WO2017192120A1 - Roadside collison avoidance - Google Patents

Abstract

Data can be received from a plurality of transceivers that are each affixed to respective predetermined transceiver locations on a wearable apparatus. Based on the data, a location and an orientation of the wearable apparatus is determined. The wearable apparatus can comprise a wearable article and a plurality of transceivers. Each of the transceivers can be affixed to respective predetermined transceiver locations on the wearable article. Each of the transceivers can include a processor and a memory, the processor programmed to determine a strength of a respective received signal and to transmit the respective signal strength.

Description

ROADSIDE COLLISION AVOIDANCE

BACKGROUND

[0001] Pedestrians on or near busy roadways risk injury or death by being struck by passing vehicles. For example, emergency responders such as police officers, tow truck drivers, emergency medical personnel, etc., are at risk while responding to roadside incidents. For example, a police officer risks being struck by a passing vehicle while standing outside a cruiser on a busy roadway, e.g., standing next to a vehicle on a road shoulder while processing a traffic ticket, investigating or responding to an accident, etc. Also possible is that an emergency vehicle such as a police cruiser, or some other vehicle parked at a side of a roadway, can be struck by a passing vehicle, pushing the parked vehicle into the pedestrian.

BRIEF DESCRIPTION OF THE DRAWINGS

[0002] Figure 1 is a top perspective view of an example roadside collision avoidance system.

[0003] Figure 2 is a block diagram of the example roadside collision avoidance system of Figure 1.

[0004] Figure 3 is a perspective view of an example wearable apparatus of the system of Figure 1.

[0005] Figure 4A is a top perspective view of a host vehicle transmitting signals to a wearable apparatus.

[0006] Figure 4B is a top perspective view of a host vehicle receiving a signal from a wearable apparatus.

[0007] Figure 5 is a flowchart of an example process for the collision avoidance system of Figure 1.

DETAILED DESCRIPTION

INTRODUCTION

[0008] With reference to Figures 1 and 2, a roadside collision avoidance system 100 includes an apparatus 125 that can be worn by a pedestrian 120 such as a police officer or other emergency responder tending to a roadside incident. A vehicle 105 (sometimes referred to as the "host" vehicle) included in the system 100 can include transceivers 185 including and/or coupled to directional antennas 170, to receive data from the apparatus 125 concerning a location and an orientation of the pedestrian 120 as well as data concerning one or more moving objects 110, e.g., moving vehicles. For example, an object 110 such as a vehicle traveling on a roadway may approach an incident location that includes a stopped emergency vehicle 105 such as a police cruiser and a pedestrian 120 police officer. A vehicle 105 computer 150, in communication with the apparatus 125, may detect a likely collision, e.g., danger to the pedestrian 120 wearing the apparatus 125, and may further cause actuation of the apparatus 125 to alert the pedestrian 120 to take evasive action. For example, the apparatus 125 could be actuated to provide one or more haptic and/or audio alerts, and/or the vehicle 105 could be actuated to provide one or more audio and/or visual alerts, e.g., from the horn, siren or police lights.

EXEMPLARY SYSTEM ELEMENTS

Vehicle

[0009] Figure 2 is a block diagram of an exemplary collision avoidance system 100, including components of a vehicle 105 and an apparatus 125 equipped for collision avoidance. The host vehicle 105 includes one or more data collectors 165 that provide data to the computer 150 to detect and identify moving objects 110, such as other moving vehicles on or proximate to a roadway. Further, the vehicle 105 includes on-board transceivers 185 for wireless communication with the apparatus 125 worn by the pedestrian 120. When a moving object 110 is detected and identified as a threat, the pedestrian 120 can be warned with an audible, visual, and/or haptic signal, and or by output from a device connected to the computer 150 via a wireless technology, e.g., cellular, BLUETOOTH®, BLUETOOTH® low energy (LE), etc.

[0010] The host vehicle 105 is generally a land-based vehicle having three or more wheels, e.g., a passenger car, light truck, etc. The vehicle 105 computer 150 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 150 may include and/or be communicatively coupled to more than one computing device, e.g., controllers or the like included in the vehicle 105 for monitoring and/or controlling various vehicle components, e.g., an engine control unit, transmission control unit, etc.

[0011] The computer 150 is generally configured, i.e., could include hardware and/or software, for communications on a vehicle 105 network such as a controller area network (CAN) bus or the like. The computer 150 may also have a connection to an onboard diagnostics connector (OBD-II). Via the CAN bus, OBD-II, and/or other wired or wireless mechanisms, the computer 150 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 165 and on-board transceivers 185. Alternatively or additionally, in cases where the computer 150 actually comprises multiple devices, the CAN bus or the like may be used for communications between devices represented as the computer 150 in this disclosure. In addition, the computer 150 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. As described below, the computer 150 is also configured for wireless communication between the vehicle 105 and the apparatus 125, e.g., via cellular, BLUETOOTH®, BLUETOOTH® LE, etc.

[0012] Data collectors 165 may include a variety of devices. For example, as illustrated in Figure 2, data collectors 165 can include one or more ultrasonic sensors, cameras, lidar sensors, radar sensors operating at, e.g., 24 GHz, 60 GHz, 79 GHz, etc., infrared sensors, etc.

[0013] Further, the foregoing examples are not intended to be limiting; other types of data collectors 165 could be used to provide data to the computer 150. For example, various controllers in a vehicle 105 may operate as data collectors 165 to provide data via the CAN bus, e.g., data relating to the speed, heading, and/or acceleration, etc. of the moving object 110. Further, sensors or the like, global positioning system (GPS) equipment, etc., could be included in a vehicle 105 and configured as data collectors 165 to provide data directly to the computer 150, e.g., via a wired or wireless connection.

[0014] The memory of the computer 150 generally stores collected data. Collected data may include a variety of data collected in the vehicle 105. Examples of collected data may include measurements relating to a position, velocity, and size (e.g., length, width, height, radar cross section) of target(s) such as moving objects 110 near the vehicle 105. Additionally, collected data may include data calculated therefrom in the computer 150 as well as data received from the apparatus 125. In general, collected data may include any data that may be gathered by the data collectors 165, on-board transceivers 185 and/or computed from such data.

[0015] The vehicle 105 may include a measurement unit 210. The measurement unit 210 is a hardware device used to measure the power present in a received RF signal. The measuring unit 210 measures signal strengths of beacon signals received from data transmitted by the transceivers 130 of the apparatus 125 (see Figure 4B). For example, the measurement unit 210 measures the power present in the beacon signals from the data received by the on-board transceivers 185 via the computer 150 and provides back to the computer 150 an indication of the power present in the beacon signal, e.g., a received signal strength indicator (RSSI).

[0016] The computer 150, may be configured for short range, wireless communication with the apparatus 125, e.g., the processor 155. For example, the vehicle 105 on-board transceivers 185 may be BLUETOOTH® transceivers capable of forming links with other BLUETOOTH® enabled transceivers, e.g., the apparatus 125 transceivers 130. Alternatively or additionally to BLUETOOTH®, other suitable wireless communication protocols, e.g., BLUETOOTH® LE, 3rd generation (3G) Universal Mobile Telecommunication System (UMTS) protocols as defined by the 3rd Generation Partnership Project (3GPP), 4th generation (4G) Long-Term Evolution (LTE) protocols as defined by 3GPP, IEEE 802.11 or other protocols as may be known, may be used for communication between the vehicle 105 and the apparatus 125. One such protocol, 4G LTE as defined by the 3 GPP standards body, operating in the 60 GHz band, may allow the directional antennas 170 to be shared between the data collectors 165 and on-board transceivers 185, as discussed further below.

Apparatus

[0017] The wearable apparatus 125 includes the transceivers 130, e.g., transceiver 130a- 130d, and actuators 135, e.g., 135a- 135d, affixed to a wearable article 140. The wearable article 140, for example, typically is a belt or the like worn about a waist of the pedestrian 120. Further, the article 140 has specified positions, typically associated with sides of the pedestrian 120, i.e., front, back, right and left. The transceivers 130a- 130d and actuators 135a- 135d are respectively placed at these specified positions about a perimeter 145 of the apparatus 125, as illustrated in Figure 3. As described below, the specified positions of the transceivers 130a-130d allow the computer 150 to determine the location and orientation of the wearable article 140, and hence the apparatus 125, with respect to the vehicle 105. Subsequently, having the actuators 135a- 135d positioned at the specified positions, i.e., front, back, right, left, respectively, the pedestrian 120 can be instructed to move in a specific direction by activating one or more specific actuators 135.

[0018] The apparatus 125 typically includes a processor 155 and a memory 156 coupled to all of the transceivers 130. The processor 155 may be programmed to execute programs stored in the memory 156, and may be programmed to wirelessly communicate with the computer 150 via the transceivers 130 in order to, for example, transmit and/or receive data, activate the actuators via an activation signal, etc. The actuators 135 include the processor 155 and the memory 156. The processor 155 is programmed to execute programs stored in the memory 156, and may be programmed to wirelessly communicate with the computer 150 via the transceivers 130 to e.g., determine if the activation signal was received, activate the actuators, etc. Alternatively, the apparatus 125 could include multiple processors 155, e.g., a processor 155 could be dedicated to each transceiver 130 / actuator 135 pair. In cases where the apparatus 125 includes multiple processors 155, a low-cost local interconnect network (LIN) bus, universal asynchronous receiver/transmitter (UART), etc., may be used for communication between such devices on the wearable apparatus 125.

[0019] The apparatus 125 may include a measurement unit 205. The measuring unit 205 is similar to the measurement unit 210 mentioned above in that the unit 205 measures signal strengths of one or more signals transmitted from the vehicle 105. The one or more signals are generated from the computer 150 and transmitted from the on-board transmitters 185 via the directional antennas 170, as discussed below, to the apparatus 125, as shown by the transmission signal direction arrow in Figure 4A. For example, the measurement unit 205 measures the power present in the one or more signals from the data received by the transceivers 130 via the processor 155 and provides back to the processor 155 an indication of the power present in the one or more signals, e.g., a received signal strength indicator (RSSI).

[0020] The processor 155 may command the transceivers 130 transmit data to the on-board transceivers 185, as shown in Figure 4B, where only one transceiver 130c of four is shown transmitting for illustration purposes. The transceivers 130 utilize omnidirectional antennas that transmit data 180 in all directions, which is then received by the on-board transceivers 185 where the transmission direction is shown by the directional arrow in Figure 4B.

Directional Antennas

[0021] Referring back to Figure 2, the data collectors 165, e.g., transceivers used by the data collectors 165, are electrically connected to directional antennas 170. Directional antennas 170 are, as is known, electrical devices that convert electrical power into radio frequency (RF) waves, and vice versa. The directional antennas 170, as is also known, provide increased performance over dipole antennas - and omnidirectional antennas in general - by concentrating RF waves in a specific direction. The increased performance of a directional antenna 170, e.g., higher gain, reduced interference, etc., established by concentrating the RF waves into a narrow beam provides an ability to track moving objects 1 10 at greater distances from the vehicle 105 than would otherwise be possible. In other words, the directional antennas 170 can collect data, e.g., distance, velocity, etc., of one or more moving objects 1 10 over greater distances than would be possible with dipole antennas or omnidirectional antennas in general. Advantageously, therefore, the system 100 optimizes an amount of time available to warn the pedestrian 120 of a potential impending collision. Further, the moving object 110 could be transmitting a beacon signal, e.g., from an antenna connected to a transceiver on the moving object 110. One or more data collectors 165, e.g., a host vehicle 105 radar antenna 165, could receive the moving object 1 10 beacon signal, from which the computer 150 could determine moving object 110 parameters, e.g., distance, velocity, etc.

[0022] Due to the narrow angular width of directional antenna 170 RF waves, a plurality of directional antennas 170 are included in the system 100 to detect moving objects 110. In the example illustrated in Figure 1, sixteen directional antennas 170 are mounted at various locations on the vehicle 105. Each antenna 170 can emit a beam 190, i.e., a set of radio frequency (RF) waves such as is known. Eight of the antennas 170 emit respective beams 190r outwardly from a rear of the vehicle 105. The other eight antennas 170 in the example system 100 of Figure 1 each emit their respective beams 190f outwardly from a front of the vehicle 105, i.e., in a forward direction with respect to the vehicle 105.

[0023] The beams 190 may be directed by the respective directional antennas 170 such that the beams 190 are adjacent to one another to form angular sectors of a circle. Together, the area covered by a set of beams 190 forming sectors of a circle form a detection zone 175, e.g., Figure 1 shows zones 175r, 175f. A zone 175r may be to the rear of the host vehicle 105 to detect moving objects 110 that could present a threat to a pedestrian 120, e.g., a wearer of the apparatus 125. A zone 175f may be to the front of the host vehicle 105 to further detect moving objects 110.

[0024] In the example of Figure 1 , the center of the circles for each of the sets of beams 190r, 190f substantially coincides with a center 180 of the vehicle 105. The moving object detection zones 175 are typically defined according to areas determined to be areas in which data collectors 165 in the vehicle 105 are likely to obtain reliable and useful data for the approach warning system 100. A detection zone 175 area may be changed by increasing or decreasing a number of directional antennas 170 mounted to the vehicle 105. A larger detection zone 175 can accommodate conditions such as an emergency vehicle 105 parked at an angle, i.e., not perpendicular, with the roadway, as shown in Figure 1.

[0025] With reference to Figures 2 and 4A-4B, the on-board transceivers 185 are electrically connected to yet another set of directional antennas 170w to track the location and orientation of the wearable article 140. In a similar fashion to that described above, an apparatus detection zone 200 includes apparatus detection beams 195, i.e., RF waves of the antennas 170w connected to the on-board transceivers 185, as shown in Figure 4A. For example, nine antennas 170w are mounted at various locations on the vehicle 105 and the respective apparatus detection beams 195 point outward from the front of the vehicle 105. The apparatus detection zone 200 is formed by the beams 195, which are in turn angular sectors of a circle whose center in this example substantially coincides with the center 180 of the vehicle 105. A larger or second apparatus detection zone 200, although not shown in the figures, could accommodate a second pedestrian wearing another apparatus 125 located on a passenger side of a stopped vehicle 115, where the stopped vehicle 115 is shown in Figures 1 and 4A-4B.

[0026] The apparatus detection zone 200 is typically defined according to areas determined to be areas in which the system 100 is likely to obtain reliable and useful data for the location and orientation of the wearable article 140, and hence the apparatus 125. As discussed above, the detection zones 175, in contrast, are areas from which collected data is used to determine attributes of moving objects on or near a roadway, e.g., position, velocity, etc., of the moving objects 110. Detection zones 175 and detection zone 200 may overlap.

[0027] The directional antennas may be of any suitable type, e.g., Yagi, log-periodic, corner reflector antenna, etc. The directional antennas 170 may be mounted at various locations on the host vehicle 105, e.g., roof mounted police light bar, front grill, rear bumper, spoiler in rear deck lid, dedicated roof bar, etc. As mentioned above, if frequency bands used with the data collectors 165 and the on-board transceivers 185 are similar, directional antennas 170 may be shared. For example, the directional antennas 170 mounted to the front of the vehicle 105 used by the data collectors 165 in Figure 1 may be shared by the directional antennas 170 mounted to the front of the vehicle 105 used by the on-board transceivers 185 in Figure 4A.

Apparatus Location and Orientation

1 [0028] A location of the apparatus 125 may be determined from the signal strengths of the one or more signals transmitted by the on-board transceivers 185 and measured by the apparatus 125, i.e., measured by the measurement unit 205. The computer 150, after receiving the signal strengths transmitted back from the apparatus 125, may associate a strongest received signal strength with the specific directional antenna 170 that sent the signal. Because the directional antennas 170 are pointing at known angular directions with respect to a longitudinal axis A of the vehicle 105 (see Fig. 4A), an angle a may be determined that estimates an angle of the directional antenna 170 that transmitted the strongest signal, i.e., the angle a between the Axis A and a line from the host vehicle 105 center 180 to the apparatus 125, as illustrated in Figure 4A. Based on the received signal strengths, the processor 150 may also determine a distance, using known techniques for evaluating and comparing signal strengths, of the apparatus 125 with respect to the vehicle 105. The angle a and the distance may determine the location of the apparatus 125 with respect to the vehicle 105.

[0029] Alternatively or additionally, the location of the wearable article 140 may be determined from beacon signals transmitted from the transceivers 130 (see Figure 4B). As mentioned above, the measuring unit 210 may measure the signal strength of the beacon signals transmitted to the vehicle 105. In the same manner as discussed above, the directional antenna 170 associated with a strongest signal strength received by the on-board transceivers 185 may be used to estimate the angle a. Then, based on the beacon signal strengths, the apparatus 125 distance from the vehicle 105 may be determined.

[0030] A combination of both location determination techniques discussed above may be used by the computer 150 for improved location accuracy and/or redundancy, e.g., if one technique fails, the other technique may be used for backup apparatus 125 location determination.

[0031] As yet another alternative, travel-time differences of the beacon signals transmitted from the transceivers 130, received by the on-board transceivers 185 and measured, as is known, by the computer 150, may be used to determine the location of the apparatus 125 relative to the vehicle 105. Reciprocally, travel-time differences of a beacon signal transmitted from a transceiver on the vehicle 105 (not shown), received by the transceivers 130 and measured, as is known, by the processor 155 of the apparatus 125 may be used to estimate a location of the vehicle 105 relative to the apparatus 125. [0032] An orientation of the wearable article 140, and hence the apparatus 125 and further, by inference, an orientation of a pedestrian 120, may be determined by comparing signal strengths of the one or more signals received by the transceivers 130a-130d. For example, and as illustrated in Figure 4A, transceiver 130c will have the strongest signal strength because it is closest to the vehicle 105. If the transceiver 130c specified position on the wearable apparatus 125 is associated with, e.g., a right side of the pedestrian 120, and comparing the remaining relative signal strengths of the remaining transceivers 130a, 130b, and 130d, the orientation of the pedestrian 120 may be determined with respect to the vehicle 105. In the present context, "orientation" refers to position relative to a 3-axis coordinate system, e.g., angles with respect to a vertical and horizontal plane.

[0033] Alternatively or additionally, the orientation of the wearable article 140 may be determined by the computer 150 by comparing signal strengths of the beacon signals transmitted by the transceivers, e.g., 130a-130d, and received by the on-board transceivers 185 and measured by the measuring unit 210 (see Figure 4B). By comparing the relative beacon signal strengths in a similar manner as described above, the orientation of the wearable article 140 may be determined. Reciprocally, the processor 155 of the apparatus 125 may estimate the orientation of the wearable article 140 relative to the vehicle 105 from a beacon signal transmitted from a transceiver on the vehicle 105 (not shown) by comparing relative signal strengths received by the transceivers 130 as measured by the measuring unit 205 in a similar manner as described above.

Object Detection and Action Initiation

[0034] In general, the computer 150 is programmed to process data received from the data collectors 165 related to moving object 110 activity in the detection zones 175, and data received from the on-board transceivers 185 related to the location and orientation of the apparatus 125 in the apparatus detection zone 200. In one implementation, a detection zone 175r, i.e., at a rear of a host vehicle 105, can be provided to detect moving objects 110. That is, moving object 110 can be vehicles approaching an emergency vehicle 105 from the rear. Therefore, the system 100 is configured to detect moving objects 110 to the rear of the host vehicle. Moving objects 110 and their trajectories, e.g., velocities and/or headings, can be detected using known techniques such as discussed above, e.g., travel-time differences, comparative signal strengths, etc., e.g., determined by the measurement unit 210.

[0035] If a moving object 110 is detected within a predetermined distance from the wearable article 140, and by inference the pedestrian 120, the computer 150 may initiate an action. In some implementations, whether an action is initiated is further dependent on, e.g., velocity, acceleration, deceleration, heading, etc., of the moving object 110. For example, the action may vary depending on how close the moving object 110 is to the wearable article 140. There may be more than one predetermined distance, and a selected action may depend on the specific predetermined distance. For example, the action initiated by the computer 150 when the moving object 110 comes to within a first predetermined distance of the article 140 may include actuating a light, a siren, or a horn of the vehicle 105 or any combination thereof. As a threat increases, i.e., the moving object 110 comes to within a second predetermined distance that is closer to the article 140, the action may be to increase an intensity of actuation of the light and/or siren and/or horn. As the threat further increases, i.e., the moving object 110 comes to within a third predetermined distance that is yet closer to the article 140, one or two actuators 135 may be activated (e.g., made to vibrate) by the processor 155 after receiving the action from the computer 150 advising the pedestrian 120 of an escape direction away from the moving object 110. For example, because the computer 150 determines the relative location and orientation of the article 140 with respect to both the vehicle 105 and the moving object 110, the computer 150 transmits data to the processor 155 that may include which individual actuator 135 or pair of actuators 135 are to be activated directing the pedestrian 120 to move away from the moving object 110. This action is made possible by locating the apparatus 125 actuators 135a-135d at specified positions, i.e., front, back, right, and left sides corresponding to the sides of the pedestrian 120 when the apparatus 125 is worn. Further initiated actions may include actuating all actuators 135 simultaneously, or any combination of actions described above.

[0036] The processor 155 may determine whether the action signal was received by the respective transceiver 130a-130d of the apparatus 125, and include this determination as part of the data transmitted back to the computer 150. The computer 150 may store the collected data in the computer 150 memory along with a time of when the data was received by the computer 150, i.e., timestamp. This information may be used by the system 100 for diagnostic purposes.

EXEMPLARY PROCESS FLOW

[0037] Figure 5 is a flowchart of an exemplary process 300 for a pedestrian 120 collision avoidance system 100. The process 300 begins in a block 305, in which the controller 150 receives data from data collectors 165 that monitor one or more moving objects 110 within the moving object detection zones 175. For example, as mentioned above, data collectors 165 or other controllers operating as data collectors 165 in the vehicle 105 may provide data to the computer 150 via wired and/or wireless connections. The data gathered by the data collectors 165 may be stored in the memory of the computer 150.

[0038] Following the block 305, in a block 310, in which either the computer 150, the processor 155, or both determine the location and orientation of the wearable article 140, and by inference, the location and orientation of the pedestrian 120 within the apparatus detection zone 200. Various techniques for determination of apparatus 125 location and orientation, e.g., using signal strength and/or signal travel-time differences, are described above. In implementations in which the processor 155 determines the location and/or the orientation of the wearable article 140, that data is transmitted from the processor 155 via the transceivers 130 to the host vehicle 105 onboard transceivers 185. The data gathered by the on-board transceivers 185 may be stored in the memory of the host vehicle 105 computer 150.

[0039] Accordingly, next, in a block 315, having obtained data as described above concerning the blocks 305, 310, the computer 150 can determine if any moving object 110 is a threat to the pedestrian 120. By knowing the relative location and orientation of the pedestrian 120, as determined in the block 310, the computer 150 determines from the data collector 165 data whether the moving object 110 is within one or more predetermined distances from the pedestrian 120. (As mentioned above, there may be more than one predetermined distance for determining different actions on detecting a collision threat). If the moving object 110 is within a predetermined distance, the process 300 proceeds to a block 325. If the moving object 110 is not within the predetermined distance, a block 320 is executed next.

[0040] In the block 320, the computer 150 determines whether the process 300 should continue. For example, the computer 150 could receive a power-down signal from the apparatus 125, e.g., the pedestrian 120 has entered the vehicle 105 and collision detection is no longer required, etc. In any event, if the process 300 should continue, then the block 305 is executed next. Otherwise, the process 300 ends.

[0041] The block 325 follows the block 315. In the block 325, the computer 150 initiates an action based upon on how close the moving object 110 is to the pedestrian 120. The various actions mentioned above, or any combination thereof, may be initiated by the computer 150. The computer 150 may determine to actuate the light, siren, or horn in any combination on the vehicle 105. The computer 150 may determine to transmit the action signal via the on-board transceivers 185 to one or more actuators 135 via the transceivers 130 and processor 155. The computer 150 may use any data from the data collectors 165 and/or computed data, e.g., acceleration, moving object 110 trajectory with respect to the pedestrian 120, etc. to augment the decision of which action to initiate.

[0042] Following the block 325, in a block 330, the computer 150 determines whether the process should once again continue. As mentioned above, the computer 150 e.g., could receive a termination signal from the apparatus 125, etc. In any event, if the process 300 should continue, then the block 305 is executed next. Otherwise, the process ends.

[0043] With respect to the figures, the elements shown and described may take many different forms and can include multiple and/or alternate components. The example components illustrated are not intended to be limiting. Indeed, additional or alternative components and/or implementations may be used. Further, the elements shown are not necessarily drawn to scale unless explicitly stated as such.

[0044] As used herein, the adverb "substantially" modifying an adjective means that a shape, structure, measurement, value, calculation, etc. may deviate from an exact described geometry, distance, measurement, value, calculation, etc., because of imperfections in materials, machining, manufacturing, sensor measurements, computations, processing time, communications time, etc.

[0045] In general, the computing systems and/or devices described may employ any of a number of computer operating systems, including, but by no means limited to, versions and/or varieties of the Ford SYNC® application, AppLink/Smart Device Link middleware, the MICROSOFT® Automotive operating system, the Microsoft WINDOWS® operating system, the Unix operating system (e.g., the SOLARIS® operating system distributed by Oracle Corporation of Redwood Shores, California), the AIX UNIX operating system distributed by International Business Machines of Armonk, New York, the Linux operating system, the Mac OSX and iOS operating systems distributed by Apple Inc. of Cupertino, California, the BlackBerry OS distributed by Blackberry, Ltd. of Waterloo, Canada, and the Android operating system developed by Google, Inc. and the Open Handset Alliance, or the QNX® CAR Platform for Infotainment offered by QNX Software Systems. Examples of computing devices include, without limitation, an on-board vehicle computer, a computer workstation, a server, a desktop, notebook, laptop, or handheld computer, or some other computing system and/or device. [0046] Computing devices generally include computer-executable instructions, where the instructions may be executable by one or more computing devices such as those listed above. 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, etc. Some of these applications may be compiled and executed on a virtual machine, such as the Java Virtual Machine, the Dalvik virtual machine, or the like. 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.

[0047] A computer-readable medium (also referred to as a processor-readable medium) includes any non-transitory (e.g., tangible) medium that participates in providing data (e.g., instructions) that may be read by a computer (e.g., by a processor of a computer). Such a medium may take many forms, including, but not limited to, non-volatile media and volatile media. Non-volatile media may include, for example, optical or magnetic disks and other persistent memory. Volatile media may include, for example, dynamic random access memory (DRAM), which typically constitutes a main memory. Such instructions may be transmitted by one or more transmission media, including coaxial cables, copper wire and fiber optics, including the wires that comprise a system bus coupled to a processor of a computer. 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.

[0048] Databases, data repositories or other data stores described herein may include various kinds of mechanisms for storing, accessing, and retrieving various kinds of data, including a hierarchical database, a set of files in a file system, an application database in a proprietary format, a relational database management system (RDBMS), etc. Each such data store is generally included within a computing device employing a computer operating system such as one of those mentioned above, and are accessed via a network in any one or more of a variety of manners. A file system may be accessible from a computer operating system, and may include files stored in various formats. An RDBMS generally employs the Structured Query Language (SQL) in addition to a language for creating, storing, editing, and executing stored procedures, such as the PL/SQL language mentioned above.

[0049] In some examples, system elements may be implemented as computer-readable instructions (e.g., software) on one or more computing devices (e.g., servers, personal computers, etc.), stored on computer readable media associated therewith (e.g., disks, memories, etc.). A computer program product may comprise such instructions stored on computer readable media for carrying out the functions described herein.

[0050] With regard to the processes, systems, methods, heuristics, 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 claims.

[0051] 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 upon reading the above description. The scope 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 technologies discussed herein, and that the disclosed systems and methods will be incorporated into such future embodiments. In sum, it should be understood that the application is capable of modification and variation.

[0052] All terms used in the claims are intended to be given their ordinary meanings as understood by those knowledgeable in the technologies described herein unless an explicit indication to the contrary is 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. [0053] The Abstract is provided to allow the reader to quickly ascertain the nature of the technical disclosure. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims.

Claims

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

receive data from a plurality of transceivers that are each affixed to respective predetermined transceiver locations on a wearable apparatus; and

based on the data, determine a location and an orientation of the wearable apparatus.

2. The system of claim 1, wherein the computer is further programmed to:

collect data related to a moving object;

predict that the moving object will pass within a predetermined distance of the wearable apparatus; and

initiate an action based on the determination.

3. The system of claim 2, further comprising the wearable apparatus, including a plurality of actuators that are each affixed to respective predetermined actuator locations on the wearable apparatus, the plurality of actuators including a processor and a memory, the processor programmed to determine whether to activate one or more actuators upon receiving an action signal.

4. The system of claim 3, wherein the action includes transmitting the action signal to one or two actuators based on the orientation of the wearable apparatus.

5. The system of claim 4, further comprising on-board transceivers each including a directional antenna coupled to the on-board transceiver.

6. The system of claim 5, wherein the computer is further programmed to command the onboard transceivers to transmit one or more signals.

7. The system of claim 6, further comprising the plurality of transceivers, the transceivers including the processor and the memory, the processor further programmed to: determine a signal strength of the one or more signals received by the respective transceivers,

determine whether the action signal was received by the respective transceiver, and transmit the data including the respective signal strength and the action signal determination.

8. The system of claim 4, further comprising the plurality of transceivers, the transceivers including the processor and the memory, the processor further programmed to:

transmit the data including a beacon signal from each of the transceivers; and

determine that the action signal was received by the respective transceivers.

9. The system of claim 8, further comprising on-board transceivers, each including a directional antenna.

10. The system of claim 9, wherein the computer is further programmed to:

receive the data from the on-board transceivers,

determine a beacon strength of the beacon signal from the respective transceiver and based on the beacon strengths, determine the location and the orientation of the wearable article.

11. The system of claim 2, wherein the action includes at least one of actuating a light, actuating a siren and actuating a horn.

12. An apparatus, comprising:

a wearable article; and

a plurality of transceivers, each affixed to respective predetermined transceiver locations on the wearable article,

the transceivers including a processor and a memory, the processor programmed to determine a strength of a respective received signal and to transmit the respective signal strength.

13. The apparatus of claim 12, wherein the predetermined transceiver locations are spaced substantially evenly about a perimeter of the apparatus.

14. The apparatus of claim 12, further comprising a plurality of actuators that are each affixed to respective predetermined actuator locations on the wearable article, the plurality of actuators including the processor and the memory, the processor further programmed to determine whether to activate one or more actuators upon receiving an action signal.

15. The apparatus of claim 13, wherein the predetermined actuator locations are spaced substantially evenly about a perimeter of the apparatus.

16. A system, comprising:

a wearable article;

a plurality of transceivers affixed to predetermined transceiver locations on the wearable article, the transceivers including a processor and a memory, the processor programmed to determine a strength of a respective received signal and to transmit the respective signal strength; on-board transceivers each including a directional antenna coupled to the on-board transceiver;

a computer that includes a processor and a memory, wherein the computer is programmed to:

command the on-board transceivers to transmit one or more signals;

receive the respective transceiver signal strengths;

based on the strengths, determine a location and an orientation of the wearable article; collect moving data related a moving object;

determine that the moving object is likely to pass within a predetermined distance of the wearable article; and

initiate an action based on the determination.

17. The system of claim 16, further comprising actuators affixed to predetermined actuator locations, each actuator including the processor and the memory, the processor further programmed to determine whether to activate the respective actuator upon receiving an action signal.

18. The system of claim 17, wherein the action includes transmitting the action signal to one or two actuators based on the orientation of the wearable article.

19. The system of claim 18, the processor further programmed to:

Transmit data including a beacon signal from each of the transceivers and a determination of whether the action signal was received by the respective transceiver.

20. The system of claim 19, wherein the computer is further programmed to:

determine a beacon strength of the beacon signal from the respective transceiver and based on the beacon strengths, determine the location and the orientation of the wearable article.