US20150268338A1

US20150268338A1 - Tracking from a vehicle

Info

Publication number: US20150268338A1
Application number: US14/611,901
Authority: US
Inventors: Randy Michael Freiburger; Thomas Lee Miller; Brian Bennie; Cynthia M. Neubecker; Thomas Michael McQuade; Brad Alan Ignaczak
Original assignee: Ford Global Technologies LLC
Current assignee: Ford Global Technologies LLC
Priority date: 2014-03-22
Filing date: 2015-02-02
Publication date: 2015-09-24
Also published as: RU2687395C2; MX2015003556A; US9481295B2; RU2668356C2; US20150266411A1; RU2015109866A3; US20150269842A1; US9352683B2; CN104964692A; RU2015109865A; MX2015003554A; RU2015110075A3; MX2015003552A; RU2015109866A; RU2015110075A

Abstract

Data related to a person outside of a vehicle can be collected by a computer in the vehicle. The collected data is used to generate a virtual map of one or more targets, including at least the person, proximate to the vehicle. A display is provided based on the virtual map that includes information about a location of the person.

Description

RELATED APPLICATIONS

This application claims priority to Provisional Application Ser. No. 61/969,122 filed Mar. 22, 2014 entitled “Tracking a Suspect From a Vehicle”; Provisional Application Ser. No. 61/969,123 filed Mar. 22, 2014 entitled “Approach Warning for a Police Vehicle”; and Provisional Application Ser. No. 61/969,124 filed Mar. 22, 2014 entitled “Approach Warning for a Police Vehicle” and Provisional Application Ser. No. 61/969,126 filed Mar. 22, 2014 entitled “Emergency Vehicle Maneuver Notification”, each of which provisional applications are hereby incorporated herein by reference in their respective entireties.

BACKGROUND

During police pursuit of a suspect in a vehicle, a suspect may stop his or her vehicle and/or flee on foot. In such situations, it may be difficult for police personnel to determine a direction in which the suspect flees due to low visibility (e.g. low light conditions, dust from the stopping vehicle, etc.).

DRAWINGS

FIG. 1 is a block diagram of an exemplary vehicle equipped suspect tracking.

FIG. 2 is a block diagram of a police vehicle and a suspect vehicle, where a suspect is fleeing the suspect vehicle on foot.

FIG. 3 is a diagram of an exemplary process for suspect location detection and/or tracking.

DETAILED DESCRIPTION

System Overview

With reference to FIG. 1, a tracking system and method may be deployed and used in vehicles such as a police vehicle 101. The system and method are generally in implemented in and/or include a computer 105 in the vehicle 101. The computer 105 generally receives data from one or more data collectors 110, e.g., sensors, deployed in an interior and/or exterior of the vehicle 101.
As illustrated in FIG. 2, a police vehicle 101 may be in pursuit of a suspect vehicle 102, whereupon the suspect may stop his or her vehicle 102 and exit the vehicle 102 in an attempt to escape on foot. Accordingly, a police vehicle 101 may be provided with a computer 105 and other elements such as data collectors 110 and possibly other elements, e.g., to provide data 115 to the computer 105, to assist with tracking the suspect by indicating a direction in which a suspect fled after exiting a suspect's vehicle, and by making tracking information available. In general, the computer 105 may be equipped to provide information relating to suspect activity in a detection zone 200 (see FIG. 2), i.e., an area defined by a distance at which sensors 110 in the vehicle 101 are able to obtain reliable and useful data 115 for suspect detection and tracking.
FIG. 1 is a block diagram of an exemplary vehicle 101 equipped for suspect tracking. The vehicle 101 generally includes one or more sensor data collectors 110, used to monitor the area surrounding a police vehicle 102 during a chase, and to track any moving objects in the vicinity. During a pursuit, the disclosed system, e.g., the computer 105, can detect a location of a suspect vehicle 102, and indicate this location on a display or the like included in a human machine interface (HMI) 120 in the vehicle 101. In the event that a suspect exits his/her vehicle 102, the HMI can also be used to indicate a location of the suspect, in addition to other information, to assist a police officer or the like in tracking the suspect, including transmitting the suspect's location to a portable device and/or aiming a light in a direction of the suspect to help illuminate the scene and to indicate the location of the suspect. Accordingly, the computer 105 can be used to detect a location and movement of a second vehicle 102 and/or a location and/or movement of a person outside the vehicles 101, 102, e.g., a suspect being pursued.
As stated above, a vehicle 101 includes a vehicle computer 105. The vehicle 101 is generally a land-based vehicle having three or more wheels, e.g., a passenger car, light truck, etc. The computer 105 generally includes a processor and a memory, the memory including one or more forms of computer-readable media, and storing instructions executable by the processor for performing various operations, including as disclosed herein. Further, the computer 105 may include and/or be communicatively coupled to more than one computing device, e.g., controllers or the like included in the vehicle 101 for monitoring and/or controlling various vehicle components, e.g., an engine control unit, transmission control unit, etc. The computer 105 is generally configured for communications on a controller area network (CAN) bus or the like. Further, such computer 105 may include and/or be communicatively coupled to more than one computing device, e.g., controllers or the like included in the vehicle 101 for monitoring and/or controlling various vehicle components, e.g., an engine control unit, transmission control unit, etc. The computer 105 may also have a connection to an onboard diagnostics connector (OBD-II), and or other digital communications mechanisms
Via the CAN bus, OBD-II, and/or other wired or wireless mechanisms, the computer 105 may transmit messages to various devices in a vehicle and/or receive messages from the various devices, e.g., controllers, actuators, sensors, etc., including data collectors 110. Alternatively or additionally, in cases where the computer 105 actually comprises multiple devices, the CAN bus or the like may be used for communications between devices represented as the computer 105 in this disclosure. In addition, the computer 105 may be configured for communicating with other devices via various wired and/or wireless networking technologies, e.g., cellular, Bluetooth, a universal serial bus (USB), wired and/or wireless packet networks, etc.
Data collectors 110 may include a variety of devices. For example, as illustrated in FIG. 1, data collectors 110 can include one or more ultrasonic sensors, cameras, lidar sensors, radar sensors, infrared sensors, etc.
Further, the foregoing examples are not intended to be limiting; other types of data collectors 110 could be used to provide data 115 to the computer 105. For example, various controllers in a vehicle 101 may operate as data collectors 110 to provide data 115 via the CAN bus, e.g., data 115 relating to vehicle 101 speed, acceleration, etc. Further, sensors or the like, global positioning system (GPS) equipment, etc., could be included in a vehicle 101 and configured as data collectors 110 to provide data directly to the computer 105, e.g., via a wired or wireless connection. Accordingly, vehicle 101 equipment and/or components may be controlled based upon operating conditions defined by vehicle 101 CAN bus 110 communications and or the like.
A memory of the computer 105 generally stores collected data 115. Collected data 115 may include a variety of data collected in a vehicle 101. Examples of collected data 115 may include measurements relating to a position, velocity, and size (e.g., length, width, height, radar cross section) of target(s) such as a suspect in or near a detection zone 200. Data 115 may additionally include data calculated therefrom in the computer 105. In general, collected data 115 may include any data that may be gathered by a collection device 110 and/or computed from such data.
The vehicle 101 generally includes a human machine interface (HMI) 120. In general, the HMI 120 is equipped to accept inputs for, and/or provide outputs from, the computer 105. For example, the vehicle 101 may include one or more of a display configured to provide a graphical user interface (GUI) or the like, an interactive voice response (IVR) system, audio output devices, mechanisms for providing haptic output, e.g., via a vehicle 101 steering wheel or seat, etc. Further, a user device, e.g., a portable computing device such as a tablet computer, a wearable device, a smart phone, or the like, may be used to provide some or all of an HMI 120 to a computer 105. For example, a user device could be connected to the computer 105 using technologies discussed above, e.g., USB, Bluetooth, etc., and could be used to accept inputs for and/or provide outputs from the computer 105.

Exemplary Operations

Exemplary operations of the computer 105, e.g., collecting and/or using data 115, may include some of all of the following:

- When the vehicle 101 emergency lights are turned on, suspect tracking may be automatically initiated.
- Uses one or more (e.g. ultrasonic, radar, video, lidar, infrared) sensors 110 to detect any targets within the detection zone 200 during a police pursuit. Targets may include people, bicycles, motor vehicles, etc.
- Determine a position, velocity, and size (length, width, height, radar cross section) of target(s) in or near a detection zone 200.
- Tracks a position and velocity of the target(s) in or near a detection zone 200.
- Classify target(s) based on a target type; e.g., a target type classifier included in the computer 105 may evaluate information from vehicle data collectors 110 such as radar cross section, length, width, shape, speed, etc., and assigns a target to an appropriate type class (e.g. person, car, truck, bicycle, etc.)
- Display a position, speed, classification of the target(s), and/or time history (breadcrumbs) of target positions on a vehicle 101 HMI 120 display, e.g., as shown in FIG. 2. Displays of moving and stationary targets can be provided in different colors on the display so they can easily be differentiated.
- Information relating to position, speed, classification of the target(s), and/or time history can be transmitted, e.g., via wi-fi, cellular data connections, etc., to a portable device (e.g. smartphone) so it can be displayed remotely.
- A log of past system trigger events can be stored in a volatile memory of the computer 105, and can also be saved to a non-volatile memory for longer storage. Data 115 so recorded and logged can include an object list (including, e.g., a position, velocity, size, and camera images) for one or more targets or objects, as well as images and/or data from forward looking radar, side radar, 360 degree radar, surround camera, forward looking camera, GPS location, direction suspect fled, etc., stored over some time range (e.g., 1 minute before and 5 minutes after a system trigger event). A trigger event can be defined, e.g., as any time the vehicle 101 comes to a stop during a while in a pursuit, e.g., while emergency lights and/or siren(s) are activated, or perhaps be based on other vehicle 101 inputs corresponding to the time that the suspect leaves the vehicle.
- The computer 105 can log the GPS coordinates of the location at which someone exited the suspect vehicle 102 and a direction in which a suspect fled.
- The computer 105 can provide instructions to a vehicle 101 controller to automatically aim a police search light (or a vehicle 101 headlight once the vehicle 101 stops) toward a suspect to better illuminate a detection zone 200. Then, lights could continue to follow a path of a suspect even after a police officer leaves the vehicle 101.
- The computer 105 could also direct overhead police lights to indicate a direction that the suspect fled. Such lights could continue to follow a path of a suspect even after a police officer leaves the vehicle 101.
- The computer 105 could include instructions for retrieving, viewing, copying, and clearing the log of past system trigger events, e.g., according to input by a user or administrator.
- The computer 105 could include instructions for exporting the log of past system trigger events to another device (e.g. memory card, smartphone, EDR reader, etc.), and/or to a central location, e.g., a remote server in a dispatch center or the like.
- The computer 105 could include instructions to provide a trigger output signal to a DVR (digital video recorder) or other device when a system trigger event occurs (e.g., a DVR can record video from vehicle 101 cameras 110 before and after a system trigger event).
- The computer 105 can use GPS-based location of other police vehicles and indicate them on a map display. This feature of course would require that GPS (global positioning system) data 115 for the vehicle 101 was available, and that such data was received from other police vehicles.
- The computer 105 could provide an indication on an HMI 120 display (e.g., using color coding) indicating which of a plurality of targets indicated in the display is the suspect being pursued. In some cases, an ability to track a suspect may be limited (e.g., suspect hidden in weeds). If the suspect is no longer being tracked, the computer 105 can use an audio portion of the HMI 120 to provide an audible alert at the time that the suspect is first lost from tracking, and/or could provide such indication on a display of the HMI 120.

Exemplary Process Flow

FIG. 3 is a diagram of an exemplary process 300 for suspect location detection and/or tracking. In general, actions performed as part of the process 300 may be performed by the computer 105, i.e., according to instructions stored in a memory of, and executable by a processor of, the computer 105.
The process 300 begins in a block 305, in which suspect monitoring, e.g., location detection and/or tracking is initiated. For example, as noted above, such a process 300 could be initiated when vehicle 101 emergency lights and/or sirens are activated. Alternatively or additionally, by way of further example, the computer 105 could be configured to initiate the process 300 on receiving a user input.
Next, in a block 310, the computer 105 obtains and/or generates collected data 115. For example, collected data 115 may be obtained from one or more data collectors 110, as explained above. Further, collected data 115 may be computed from other data 115 as explained above, obtained directly from a data collector 110. In any event, in the block 310, collected data 115 obtained by the computer 105 may include data 115 such as described above.
Following the block 310, in a block 315, the computer 105 generates, or in the case of a second or later iteration of the process 300, updates, a virtual map, discussed further below with respect to the block 315, of the vehicle 101 surroundings. For example, a map update may be performed substantially continuously, e.g., after a predetermined amount of time, e.g., 100 milliseconds, has elapsed since the virtual map was last updated, or, an amount of time that data 115 has been collected, in the case of a first iteration of the process 300. The virtual map may store a vehicle 101 location, a vehicle 101 speed, an orientation of the vehicle 101 and/or certain vehicle 101 components, e.g., an orientation of vehicle 101 wheels, as well as a vehicle 102 location, a location of a suspect and/or other targets, as well as “breadcrumbs” or the like indicating movement of the suspect and/or other targets.
A virtual map of the vehicle 101 surroundings such as is generated or updated in the block 315 generally includes a three-dimensional coordinate system having an origin located with reference to the vehicle 101, e.g., at an intersection of horizontal, longitudinal, and vertical axes of the vehicle 101. Further, the virtual map generally includes an identification and location of objects, e.g., the vehicles 101, 102, possibly other vehicles, bicycles, pedestrians, etc.
Data 115 from different data collectors 110 may be used by itself or in combination with data from other types of data collectors 110. For example, data 115 from one or more sensors 110 may be used in combination with data 115 from other data collectors 110, e.g. image data 115 from a vehicle 101 camera 110 could be used with radar data 115, lidar data 115, etc. For example, radar data 115 could indicate a likely presence of an object with respect to a vehicle 101, whereupon image data 115 could be used, based on image recognition techniques, to confirm and/or augment identification of the object.
Following the block 315, in a block 320, the computer 105 generates and/or updates the a display in the HMI 120 based on collected data 115 and/or the virtual map. For example, a location of a suspect and/or other target objects could be indicated and/or updated.
Following the block 320, in a block 325, the computer 105 determines whether collected data 115, including the virtual map, provide a basis for an alert or action. For example, as mentioned above, the computer 105 could be configured to automatically direct vehicle 101 lights, to provide an audio and/or visual alert on certain trigger events, etc. If the computer 105 is not configured to provide alerts and/or take actions, or if none is warranted, the block 320 may be omitted.
Following the block 325, in a block 530, the computer 105 determines whether the process 300 should continue. For example, if the computer 105 is powered off, an operator has provided input to cease collecting data 115 and/or to cease vehicle 101 operations, etc., the process 300 may end. If such determination is not made, the process 300 returns to the block 310.

CONCLUSION

(The term “police” as used herein may refer to various public and/or private law enforcement and/or security operations, in addition to referring to a formal police department.)
Computing devices such as those discussed herein, e.g., the computer 105, generally each include instructions executable by one or more computing devices such as those identified above, and for carrying out blocks or steps of processes described above. For example, process blocks discussed above may be embodied as computer-executable instructions.
Computer-executable instructions may be compiled or interpreted from computer programs created using a variety of programming languages and/or technologies, including, without limitation, and either alone or in combination, Java™, C, C++, Visual Basic, Java Script, Perl, HTML, etc. In general, a processor (e.g., a microprocessor) receives instructions, e.g., from a memory, a computer-readable medium, etc., and executes these instructions, thereby performing one or more processes, including one or more of the processes described herein. Such instructions and other data may be stored and transmitted using a variety of computer-readable media. A file in a computing device is generally a collection of data stored on a computer readable medium, such as a storage medium, a random access memory, etc.
A computer-readable medium includes any medium that participates in providing data (e.g., instructions), which may be read by a computer. Such a medium may take many forms, including, but not limited to, non-volatile media, volatile media, etc. Non-volatile media include, for example, optical or magnetic disks and other persistent memory. Volatile media include dynamic random access memory (DRAM), which typically constitutes a main memory. Common forms of computer-readable media include, for example, a floppy disk, a flexible disk, hard disk, magnetic tape, any other magnetic medium, a CD-ROM, DVD, any other optical medium, punch cards, paper tape, any other physical medium with patterns of holes, a RAM, a PROM, an EPROM, a FLASH-EEPROM, any other memory chip or cartridge, or any other medium from which a computer can read.
In the drawings, the same reference numbers indicate the same elements. Further, some or all of these elements could be changed. With regard to the media, processes, systems, methods, etc. described herein, it should be understood that, although the steps of such processes, etc. have been described as occurring according to a certain ordered sequence, such processes could be practiced with the described steps performed in an order other than the order described herein. It further should be understood that certain steps could be performed simultaneously, that other steps could be added, or that certain steps described herein could be omitted. In other words, the descriptions of processes herein are provided for the purpose of illustrating certain embodiments, and should in no way be construed so as to limit the claimed invention.
Accordingly, it is to be understood that the above description is intended to be illustrative and not restrictive. Many embodiments and applications other than the examples provided would be apparent to those of skill in the art upon reading the above description. The scope of the invention should be determined, not with reference to the above description, but should instead be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. It is anticipated and intended that future developments will occur in the arts discussed herein, and that the disclosed systems and methods will be incorporated into such future embodiments. In sum, it should be understood that the invention is capable of modification and variation and is limited only by the following claims.
All terms used in the claims are intended to be given their plain and ordinary meanings as understood by those skilled in the art unless an explicit indication to the contrary in made herein. In particular, use of the singular articles such as “a,” “the,” “said,” etc. should be read to recite one or more of the indicated elements unless a claim recites an explicit limitation to the contrary.

Claims

1. A system, comprising a computer in a vehicle, the computer comprising a processor and a memory, wherein the computer is programmed to:

collect data related to a person outside of the vehicle;

use the collected data to generate a virtual map of one or more targets, including at least the person, proximate to the vehicle;

provide a display based on the virtual map that includes information about a location of the person.

2. The system of claim 1, wherein the computer is further configured to provide an instruction to a vehicle controller to take an action.

3. The system of claim 2, wherein the action includes directing at least one vehicle light.

4. The system of claim 1, wherein the collected data includes a position of the vehicle.

5. The system of claim 1, wherein the collected data includes at least one of ultrasonic, image, radar, lidar, and infrared data.

6. The system of claim 1, wherein the computer is further configured to provide information to a remote device based on the collected data.

7. The system of claim 1, wherein the information about the person includes a direction of travel of the person.

8. The system of claim 1, wherein the collected data includes data from at least one of a steering controller, a brake controller, an engine controller, and a transmission controller.

9. The system of claim 1, wherein the computer is further programmed to detect that emergency lights are activated in the vehicle as a trigger to begin collecting the data related to the person outside of the vehicle.

10. A method, carried out according to instructions stored in a computer in a vehicle comprising:

collecting data related to a person outside of the vehicle;

using the collected data to generate a virtual map of one or more targets, including at least the person, proximate to the vehicle;

providing a display based on the virtual map that includes information about a location of the person.

11. The method of claim 10, wherein the computer is further configured to provide an instruction to a vehicle controller to take an action.

12. The method of claim 11, wherein the action includes directing at least one vehicle light.

13. The method of claim 10, wherein the collected data includes a position of the vehicle.

14. The method of claim 10, wherein the collected data includes at least one of ultrasonic, image, radar, lidar, and infrared data.

15. The method of claim 10, further comprising providing information to a remote device based on the collected data.

16. The method of claim 10, wherein the information about the person includes a direction of travel of the person.

17. The method of claim 10, wherein the collected data includes data from at least one of a steering controller, a brake controller, an engine controller, and a transmission controller.

18. The method of claim 10, further comprising detecting that emergency lights are activated in the vehicle as a trigger to begin collecting the data related to the person outside of the vehicle.