspension would achieve this.
The eighth function would enable the safety zone system to use its forward facing sensors to detect and recognize unique obstacle identifiers, these identifiers would transmit owner details/ code number and may be placed on bicycles, in animal collars, clothes, mobile phones, etc. if found near/within the safety zone of the approaching vehicle a warning would be given. Radio frequency technology similar to shoplifting tags could be used to achieve this function. Obstacle identifiers could be REID (radio frequency identity) ROM tags either passive/powerless or active/battery operated, activated by the approaching vehicle. Since three main elements of And) the safety zone system, radar, bluetooth and REID tags all have the common denominator of
A
radio frequency, it would be ideal but not essential to use one type of sensor to achieve all three goals, therefore substantially reducing the price of the system.
The ninth function enables warning to be distributed throughout an interactive network of safety zone systems (vehicle to vehicle), warning other vehicles in the near vicinity usually behind, about an imminent collision or sharp braking. Warnings would cascade up or down a line of vehicles, the more serious the zone penetration, the greater the number of vehicles alerted.
The system's vis-a-vis communication would be used to achieve cascading, to avoid warnings travelling in the wrong direction or to the wrong vehicles, they could be issued polarity sensitive, ensuring rear warnings are received only by front sensors and vice versa. Cascading warnings would involve a vehicle sending a unidirectional warning to the vehicle in front or behind, this vehicle would then respond by sending on this warning perhaps editing or adding additional information in the same direction to the next vehicle and so-forth until the warning either decays or there are no more vehicles in range or in-line.
Emergency vehicles could warn vehicles in front, notifying them of its existence, type, direction, possibly its destination and how many vehicles behind it is, by cascading a polarity sensitive warning message up the line of traffic in front, alerting each driver in turn.
Function ten will enable the safety zone system to interface with a cruise control unit, automatically safeguarding/defending the safety zone, if an object penetrates the zone, the cruise control unit would be issued with a command to reduce speed, brake and how hard. If the zone is clear the cruise control unit would be instructed to accelerate up to its pegged limit.
The eleventh function is a deviation checker. When travelling the same route vehicles would be expected to proceed, almost exactly, along the same line, any deviation from this line (within a predetermined tolerance) would produce a "lousy driver/under the influence" warning. The easiest and cheapest way to achieve this would involve sampling the steering angle and speed of the pertaining vehicle perhaps every few seconds and storing this information in the system's memory for a limited period, at the same time, communicating via vis-a-vis communication with any vehicle behind and/or forwards, to receive their data sample for the same route segment.
It would then be synchronized by distance and speed, warning any driver if their sample fails a comparison plus tolerance allowance analysis. The comparison will always be between stored data from the leading vehicle against real time data in the adherent vehicle.
The final function will allow messages to be sent via vis-a-vis communication to close vicinity vehicles. These unidirectional polarity sensitive messages could be factory pre-set, or the driver could add, edit and attach messages to dispatching buttons, perhaps mounted on Id) the steering wheel, typing them in through the dashboard display or maybe through a bluetooth enabled mobile telephone. Dispatching buttons could be in cluster groups, ideally a group of three forward buttons and another group of three rear dispatching buttons or they could be grouped altogether with a joystick selecting the dispatch direction, enabling messages also to be sent front left and front right (with the addition of side communicators), any arrangement must be simple to operate, allowing full concentration to remain on the driving.
Sample messages: 1 Forward targeting 2 Rear targeting Let's go. To close.
Overtaking now. Stopping.
Vehicle approaching. Move back.
3 Passenger side targeting 4 Driver side targeting Vehicle approaching. Vehicle approaching.
I'm letting you in. I'm letting you in.
A vehicle installed with the safety zone system should be driven with the aim of defending its safety zone, no obstacles should penetrate it, the driver will learn to think ahead, brake sooner, and drive slower, keeping the correct distance from the vehicle in front.
Fig 1. A plan and elevation view of a vehicle fitted with the safety zone system moving in forward motion 1, scanning its preceding route and checking the safety zone 2 for any obstacle penetration. The length edges of the safety zone 7, 8, will lead the zone into any turn, edge 7 will lead a left hand turn remaining longer than the following edge 8 and vice versa on a right hand turn. Communicators 3, 4, 5, and 6 are used to communicate line of sight warnings and messages to other vehicles.
Fig 2. A plan view of a vehicle fitted with the safety zone system in forward motion 1, accelerating in a straight line, the safety zone 2, 3, 4, and 5 increasing in length to cover the vehicle's braking distance.
Fig 3. A plan of five differently shaped safety zones 1. Vehicles 2 and 4 manoeuvring left and right respectively showing reduced safety zones 1 with a tapered tip. Vehicles 3 and 5 are also manoeuvring left and right, their safety zones 1 flare out over the vehicle's preceding route.
Vehicle 6 is in forward motion with a lidar distance sensor forming a V shaped safety zone, any penetration of the two sides would produce a warning.
Fig 4. Indication of the steering angles used to alter the safety zone's length, the greater the angle, the shorter the safety zone.
Fig 5. Vehicle 2 travailing in direction 1 on a straight road with the safety zone system scanning the safety zone 4 for any obstacles. Vehicle 3 travelling at the same speed as vehicle 2, while turning a corner, the steering angle reduces the safety zone 4, holding it on the vehicle's route.
Fig 6. The safety zone system in vehicle 2 detects an imminent collision, its driver is warned, the warning then cascades down the line of vehicles 4 and 6, warning the drivers in turn to brake sharply. The cascade starts from vehicle 2 communicating the warning 3 to vehicle 4. Vehicle 4 may now add information to warning 3, perhaps updating how many vehicles it has passed through, the second-hand rate. Vehicle 4 would now communicate the new warning 5 to vehicle 6, if vehicle 6 detects that warning 5 has reached its decay level, the cascade would end, if not, vehicle 6 may add new information to warning 5 and communicate the new warning in the same direction.
Fig 7. Vehicle 4 is checking line deviation, it will communicate 5 with vehicle 1, requesting information about vehicle 1's, steering angle, speed and the distance between them (using vehicle 1's scanning/distance sensor). Vehicle 4 will then synchronize this data, with its own data stored in its memory covering the same route segment. The two samples of data should be identical, if any one of them fails a comparison plus tolerance allowance analysis, the driver of the offending vehicle would be notified of their poor driving. The most accurate sample or an average of the two, if both past the analysis, may be used over and over again by vehicles following behind 2, updating the deviation data 3 which would become more accurate on each pass. The deviation check would work just as well using any vehicle to the front or/and behind.
Communications would all be polarity sensitive and undetectable by vehicle 6 travelling in the opposite direction.
Fig 8. A display of six message dispatching buttons 1, the top three would send their messages forward, the bottom three would send their messages to the rear. Joystick 2 or any lever could be used to select the dispatch direction, simply press the button of the message required and dispatch it by selecting a direction.
Fig 9. Vehicle 1 travailing forward has right of way, it decides to let vehicle 2 turn left and vehicle 3 turn right, it achieves this by selecting the message "I'm letting you in" and dispatching it, passenger side 4 and driver side 5.

Claims (16)

  1. claims The safety zone system t. The safety zone system is a vehicular
    based forward scanning warning device with the primary aim of alerting the driver of the pertaining vehicle, while in forward motion, when an obstacle enters its safety zone with an objective to avoid a collision, situated to the front of the vehicle the safety zone will have a fixed width base and a length calculated constantly by using the braking distance of the vehicle at the speed it is travelling relative to the angle of the steering, the faster and straighter the vehicle travels, the longer the safety zone will become and vice versa.
  2. 2. The safety zone system as claimed in claims, wherein localised proximity, line of sight vis-a-vis communication is incorporated, enabling the transfer of data, messages and warnings between vehicles installed with the safety zone system creating an intelligent interactive network.
  3. 3. The safety zone system as claimed in Claim or Claim 2, wherein means are provided to store vehicle and user information, owner details, classification, etc. within the system's memory allowing for extraction by the proper authorities, police, traMc wardens etc. when the vehicle is stationary or in motion.
  4. 4. The safety zone system as claimed in any preceding claim, wherein means are provided to optimise the safety zone system's effectiveness on corners by extending the leading length edge of the safety zone compared to the following length edge, or flaring it out in the direction of the manoeuvre.
  5. 5. The safety zone system as claimed in any preceding claim, wherein means are provided to slow or halt the pertaining vehicle if the safety zone is penetrated, the greater the zone penetration, the slower the vehicle would be forced to travel.
  6. 6. The safety zone system as claimed in any preceding claim, wherein means are provided to allow the user to select menus, alter settings and adjust the safety zone system's attributes.
  7. 7. The safety zone system as claimed in any preceding claim, wherein means are provided to -impute the safety zone's length using the formula described in function four, allowing the zone's length to be altered by the constant value depending to the user's requirements.
  8. 8. The safety zone system as claimed in any preceding claim, wherein means are provided to allow the weather to be taken into consideration when computing the safety zone's length, increasing the braking distance in adverse weather conditions, therefore increasing the zone's length.
  9. 9. The safety zone system as claimed in any preceding claim, wherein means are provided to allow the gradient of the vehicle's path to be taken into consideration when computing the safety zone's length, decreasing the braking distance on a rising inclination, therefore decreasing the zone's length and vice versa.
  10. 10. The safety zone system as claimed in any preceding claim, wherein means are provided to allow the weight of the vehicle's passengers and luggage to be taken into consideration when computing the safety zone's length, the heavier the load, the longer the braking distance, therefore increasing the zone's length and vice versa.
  11. 11. The safety zone system as claimed in any preceding claim, wherein means are provided to enable it's forward facing sensors to detect and recognise unique obstacle identifiers, these identifiers would transmit owner details/code number and may be placed on bicycles, in animal collars, clothes, mobile phones, etc. if found near/within the safety zone of the approaching vehicle a warning would be given to the driver.
  12. 12. The safety zone system as claimed in any preceding claim, wherein means are provided to cascade warnings, which may be polarity sensitive, throughout an interactive network of safety zone systems, warning drivers in the near vicinity.
  13. 13. The safety zone system as claimed in any preceding claim, wherein means are provided to enable the safety zone system to interface with a cruise control unit, automatically safeguarding/ defending the safety zone.
  14. 14. The safety zone system as claimed in any preceding claim, wherein means are provided to check for route line deviation, by comparing synchronized samples of data (steering angles and speed), over the same route segment, from the pertaining vehicle and a vehicle behind and/or the front.
  15. 15. The safety zone system as claimed in any preceding claim, wherein means are provided to add, edit, dispatch and receive unidirectional polarity sensitive messages.
  16. 16. The safety zone system substantially as described herein with reference to Figures 1 to 9 of the accompanying drawings.
GB0409038A 2004-02-12 2004-04-23 Vehicular based forward scanning device for collision avoidance Withdrawn GB2413449A (en)

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EP2189811A1 (en) * 2008-11-25 2010-05-26 C.R.F. Società Consortile per Azioni Determination and signalling to a driver of a motor vehicle of a potential collision of the motor vehicle with an obstacle
EP2339376A1 (en) * 2009-12-17 2011-06-29 Sick Ag Optoelectronic sensor
CN102156474A (en) * 2010-02-12 2011-08-17 村田机械株式会社 Traveling vehicle system and method of avoiding collision with obstacles
EP2428862A1 (en) * 2010-09-13 2012-03-14 Sick Ag Device and method for safety control of a vehicle
DE202011000365U1 (en) * 2011-02-17 2012-05-18 Sick Ag laser scanner
DE102011054852A1 (en) * 2011-07-30 2013-01-31 Götting KG Method for recording and evaluating a level
US8629977B2 (en) 2010-04-14 2014-01-14 Digital Ally, Inc. Traffic scanning LIDAR
EP2722687A1 (en) * 2012-10-22 2014-04-23 Sick Ag Safety device for a vehicle
CN106597472A (en) * 2016-12-21 2017-04-26 深圳市镭神智能系统有限公司 Intelligent vehicle collision avoidance system and method based on laser radar
EP3269679B1 (en) 2016-07-14 2019-09-11 Toyota Material Handling Manufacturing Sweden AB Floor conveyor
US11110957B2 (en) 2016-08-26 2021-09-07 Crown Equipment Corporation Materials handling vehicle obstacle scanning tools
EP3312131B1 (en) 2016-10-21 2023-07-12 Linde Material Handling GmbH Industrial truck with a sensor device for monitoring an ambient area

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US10604149B2 (en) * 2017-03-30 2020-03-31 Robert Bosch Gmbh Alert reduction in vehicles using map data
CN112781598A (en) * 2020-11-30 2021-05-11 华晟（青岛）智能装备科技有限公司 AGV dynamic protection area determination method and system

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