GB2492435A

GB2492435A - Collision warning system which displays a live video image to a driver when a vulnerable vehicle is detected

Info

Publication number: GB2492435A
Application number: GB1205544.8A
Authority: GB
Inventors: Peter Le Masurier
Original assignee: Individual
Current assignee: Individual
Priority date: 2012-03-29
Filing date: 2012-03-29
Publication date: 2013-01-02
Also published as: EP2831864A1; SG11201406143QA; GB201205544D0; WO2013144638A1

Abstract

A collision avoidance system 10 for a large vehicle 12 (e.g. lorry) comprises means for detecting a vulnerable vehicle (e.g. bicycle 34); camera 38,39; and video display 36 that is activated to show a live feed from the camera when a vulnerable vehicle is detected. The detection means may comprise a radio receiver 30 (connected to antennas 14, 16, 18, 20) receiving a signal transmitted by a tag 32 on the bike. Alternatively vulnerable vehicles may detected by image recognition software â e.g. detecting an IR-reflective tag in the image (Fig.6). Video may be streamed from a camera selected, orientated and zoomed on the basis of the detected bicycle position. The video feed may be augmented to highlight the bike. A processor may determine whether the vulnerable vehicle is moving; likely to collide with the large vehicle; or exhibiting erratic or unpredictable motion.

Description

INTELLECTUAL

*. . PROPERTY OFFICE Applicalion No. GB1205544.S RTM DaIc:13 Joly 2012 The following terms are registered trademarks and should be read as such wherever they occur in this document: Zigbee Intellectual Properly Office is an operaling name of Ihe Patent Office www.ipo.gov.uk

COLLISION AVOIDANCE SYSTEM

The present invention relates to a collision avoidance system, and particularly but not exclusively to a system for the avoidance of collisions between large vehicles and bicydes.

BACKGROUND TO THE INVENTION

Systems which detect the presence of bicycles in the vicinity of a large vehicle (for example a lony) are known. Such systems typically comprise of one or more receiving antennas mounted around the large vehicle, and transmitter devices which can be attached to bicycles or other vulnerable vehicles.

Known systems alert the driver when one of the receiving antennas detects a proximate transmitter. The driver may be alerted by a sounder, or by some form of visual alert. Some systems utilise multiple antennas in order to determine more precisely the position of the transmitter in relation to the cab, and may communicate this information to the driver by means of multiple lamps, each of which illuminates in response to the presence of a transmitter in a specific detection zone around the vehicle.

Existing collision avoidance systems, however, have a number of drawbacks. A simple audio or visual alert, even one which shows the approximate position of the bicycle in relation to the vehide, does not give the driver enough information to avoid a collision. Indeed, thc alcrting system may distract the driver's attcntion from thc road, exacerbating rather than mitigating the collision risk. The collision avoidance system is of a different nature to more traditional awareness devices (i.e. nmors and windows) and its use is therefore unintuitive to the driver, requiring extra thinking time.

Another problem with many existing collision avoidance systems is that, on a busy road with many bicycles, the system may be activated frequently even in cases where there is little risk of collision. In this situation the driver will be inclined to ignore the warning or switch off the alerting device, making it ineffective or unavailable in a genuinely dangerous situation, for example where a cyclist is behaving erratically, or is on collision course with the vehicle.

it is an object of this invention to provide a collision avoidance system which reduces or substantially obviates the above mentioned problems.

STATEMENT OF INVENTION

According to the present invention, there is provided a collision avoidance system for installation on a large vehicle compnsing of detection means for detecting a vulnerable vehicle such as a bicycle, a camera and a video display. The video display is activated to show a live feed from the camera when a vulnerable vehicle is detected.

The system is advantageous because it provides a warning to the driver of the large iS vehicle that a vulnerable vehicle is in the vicinity. It also shows the driver a live image of the vulnerable vehicle so that, even when the vulnerable vehicle is not visible to the driver through the windows or via the mirrors, the driver is aware of the position and motion of the vulnerable vehicle in relation to the large vehicle which he is driving. The system is intuitive to the driver in use, since the display of the vulnerable vehicle complements the mirrors which the driver is already wefl used to using.

The image from the camera may be flipped laterally before it is displayed on the video display. In this way, the driver may interpret the image in exactly the same way as he interprets an image in a mirror.

The detection means may comprise of a radio receiver to receive a signal transmitted by a tag which may be attached to a vulnerable vehicle.

It is anticipated that many tags could be manufactured at low cost, and would be installed by, for example, cyclists on their bicycles. Tags could also be integrated into new bicycles in manufacture. Tags may also be attached to an item of clothing or a safety helmet, for example. Vehicles fitted with the collision avoidance system would ci then be able to reliably detect bicycles and other vulnerable vehicles which had tags fitted.

The detection means may alternatively or additionally be provided by the camera, or an additional camera, together with software for detecting the characteristic shape or motion of a vulnerable vehicle, for example a bicycle.

The advantage of this arrangement is that all vulnerable vehicles may be detected, whether or not transmitting tags have been fitted. Combining a tag-based system with a shape-detection system combines this advantage with the reliability of detection offered by a tag-based system.

The detection means may alternatively or additionally be provided by the camera, or an additional camera, together with software for detecting the presence of a reflective tag in the image from the camera.

The reflective tag may be designed to create a distinctive fingerprint in the camera image, thus increasing the reliability of detection over a purely shape and motion based detection system. Reflective tags do not require power and are cheaper to manufacture than transmitting tags.

Where the detection means looks for a distinctive tag, the tag may be specifically designed to reflect infra-red light. An infra-red light source may be provided as part of the collision avoidance system. This arrangement allows the system to operate successfully in low-light conditions, without flooding the street with visible light.

Means may be provided for determining the approximate distance of the vulnerable vehicle from the large vehicle. Means may also be provided for determining the approximate position of the vulnerable vehicle in relation to the large vehicle.

Where the approximate position of the vulnerable vehicle may be established, multiple cameras may be provided, and a camera may be selected for streaming to the video display based on the position of the vulnerable vehicle.

In this way, multip'e cameras may be positioned to cover the entire area surrounding a large vehicle. When a vulnerable vehicle is detected, the driver will immediately be able to see the vulnerable vehicle on the video screen, and can therefore take appropriate action to avoid a collision.

Alternatively or additionally, the direction andlor the zoom of the camera or cameras may be adjusted automatically based on the position of the vulnerable vehicle in relation to the arge vehicle.

The video feed from the camera or cameras may be augmented in order to highlight the vulnerable vehicle on the video display. This enables the driver to quickly identify the vehicle which is being detected, even when visibflity is poor, for example due to fog.

A processing unit may be provided for detecting whether the vulnerable vehicle is moving. This serves to eliminate false alarms caused by, for example, bicycles parked at the roadside.

A processing unit may be provided for detecting whether the vulnerable vehicle is on course to collide with the large vehicle. Alternatively or additionally, the processing unit may detect whether the vulnerable vehicle is exhibiting erratic or unpredictable motion. This has the advantage that, in busy areas where the collision avoidance system might otherwise be raising almost constant alerts, leading the driver to become inclined to ignore the warnings, the system may be adjusted to only alert to the presence of vulnerable vehicles which are in particular danger, and to ignore, for example, a bicycle in a cycle lane which is in consistently parallel motion to the large vehicle.

Where such a processing unit is provided, the output may be presented on the video display. Such presentation may compnse of letters, symbols, or lines and arrows and the Uke superimposed upon the video image. Audible and/or visual warning other than on the video display may alternatively or additionally be provided dependent on the output of the processing unit.

Audible and/or visual warning other than on the video display may be provided whenever a vulnerable vehicle is in proximity.

Any of the various above mentioned components of the collision avoidance system may communicate with each other by wirdess means. Wirdess communications provide the advantage of easier fitting to a large vehicle, since no wiring need be installed. Where the collision avoidance system is fitted to a large vehicle which compnses of a cab and a trailer, it is particularly advantageous to reduce or eliminate the need for wiring between the cab and the trailer, since the trailer may be detached from the cab.

The wireless communication means may conform to the Zigbee standard.

The collision avoidance system may be activated only when the large vehicle is turning. Alternatively or additionally, it may be activated when the large vehicle is reversing. Turning or reversing large vehicles present a particular hazard to bicycles and other vulnerable vehicles, and so it may be advantageous to provide a collision avoidance system only in that situation. By deactivating the collision avoidance system when the large vehicle is travelling forwards in a straight line, the overall number of alerts will be reduced and the dnver will therefore be less inclined to ignore alerts when they do occur.

Any of the above mentioned component parts of the collision avoidance system may be powered by batteries. Alternatively or additionally, any of the component parts may be powered by solar cells. Batteries provide a reliable source of power even in darkness, whereas solar cells have the advantage that they do not need regular replacement. h combination, batteries may provide a back-up power sow-ce when darkness means that the solar cells are unable to provide sufficient power. The solar cells therefore increase the longevity of the batteries, and may charge the batteries in sunlight.

A sucker cup may be provided on the video display so that it may be attached to a windscreen.

DESCRIPTION OF TUE DRAWINGS

For a better understanding of the present invention, and to show more clearly how it may be carried into effect, reference will now be made by way of example only to the accompanying drawings, in which: Figure 1 shows a perspective view of a large vehicle fitted with a first embodiment of a collision avoidance system; Figure 2 shows a plan view from above of the large vehicle of Figure 1 fitted with a first embodiment of a collision avoidance system; Figure 3 shows a perspective view of an LED display device, being a component part of the first embodiment of a collision avoidance system; Figure 4 shows a perspective view of a video display device, being a component part of the first embodiment of a collision avoidance system; Figure 5 shows a front view of the video display device of Figure 4; and Figure 6 shows a pbn view from above of a large vehicle fitted with a second embodiment of a collision avoidance system.

DESCRIPTION OF PREFERRED EMBODIMENTS

RefelTing firstly to Figures 1 and 2, a first embodiment of a collision avoidance system is shown generally at 10. The collision avoidance system 10 compi-ises eight antennas 14, 16, 18, 20, 22, 24, 26, 28 four of which are fitted spaced out at regular intervals along each side of a large vehicle 12.

Four antennas 14, 16, 18, 20 are wired to a first receiver 30 which is mounted to the left-hand side of the large vehicle 12. A further four antennas 22. 24, 26, 28 are wired to a second receiver 31 which is mounted to the right-hand side of the large vehicle 12. A transmitting tag 32 is attached to a bicycle 34. A first camera 38 is mounted at a high level on the left-hand side of the cab of the large vehicle 12, and a second camera 39 is mounted at a high level on the right-hand side of the cab of the large vehicle 12. The lens of the first camera 38 is directed to cover an area extending along the entire left side of the large vehicle 12, and the lens of the second camera 39 is directed to cover an area extending along the entire right side of the large vehicle When either of the first and second receivers 30, 31 receives a radio signal from the transmitting tag 32, the receiver sends a signal to a video display unit 36 which is located in the cab of the large vehicle 12. The video display unit 36 is then activated to show a live image 37 from one of first and second cameras 38, 39.

%rhere the radio signal is received by the first receiver 30, the video display unit 36 will show a live image 37 from the first camera 38. Where the radio signal is received by the second receiver 31, the video display unit 36 will show alive image 37 from the second camera 39.

The first receiver is able to identify which of antennas 14, 16, 18, 20 received a radio signal from the transmitter 32, and the second receiver is able to identify which of antennas 22, 24, 26, 28 received a radio signal from the transmitter 32. The receivers 30, 31 are able to measure the relative strength of the radio signal from each antenna, and also the time difference in reception of the radio signal between adjacent antennas. In this way, the approximate position of the transmitter 32 in relation to the large vehicle 12 can be calculated. The approximate position is transmitted to an LED display unit 40 in the cab, and to the cameras 38, 39.

The first and second cameras 38, 39 are mounted on motorised adjustaNe mountings, so that the direction of either of the cameras can be adjusted automatically. The cameras 38, 39 are also provided with motoilsed zoom lenses, so that the zoom of either of the cameras can be adjusted automatically. When either of the cameras 38, 39 receives positional information from either of the receivers, the direction and zoom of the camera 38 or 39 will be adjusted automatically to obtain a field of view which includes the area in which a transmitting tag 32 is located.

The LED display unit 40 comprises six LEDs 42. 44, 46, 48, 50, 52 and a sounder 54.

The six LEDs 42. 44, 46, 48. 50, 52 are arranged in two columns of three LEDs. A diagram 56 showing atop view of the large vehicle] 2 is printed between the columns of LEDs on the surface of the LED display unit 40. The first LED 42 is illuminated to indicate the presence of a transmitting tag 32 in a front left-hand zone around the large vehicle 12, the second LED 44 is illuminated to indicate the presence of a transmitting tag 32 in a central left-hand zone around the large vehicle 12, the third LED 46 is illuminated to indicate the presence of a transmitting tag 32 in a rear left-hand zone around the large vehicle 12, and the fourth, fifth, and sixth LEDs 48, 50, 52 are illuminated to indicate the presence of a transmitting tag in respectively front, central and rear right-hand zones around the large vehicle 12. The sounder 54 is activated whenever a transmitter 32 is detected in proximity to the large vehicle 12.

RefelTing now to Figures 4 and 5, the video display 36 is substantially rectangular, comprising a housing 58 which is made from plastics, and a single LCD screen 60. A display fitment 62 is provided for attaching the video display 36 to a windscreen of a vehicle. The display fitment 62 comprises a bracket 64 and a sucker cup 66 attached to the read of the bracket. The bracket 64 is formed from a three-sided frame designed to receive the bottom portion of the rectangular housing 58, so that the video display 36 may be moved vertically into and out of the bracket 64.

The position of the transmitting tag 32 calculated by the receivers 30, 31, is used together with shape-detection software in order to highlight the location of the bicycle 34 in the video image 37 on the video display 36. The entire image 37 is also flipped laterally before being displayed. The image 37 in Figure 5 is from the second camera 39 which is mounted on the right-hand side on the large vehicle 12. The image 37 on the display therefore has the appearance of the image in a iight-hand wing mirror of a vehicle.

Signal processing software takes the positional information from the receivers 30, 31 at regular intervals and uses it to calculate whether the transmitting tag 32 is moving, whether it is on a collision course with the large vehicle 12, and whether the motion of the tag 32 is erratic or unpredictable. This information is presented to the driver of the large vehicle 12 in an upper right region of the video display 36. An upper section 70 of the information display region shows whether the detected tag 32 is moving, and a lower section 72 shows whether the detected motion is SAFE (that is. unlikely to result in a collision), DANGEROUS (a collision is likely), or ERRATIC (the motion is unpredictable). The sounder 54 in the LED display unit 40 sounds briefly at a low pitch when the detected motion is safe, and sounds repeatedly at a high pitch when the detected motion is dangerous or erratic.

The receivers 3O, 31, the video display 36, the cameras 38, 39 and the LED display 40 all communicate with each other over a Zigbee wireless network. The above mentioned components are powered by rechargeable batteries, which are recharged in daylight by solar cells.

Referring now to Figure 6, a second embodiment of a collision avoidance system is shown generally at 80, and comprises of first and second infra-red cameras 82, 84, the first camera being mounted at a high point on the front left-hand side of the large vehicle 12, and the second camera being mounted at a high point on the front right-hand side of the large vehicle 12. An infra-red light source is provided in each camera to flood the area surrounding the vehicle with infra red light. A reflective tag 86 is attached to the bicycle 34 and is of a distinctive shape, so that it can easily be recognised by software processing the images from the cameras 82, 84.

When a distinctive tag 86 is identified in the field of view of one of the cameras 82, 84. the video stream is transmitted from the camera to a video display 88 in the driver's cab.

Both the first and second embodiments described above allow a driver to be alerted to the presence of a vulnerable vehicle, and to see a live image of the vulnerable vehicle in order that appropriate action maybe taken to avoid a collision.

Claims

<claim-text>CLAIMSI. A collision avoidance system for installation on a large vehicle comprising detection means for detecting a vulnerable vehicle such as a bicycle, a camera and a video display, the video display being activated to show a live feed from the camera when a vulnerable vehicle is detected.</claim-text> <claim-text>2. A coflision avoidance system as claimed in claim I, in which the image from the camera is flipped laterally before being displayed on the video display.</claim-text> <claim-text>3. A collision avoidance system as claimed in claim I, in which the detection means comprises of a radio receiver to receive a signal transmitted by a tag which may be attached to a vulnerable vehicle.</claim-text> <claim-text>4. A collision avoidance system as claimed in claim 1, in which the detection means is provided by the camera, or an additional camera, and shape-detection software which detects the characteristic shape or motion of a vulnerable vehicle.</claim-text> <claim-text>5. A collision avoidance system as claimed in claim I, in which the detection means is provided by the camera, or an additional camera, and software which detects the presence of a reflective tag in the image from the camera.</claim-text> <claim-text>6. A collision avoidance system as daimed in claim 5, in which the reflective tag is specifically designed to reflect infra-red light.</claim-text> <claim-text>7. A collision avoidance system as claimed in daim 6, in which an infra-red light source is provided.</claim-text> <claim-text>8. A collision avoidance system as claimed in any preceding claim, in which means are provided for determining the approximate distance of the vulnerable vehicle from the arge vehicle.</claim-text> <claim-text>9. A collision avoidance system as claimed in any preceding claim, in which means are provided for determining the approximate position of the vulnerable vehicle in relation to the large vehicle.</claim-text> <claim-text>10. A collision avoidance system as claimed in claim II, in which multiple cameras are provided, and in which a camera is sdected for streaming to the video display based on the position of the vulnerable vehicle in relation to the large vehicle.ii. A collision avoidance system as cairned in claim 11, in which the direction and/or zoom of the camera is adjusted automatically based on the position of the vulnerable vehicle in relation to the large vehicle.12. A collision avoidance system as claimed in any preceding claim, in which the video feed from the camera is augmented in order to highlight the vulnerable vehicle on the video display.13. A collision avoidance system as claimed in any preceding claim, further comprising of a processing unit for detecting whether the vulnerable vehicle is moving.14. A collision avoidance system as claimed in any preceding claim, further comprising of a processing unit for detecting whether the vulnerable vehicle is on course to collide with the large vehicle.15. A collision avoidance system as claimed in any preceding claim, further comprising of a processing unit for detecting whether the vutherable vehicle is exhibiting erratic or unpredictable motion.16. A collision avoidance system as cairned in any of claims 13, 14 and 15 in which the output from the processing unit is presented on the video display.17. A collision avoidance system as claimed in any of claims 13, 14 and 15, in which audible and/or visual warning other than on the video display is provided dependent on the output of the processing unit.18. A collision avoidance system as claimed in any preceding claim, in which audible and/or visual warning other than on the video display is provided whenever a vulnerable vehicle is in proximity.19. A collision avoidance system as claimed in any of the preceding claims, in which any two of the components communicate with each other by wireless means.20. A collision avoidance system as claimed in claim 21, in which the wireless communication means conform to the Zigbee standard.21. A collision avoidance system as claimed in any preceding claim, which is activated only when the large vehicle is turning.22. A collision avoidance system as claimed in any of claims I to 20, which is activated only when the large vehicle is reversing.23. A collision avoidance system as claimed in any of the preceding claims, in which any component part is powered at least in part by batteries.24. A collision avoidance system as claimed in any of the preceding claims, in which any component part is powered at least in part by solar cells.25. A collision avoidance system as claimed in any preceding claim, in which a sucker cup is provided on the video display for attachment to a windscreen.26. A collision avoidance system substantially as described herein with reference to and as illustrated in Figures 1-5 and 6 of the accompanying drawings.Amendments to the claims have been filed as followsCLAIMSI. A collision avoidance system for installation on a large vehicle comprising detection means for detecting a vulnerable vehicle such as a bicycle, a processing unit for detecting whether the vulnerable vehicle is moving, a camera and a video display, the video display being activated to show a live feed from the camera when a vulnerable vehicle is detected.
2. A collision avoidance system as claimed in claim 1, in which the image from the camera is flipped laterally before being displayed on the video display.
3. A collision avoidance system as claimed in claim 1, in which the detection means comprises of a radio receiver to receive a signal transmitted by a tag which may be attached to a vulnerable vehicle.
4. A collision avoidance system as claimed in claim 1, in which the detection r means is provided by the camera, or an additional camera, and shape-detection software which detects the eharaetenstic shape or motion of a vulnerable vehicle.
5. A collision avoidance system as claimed in claim 1, in which the detection means is provided by the camera, or an additional camera, and software which detects the presence of a reflective tag in the image from the camera.
6. A collision avoidance system as claimed in claim 5, in which the reflective tag is specifically designed to reflect infra-red light.
7. A collision avoidance system as claimed in claim 6, in which an infra-red light source is provided.
8. A collision avoidance system as claimed in any preceding claim, in which means are provided for determining the approximate distance of the vulnerable vehicle from the large vehicle.
9. A collision avoidance system as claimed in any preceding claim, in which means are provided for determining the approximate position of the vulnerable vehicle in relation to the large vehicle.
10. A collision avoidance system as claimed in claim 9, in which multiple cameras are provided, and in which a camera is selected for streaming to the video display based on the position of the vulnerable vehicle in relation to the large vehicle.
11. A collision avoidance system as claimed in claim 9, in which the direction and/or zoom of the camera is adjusted automatically based on the position of the vulnerable vehicle in relation to the large vehicle.
12. A collision avoidance system as claimed in any preceding claim, in which the video feed from the camera is augmented in order to highlight the vulnerable vehicle on the video display. r13. A collision avoidance system as claimed in any preceding claim, further comprising of a processing unit for detecting whether the vulnerable vehicle is (\J 20 on course to collide with the large vehicle.14. A collision avoidance system as claimed in any preceding claim, further comprising of a processing unit for detecting whether the vulnerable vehicle is exhibiting erratic or unpredictable motion.15. A collision avoidance system as claimed in any preceding claim, in which the output of the processing unit is presented on the video display.16. A collision avoidance system as claimed in any preceding claim, in which audible and/or visual warning other than on the video display is provided dependent on the output of the processing unit.17. A collision avoidance system as claimed in any preceding claim, in which audible and/or visual warning other than on the video display is pmvided whenever a vulnerable vehicle is in pmximity.18. A collision avoidance system as claimed in any of the preceding claims, in which any two of the components communicate with each other by wireless means.19. A collision avoidance system as claimed in claim 18, in which the wireless communication means conform to the Zigbee (RTM) standard.20. A collision avoidance system as claimed in any preceding claim, which is activated only when the large vehicle is turning.21. A collision avoidance system as claimed in any preceding claim, which is ___ activated only when the large vehicle is reversing.22. A collision avoidance system as claimed in any of the preceding claims, in CC) which any component part is powered at least in part by batteries.C'tJ2O 23. A collision avoidance system as claimed in any of the preceding claims, in which any component part is powered at least in part by solar cells.24. A collision avoidance system as claimed in any preceding claim, in which a sucker cup is provided on the video display for attachment to a windscreen.25. A collision avoidance system substantially as described herein with reference to and as illustrated in Figures 1-5 and 6 of the accompanying dmwings.</claim-text>