WO2023131718A1 - Moving object detection system for use by the visually impaired - Google Patents

Moving object detection system for use by the visually impaired Download PDF

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Publication number
WO2023131718A1
WO2023131718A1 PCT/EP2023/050443 EP2023050443W WO2023131718A1 WO 2023131718 A1 WO2023131718 A1 WO 2023131718A1 EP 2023050443 W EP2023050443 W EP 2023050443W WO 2023131718 A1 WO2023131718 A1 WO 2023131718A1
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WO
WIPO (PCT)
Prior art keywords
user
moving object
detection system
detector
distance
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Application number
PCT/EP2023/050443
Other languages
French (fr)
Inventor
Maura Moore-Mccune
Original Assignee
Moore Mccune Maura
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Moore Mccune Maura filed Critical Moore Mccune Maura
Publication of WO2023131718A1 publication Critical patent/WO2023131718A1/en

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/18—Status alarms
    • G08B21/22—Status alarms responsive to presence or absence of persons

Definitions

  • the invention relates to a moving object detection system, particularly for use by visually impaired users.
  • the invention may also be used by users in restricted visibility situations and environments.
  • Visual impairment describes all levels of sight loss, from moderate, to s evere, to complete blindness. It affects approximately a quarter of a million people in Ireland.
  • Visually impaired people can find it difficult to detect moving objects within their restricted field of vision or with restricted visual acuity. This causes uncertainty and lack of independence. Visually impaired people can experience particular difficulties with fast approaching, moving objects, such as cars or e scooters, particularly electric cars and e scooters which are almost silent. A visually impaired person could have difficultly seeing such objects, and gauging the speed or distance of a fast approaching, moving object.
  • a moving object detection system comprising: a detector configured to identify at least one characteristic of the moving object, use the characteristic to determine if the moving object poses a threat to the user and generate a warning indication when the moving object poses a threat to the user, and a warning device configured to receive the warning indication from the detector and emit at least one warning sign to the user which indicates the moving object threat to the user.
  • the user may be a vulnerable road user (VRU).
  • the user may be a visually impaired person. The system enables such users to become independent road users.
  • the detection system may comprise a stand-alone system.
  • the stand-alone detection system may comprise a wearable device, such as a wrist band or an arm band.
  • the detection system may be incorporated into an existing device.
  • the detection system may be incorporated into a wearable device.
  • the wearable device may be a wrist band, such as a smart watch, or an armband.
  • the detection system may be incorporated into a smart phone.
  • the detection system may be operated using an application on the smart phone.
  • the application may supply the user with a unique user ID, identifying the user as a pedestrian, driver, or other road user such as cyclist, horse rider, electric scooter user, etc.
  • the application allows each user to be aware of the presence of other users, and to change their behaviour accordingly, improving road safety.
  • the detector may be configured to identify at least one characteristic of the moving object comprising any of a location of the object relative to the user, a speed of the object relative to the user, a trajectory of the object relative to the user, a distance of the object from the user, a type of the object.
  • the detector may comprise a magnetic field signal detector configured to detect at least one magnetic field signal from the moving object and use the at least one magnetic field signal to identify at least one characteristic of the moving object.
  • the magnetic field signal detector may detect a strength of the magnetic field signal from the moving object and use this to identify at least one characteristic of the moving object comprising a distance of the moving object from the user.
  • the detector may comprise an ultrasonic signal detector configured to detect at least one ultrasonic signal from the moving object and use the at least one ultrasonic signal to identify at least one characteristic of the moving object.
  • the ultrasonic signal detector may emit at least one ultrasonic signal and receive at least one ultrasonic signal which has bounced off the moving object.
  • the at least one emitted ultrasonic signal and the at least one received ultrasonic signal may have a frequency above the range of human hearing.
  • the at least one emitted ultrasonic signal may be emitted from a speaker of the ultrasonic signal detector.
  • the at least one received ultrasonic signal may be received by a microphone of the ultrasonic signal detector.
  • the ultrasonic signal detector may measure an amount of time between emitting at least one ultrasonic signal and receiving at least one ultrasonic signal and use the time to identify a characteristic of the moving object comprising a distance of the moving object from the user.
  • the detector may comprise a global positioning detector configured to identify at least one characteristic of the moving object comprising a location of the moving object relative to the user.
  • the global positioning detector may use a global positioning system to determine a location of the moving object and a location of the user and use the locations to identify the characteristic of the moving object comprising a distance of the object from the user.
  • the detector may comprise a radio frequency signal detector configured to detect at least one radio frequency signal from the moving object and use the at least one radio frequency signal to identify at least one characteristic of the moving object.
  • the at least one characteristic of the moving object may comprise any of a location of the object relative to the user, a speed of the object relative to the user, a distance of the object from the user, a trajectory of the moving object.
  • the at least one radio frequency signal from the moving object may be emitted by the moving object using cellular technology, for example the V2X system.
  • the detector may comprise at least one camera configured to detect at least one light signal from the moving object and use the at least one light signal to identify at least one characteristic of the moving object.
  • the at least one characteristic of the moving object may comprise any of a location of the object relative to the user, a speed of the object relative to the user, a distance of the object from the user, a trajectory of the moving object, a type of the moving object.
  • the at least one camera may comprise a computer vision identifier (CVI) system which may be used to identify at least one characteristic of the moving object comprising a type of the moving object.
  • the detector may comprise a plurality of cameras which provide 360° detection of light signals.
  • the detector may comprise a light detection and ranging (LiDAR) signal detector configured to detect at least one LiDAR signal from the moving object and use the at least one LiDAR signal to identify at least one characteristic of the moving object.
  • the at least one characteristic of the moving object may comprise any of a speed of the object relative to the user, a distance of the object from the user, a trajectory of the moving object.
  • the detector of the detection system may comprise a combination of any of the detectors described above.
  • the identified characteristic of the moving object may comprise a distance of the object from the user and the detector may determine that the moving object poses a threat to the user by determining that the distance is equal to or less than a predetermined distance of the object from the user.
  • the predetermined distance of the object from the user may be preset by the user of the detection system.
  • the predetermined distance of the object from the user may be a default distance, for example 50m.
  • the identified characteristic of the moving object may comprise a speed of the object and the detector may determine that the moving object poses a threat to the user by determining that the speed is equal to or greater than a predetermined speed of the object.
  • the predetermined speed of the object may be preset by the user of the detection system.
  • the predetermined speed of the object may be a default speed.
  • the identified characteristic of the moving object may comprise a type of the object and the detector may determine that the moving object poses a threat to the user by determining that the type is the same as a predetermined type of the object.
  • the predetermined type of the object may be preset by the user of the detection system.
  • the predetermined type of the object may be a default type, for example any of a vehicle, an electric scooter.
  • the warning device may comprise any of a speaker, a haptic device, a screen.
  • the speaker, haptic device and screen may be provided by the detection system in a standalone system.
  • the speaker, haptic device and screen may be provided by a smart phone into which the detection system is incorporated.
  • the speaker, haptic device and screen may be operated using an application on the smart phone.
  • the speaker, haptic device and screen may be provided by existing accessibility features, such as text to speech (TalkBack), high contrast themed display screen, haptic vibration system, font enlarger and voice recognition.
  • the warning device may emit at least one warning sign to the user which indicates the threat to the user comprising any of an audible warning sign, a haptic warning sign, a visual warning sign.
  • the warning sign may inform the user of any of location of the moving object, speed of the moving object, trajectory of the moving object, distance between the user and the moving object, change of location of the moving object, change of speed of the moving object, change of trajectory of the moving object, change of distance between the user and the moving object.
  • the audible warning sign may comprise any of a unique alarm ringtone, an audio signal using a text to speech function.
  • the audible warning sign may comprise a description of any of location of the moving object, speed of the moving object, trajectory of the moving object, distance between the user and the moving object, change of location of the moving object, change of speed of the moving object, change of trajectory of the moving object, change of distance between the user and the moving object.
  • the haptic warning sign may comprise a vibration.
  • the haptic warning sign may have a duration which depends on any of location of the moving object, speed of the moving object, trajectory of the moving object, distance between the user and the moving object, change of location of the moving object, change of speed of the moving object, change of trajectory of the moving object, change of distance between the user and the moving object.
  • the visual warning sign may comprise any of a text display on a screen, a background colour of a screen.
  • the visual warning sign may indicate any of location of the moving object, speed of the moving object, trajectory of the moving object, distance between the user and the moving object, change of location of the moving object, change of speed of the moving object, change of trajectory of the moving object, change of distance between the user and the moving object.
  • the warning device may send a warning sign to a separate display unit, which may be worn on the user's wrist, or attached to their clothing. This display unit makes it easier for a partially sighted person to be alerted within their field of vision.
  • the warning device may send a warning sign to a driver of the moving object, to give a warning of the presence of the user.
  • Figure 1 is a flow chart illustrating the operation of a first embodiment of the detection system of the invention
  • Figure 2 is a flow chart illustrating the operation of a second embodiment of the detection system of the invention.
  • Figure 3 is a flow chart illustrating the operation of a third embodiment of the detection system of the invention.
  • Figure 4 is a flow chart illustrating the operation of a fourth embodiment of the detection system of the invention.
  • Figure 5 is a flow chart illustrating the operation of a fifth embodiment of the detection system of the invention.
  • Figure 6 is a flow chart illustrating the operation of a sixth embodiment of the detection system of the invention.
  • Figure 7 is a flow chart illustrating the operation of a seventh embodiment of the detection system of the invention.
  • the detector comprises a magnetic field signal detector configured to detect at least one magnetic field signal from the moving object and use the at least one magnetic field signal to identify at least one characteristic of the moving object.
  • the magnetic field signal detector detects a strength of the magnetic field signal from the moving object and uses this to identify at least one characteristic of the moving object comprising a distance of the moving object from the user.
  • Step 1 the detector of the detection system determines if a magnetic field has been detected. The magnet represents the approaching vehicle. If yes (S1 Yes), the detection system continues to Step 2. If no (S1 No), the detection system returns to Step 1.
  • step 2 the detector of the detection system determines the strength of the detected magnetic field signal and uses this to identify a distance of the moving object from the user. The detector of the detection system uses the distance to determine if the moving object poses a threat to the user and generates a warning indication when this is the case.
  • a warning device of the detection system receives the warning indication from the detector and emits at least one warning sign to the user which alerts the user to the moving object threat. The warning sign alerts the user with a unique alarm ringtone for a given magnetic field strength, or ‘zone 1 , and displays a corresponding number between 1-10.
  • the detector comprises a radio frequency signal detector configured to detect at least one radio frequency signal from the moving object and use the at least one radio frequency signal to identify at least one characteristic of the moving object.
  • the at least one characteristic of the moving object may comprise any of a location of the object relative to the user, a speed of the object relative to the user, a distance of the object from the user, a trajectory of the moving object.
  • Step 1 all users of the detection system constantly emit radio frequency signals.
  • the detector of the detection system determines if it has received a radio frequency signal from the moving object. If yes (S2 Yes), the detection system continues to Step 3. If no (S2 No), the detection system returns to Step 1.
  • the detector of the detection system uses the characteristic of the moving object to determine if the moving object poses a threat to the user and generates a warning indication when this is the case.
  • a warning device of the detection system receives the warning signal and alerts the user with a unique alarm ringtone for a given radio frequency signal strength, or ‘zone 1 , and displays a corresponding number between 0-3.
  • the detector comprises an ultrasonic signal detector configured to detect at least one ultrasonic signal from the moving object and use the at least one ultrasonic signal to identify at least one characteristic of the moving object.
  • the ultrasonic signal detector emits at least one ultrasonic signal from a speaker and receives at least one ultrasonic signal in a microphone which has bounced off the moving object.
  • the at least one emitted ultrasonic signal and the at least one received ultrasonic signal have a frequency above the range of human hearing.
  • the ultrasonic signal detector measures an amount of time between emitting at least one ultrasonic signal and receiving at least one ultrasonic signal and uses the time to identify a characteristic of the moving object comprising a distance of the moving object from the user.
  • the detection system determines if the ultrasonic detector has detected another user comprising a moving object, such as an approaching vehicle. If the ultrasonic detector did not detect a moving object, (S1 No), the detection system continues to search. If the ultrasonic detector has detected a moving object (S2 Yes), the detection system continues.
  • the ultrasonic signal detector measures an amount of time between emitting at least one ultrasonic signal and receiving at least one ultrasonic signal and uses the time to identify a characteristic of the moving object comprising a distance of the moving object from the user.
  • the ultrasonic signal detector generates a warning indication when the moving object poses a threat to the user.
  • a warning device of the detection system receives the warning indication from the detector and emits at least one warning sign to the user which indicates the moving object threat to the user.
  • the warning device alerts the user with a unique alarm ringtone for a given distance between the moving object and the user, or ‘zone 1 , and displays a corresponding number between 0-4.
  • the warning device sends a warning sign via a radio frequency signal to a separate display unit, which may be worn on the user's wrist, or attached to their clothing. This display makes it easier for a partially sighted person to be alerted within their field of vision.
  • the warning device sends a warning signal via a radio frequency signal to the driver of the moving object to give a visual alert of their distance from the user.
  • the detector comprises a global positioning detector configured to identify at least one characteristic of the moving object comprising a location of the moving object relative to the user.
  • the global positioning detector uses a global positioning system (GPS) to determine a location of the moving object and a location of the user and uses the locations to identify the characteristic of the moving object comprising a distance of the object from the user.
  • GPS global positioning system
  • Step 1 when a main page of the global positioning system initialises, the global positioning detector of the detection system calls a Cloud-based database to create tags to store the user's location in latitude and longitude components.
  • Step 2 a location sensor of the global positioning detector communicates with the GPS in order to find the user's current location.
  • Step 3 the detector of the detection system shares the user's location in longitude and latitude components to the Cloud-based database tags.
  • the detection system sends the most recent location to the Cloud-based database.
  • Step 4 a ‘Got Value’ block of the Cloud-based database is activated and the system determines which set of longitude and latitude components represent an other user's location i.e. the moving object's location.
  • Step 5 the detection system determines whether the user has requested it to calculate the distance between the user and the moving object. If yes (S5 Yes), the detection system continues to Step 6. If no (S5 No), the detection system returns to Step 1.
  • Step 6 the detection system calls the GPS to calculate the distance between the user and the moving object.
  • the global positioning detector uses the locations of the user and the moving object to identify a characteristic of the moving object comprising a distance of the moving object from the user.
  • the global positioning detector generates a warning indication when the moving object poses a threat to the user.
  • a warning device of the detection system receives the warning indication from the detector and emits at least one warning sign to the user which alerts the user of the moving object threat.
  • the warning sign comprises at least one visual alert, displaying the distance of the moving object from the user on a screen.
  • the background colour of the screen changes, depending on the distance of the moving object from the user.
  • the warning device of the detection system also gives an audio description of the distance of the moving object from the user.
  • the warning device of the detection system also uses a haptic device to issue a vibration, as an additional alert, and to alert users who may be hearing impaired. The duration of the vibration depends on the distance between the user and the moving object.
  • the detector comprises a global positioning detector configured to identify at least one characteristic of an other user of the system, which may be the moving object, comprising a location of the other user relative to the user.
  • the global positioning detector uses a global positioning system (GPS) to determine a location of the other user and a location of the user and uses the locations to identify the characteristic of the other user comprising a distance of the other user from the user.
  • GPS global positioning system
  • Step 1 the server side component of the GPS initialises.
  • the server records the user and other user locations in a database and makes calculations based on these locations.
  • the detection system does not need to make these calculations - it calls on the server for this information, therefore improving the efficiency of the detection system.
  • the global positioning detector of the detection system uses the GPS to determine the location of the user and sends it to the server, where it is recorded in the database.
  • the detection system determines if there has been a request for the distance between the user and the other user, which could be a nearest other user. If yes (S3 Yes), the detection system moves on to Step 4. If no (S3 No), the detection system returns to Step 2.
  • Step 3 S3 Yes, may also be activated by the presence of the other user within a specified range (default is 50 metres).
  • the detection system allows the user to specify the range within which they wish to be alerted of the other road user. The default range is within 50 metres.
  • Step 4 the server determines which other user is closest to the user in the database. It then calculates the distance between the user and the closest other user, and sends this information to the global positioning detector of the detection system.
  • the global positioning detector uses the locations of the user and the other user to identify a characteristic of the other user comprising a distance of the other user from the user.
  • the global positioning detector generates a warning indication when the other user poses a threat to the user.
  • a warning device of the detection system receives the warning indication from the detector and emits at least one warning sign to the user which alerts the user of the other user threat.
  • the warning sign comprises at least one visual alert, displaying the distance of the other user from the user on a screen. The background colour of the screen changes, depending on the distance.
  • the warning device of the detection system also gives an audio description of the distance in metres.
  • the detection system may also allow the user to specify what type of road user they wish to be alerted of, e.g., e-scooters.
  • the detection system may determine what type of road user the source of the radio signal is, and, based on the user’s settings, it may or may not warn the user.
  • the user being alerted of all road users is the default.
  • the warning device of the detection system also uses a haptic device to issue a vibration, as an additional alert, and to alert users who may be hearing impaired.
  • the duration of the vibration is in inverse proportion to the distance between the user and the closest other user.
  • the detector comprises a radio frequency signal detector configured to detect at least one radio frequency signal from an other user, a moving object, and use the at least one radio frequency signal to identify at least one characteristic of the other user.
  • the at least one characteristic of the other user may comprise any of a location of the other user relative to the user, a speed of the other user relative to the user, a distance of the other user from the user, a trajectory of the other user.
  • the at least one radio frequency signal from the other user is emitted by the other user using cellular technology, for example the V2X system. Referring to Figure 6, in Step 1, all users of the detection system will emit radio frequency signals via cellular technology.
  • Step 2 the radio frequency signal detector of the detection system determines whether the user has received a signal from an other user. If no signal is received (S2 No), the detection system returns to Step 1. If a signal is received (S2 Yes), the detection system continues to Step 3. In Step 3, the radio frequency signal detector of the detection system determines the location of the source of the radio signal, i.e. the location of the other user, from the received radio frequency signal.
  • Step 4 if radio frequency signals are received from multiple users, the detection system prioritises the signal source, i.e. other user, closest to the user.
  • the radio frequency signal detector uses the locations of the user and the other user to identify a characteristic of the other user comprising a distance of the other user from the user.
  • the global positioning detector generates a warning indication when the other user poses a threat to the user. In this embodiment, if the source of the radio frequency signal, i.e. the location of the other user is within 50 metres of the user, a warning indication is generated.
  • a warning device of the detection system receives the warning indication from the detector and emits at least one warning sign to the user which alerts the user of the other user threat.
  • the warning sign comprises at least one visual alert displayed on a screen.
  • the distance of the other user from the user is displayed on the screen.
  • the background colour of the screen changes, depending on the distance.
  • the warning device of the detection system also gives an audio description of the distance in metres.
  • a user interface of the detection system allows the user to specify what type of other user they wish to be alerted of, e.g., e- scooters.
  • the detection system may determine which type of other user has been detected, and based on the user’s settings, it may or may not warn the user.
  • the user being alerted of all other users is the default setting.
  • the user may also specify the range within which they wish to be alerted of the other user.
  • the default range is within 50 metres.
  • the warning device of the detection system also uses a haptic device to generate a vibration, as an additional alert, and to alert a user who may be hearing impaired.
  • the duration of the vibration is inversely proportional to the distance between the user and the source of the radio signal i.e. the other user.
  • the radio frequency signal detector of the detection system determines if the distance between the user and the other user has decreased. If the distance between the user and the other user has decreased (S7 Yes), the detection system sends a new updated alert to the user by changing the distance displayed on the screen. This display is updated for every 10-metre change in distance. The background colour and the duration of the vibration may change as this distance decreases. If the distance between the user and the source of the radio signal has increased to greater than 50 metres (S7 No), the detection system process returns to Step 2.
  • the detector comprises a plurality of cameras configured to detect at least one light signal from an other road user, a moving object, and uses the at least one light signal to identify at least one characteristic of the other road user.
  • the at least one characteristic of the other road user may comprise any of a location of the other road user relative to the user, a speed of the other road user relative to the user, a distance of the other road user from the user, a trajectory of the other road user, a type of the other road user.
  • the at least one camera comprises a computer vision identifier (CVI) system which is used to identify at least one characteristic of the other road user comprising the type of the other road user.
  • the plurality of cameras provide 360° detection of light signals achieved by four cameras (front, back, left and right cameras) mounted on top of a hat of the detection system.
  • the detector of this detection system also comprises a light detection and ranging (LiDAR) signal detector configured to detect at least one LiDAR signal from the other road user, a moving object, and use the at least one LiDAR signal to identify at least one characteristic of the other road user.
  • the at least one characteristic of the other road user comprises any of a speed of the other road user relative to the user, a distance of the other road user from the user, a trajectory of the other road user.
  • Step 1 the plurality of cameras, the CVI systems of the cameras and the LiDAR signal detector initialise.
  • Step 2 a GPS in conjunction with HD maps determines a location of the user and broadcasts this information via cellular technology, e.g. V2X.
  • Step 3 the detection system determines if any cellular signals have been received from other road users. If no signal is received (S3 No), the detection system continues to Step 4. If a signal is received (S3 Yes), the detection system displays the information from the signal and continues to Step 4.
  • Step 4 the cameras and LiDAR signal detector of the detection system determine if there is an approaching other road user.
  • the CVI systems scan for any nearby road users, using the CVI systems to learn what a generalised other road user, e.g. a car or an e-scooter etc. looks like.
  • the cameras may be provided by a smart phone into which the detection system is incorporated.
  • the LiDAR signal detector detects other road users and determines the distance between the user and other road users. If no road user has been detected (S4 No), the detection system returns to Step 1. If a road user has been detected (S4 Yes), the detection system continues to Step 5.
  • the detection system determines the type, speed and trajectory of the other road user.
  • the detection system generates a warning indication when the other road user poses a threat to the user.
  • a warning indication is generated.
  • the user may specify the range within which they wish to be alerted of the other road user.
  • the default range is 0-50 metres.
  • a user interface of the detection system allows the user to select a particular type of other road user of which they wish to be alerted, e.g., e-scooters.
  • the detection system may determine which type of other road user has been detected, and based on the user’s settings, it may or may not issue a warning indication.
  • the user being alerted of all road users is the default setting.
  • a warning device of the detection system receives the warning indication and emits at least one warning sign to the user which alerts the user of the other road user threat.
  • the warning sign comprises at least one visual alert displayed on a screen.
  • the warning sign alerts the user of the distance, speed, and trajectory of the other road user, using visual alerts.
  • the background colour of the screen changes, depending on the distance between the user and the other road user. If a text to speech function is activated, the warning device of the detection system also gives an audio description of the distance (metres), speed (km/h) and trajectory.
  • the warning device of the detection system also uses a haptic device to produce a vibration, as an additional alert, to alert users who may be hearing impaired.
  • the duration of the vibration is inversely proportional to the distance between the user and the other road user.
  • the cameras and LiDAR signal detector of the detection system determines if the distance between the user and the other road user has decreased. If the distance between the user and other road user has decreased (S7 Yes), the detection system returns to Step 5.
  • the user is alerted (Step 6) with an updated alert which changes the distance between the user and the other road user displayed on the screen. This display is updated for every 10metre change in distance.
  • the background colour and the duration of the vibration may change as this distance decreases. If the distance between the user and the detected road user has increased to greater than 50 metres (S7 No), the detection system process ends.
  • the detection system of any of the embodiments may also use signals received from infrastructure provided in an urban environment to identify a characteristic of the moving object.
  • the detection system as described, is used in a road environment. It will be appreciated that the detection system may be used in other environments, particularly environments where there is likely to be limited visibility.

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Abstract

A moving object detection system is provided comprising a detector configured to identify at least one characteristic of the moving object, use the characteristic to determine if the moving object poses a threat to the user and generate a warning indication when the moving object poses a threat to the user, and a warning device configured to receive the warning indication from the detector and emit at least one warning sign to the user which indicates the moving object threat to the user. The user may be a vulnerable road user (VRU) such as a visually impaired person. The detection system may comprise a stand-alone system comprising a wearable device. The detection system may be incorporated into an existing device, such as a wearable device or a smart phone. The detection system may be operated using an application on the smart phone.

Description

Moving Object Detection System for use by the Visually Impaired
Field of the Invention
The invention relates to a moving object detection system, particularly for use by visually impaired users. The invention may also be used by users in restricted visibility situations and environments.
Background to the Invention
Visual impairment describes all levels of sight loss, from moderate, to s evere, to complete blindness. It affects approximately a quarter of a million people in Ireland.
Visually impaired people can find it difficult to detect moving objects within their restricted field of vision or with restricted visual acuity. This causes uncertainty and lack of independence. Visually impaired people can experience particular difficulties with fast approaching, moving objects, such as cars or e scooters, particularly electric cars and e scooters which are almost silent. A visually impaired person could have difficultly seeing such objects, and gauging the speed or distance of a fast approaching, moving object.
Therefore, there is a need to develop a system which will detect these fast approaching, moving objects and provide information about them to visually impaired people. There are known autonomous driving systems which alert vehicles to the presence of other road users. However, this technology has not been designed to warn people who are visually impaired, or who have other access needs, and does not provide all the necessary information required in this situation.
Statement of Invention
According to an aspect of the invention there is provided a moving object detection system comprising: a detector configured to identify at least one characteristic of the moving object, use the characteristic to determine if the moving object poses a threat to the user and generate a warning indication when the moving object poses a threat to the user, and a warning device configured to receive the warning indication from the detector and emit at least one warning sign to the user which indicates the moving object threat to the user. The user may be a vulnerable road user (VRU). The user may be a visually impaired person. The system enables such users to become independent road users.
The detection system may comprise a stand-alone system. The stand-alone detection system may comprise a wearable device, such as a wrist band or an arm band. The detection system may be incorporated into an existing device. The detection system may be incorporated into a wearable device. The wearable device may be a wrist band, such as a smart watch, or an armband. The detection system may be incorporated into a smart phone. The detection system may be operated using an application on the smart phone. The application may supply the user with a unique user ID, identifying the user as a pedestrian, driver, or other road user such as cyclist, horse rider, electric scooter user, etc. The application allows each user to be aware of the presence of other users, and to change their behaviour accordingly, improving road safety.
The detector may be configured to identify at least one characteristic of the moving object comprising any of a location of the object relative to the user, a speed of the object relative to the user, a trajectory of the object relative to the user, a distance of the object from the user, a type of the object.
The detector may comprise a magnetic field signal detector configured to detect at least one magnetic field signal from the moving object and use the at least one magnetic field signal to identify at least one characteristic of the moving object. The magnetic field signal detector may detect a strength of the magnetic field signal from the moving object and use this to identify at least one characteristic of the moving object comprising a distance of the moving object from the user.
The detector may comprise an ultrasonic signal detector configured to detect at least one ultrasonic signal from the moving object and use the at least one ultrasonic signal to identify at least one characteristic of the moving object. The ultrasonic signal detector may emit at least one ultrasonic signal and receive at least one ultrasonic signal which has bounced off the moving object. The at least one emitted ultrasonic signal and the at least one received ultrasonic signal may have a frequency above the range of human hearing. The at least one emitted ultrasonic signal may be emitted from a speaker of the ultrasonic signal detector. The at least one received ultrasonic signal may be received by a microphone of the ultrasonic signal detector. The ultrasonic signal detector may measure an amount of time between emitting at least one ultrasonic signal and receiving at least one ultrasonic signal and use the time to identify a characteristic of the moving object comprising a distance of the moving object from the user.
The detector may comprise a global positioning detector configured to identify at least one characteristic of the moving object comprising a location of the moving object relative to the user. The global positioning detector may use a global positioning system to determine a location of the moving object and a location of the user and use the locations to identify the characteristic of the moving object comprising a distance of the object from the user.
The detector may comprise a radio frequency signal detector configured to detect at least one radio frequency signal from the moving object and use the at least one radio frequency signal to identify at least one characteristic of the moving object. The at least one characteristic of the moving object may comprise any of a location of the object relative to the user, a speed of the object relative to the user, a distance of the object from the user, a trajectory of the moving object. The at least one radio frequency signal from the moving object may be emitted by the moving object using cellular technology, for example the V2X system.
The detector may comprise at least one camera configured to detect at least one light signal from the moving object and use the at least one light signal to identify at least one characteristic of the moving object. The at least one characteristic of the moving object may comprise any of a location of the object relative to the user, a speed of the object relative to the user, a distance of the object from the user, a trajectory of the moving object, a type of the moving object. The at least one camera may comprise a computer vision identifier (CVI) system which may be used to identify at least one characteristic of the moving object comprising a type of the moving object. The detector may comprise a plurality of cameras which provide 360° detection of light signals.
The detector may comprise a light detection and ranging (LiDAR) signal detector configured to detect at least one LiDAR signal from the moving object and use the at least one LiDAR signal to identify at least one characteristic of the moving object. The at least one characteristic of the moving object may comprise any of a speed of the object relative to the user, a distance of the object from the user, a trajectory of the moving object. The detector of the detection system may comprise a combination of any of the detectors described above.
The identified characteristic of the moving object may comprise a distance of the object from the user and the detector may determine that the moving object poses a threat to the user by determining that the distance is equal to or less than a predetermined distance of the object from the user. The predetermined distance of the object from the user may be preset by the user of the detection system. The predetermined distance of the object from the user may be a default distance, for example 50m.
The identified characteristic of the moving object may comprise a speed of the object and the detector may determine that the moving object poses a threat to the user by determining that the speed is equal to or greater than a predetermined speed of the object. The predetermined speed of the object may be preset by the user of the detection system. The predetermined speed of the object may be a default speed.
The identified characteristic of the moving object may comprise a type of the object and the detector may determine that the moving object poses a threat to the user by determining that the type is the same as a predetermined type of the object. The predetermined type of the object may be preset by the user of the detection system. The predetermined type of the object may be a default type, for example any of a vehicle, an electric scooter.
The warning device may comprise any of a speaker, a haptic device, a screen. The speaker, haptic device and screen may be provided by the detection system in a standalone system. The speaker, haptic device and screen may be provided by a smart phone into which the detection system is incorporated. The speaker, haptic device and screen may be operated using an application on the smart phone. The speaker, haptic device and screen may be provided by existing accessibility features, such as text to speech (TalkBack), high contrast themed display screen, haptic vibration system, font enlarger and voice recognition.
The warning device may emit at least one warning sign to the user which indicates the threat to the user comprising any of an audible warning sign, a haptic warning sign, a visual warning sign. The warning sign may inform the user of any of location of the moving object, speed of the moving object, trajectory of the moving object, distance between the user and the moving object, change of location of the moving object, change of speed of the moving object, change of trajectory of the moving object, change of distance between the user and the moving object.
The audible warning sign may comprise any of a unique alarm ringtone, an audio signal using a text to speech function. The audible warning sign may comprise a description of any of location of the moving object, speed of the moving object, trajectory of the moving object, distance between the user and the moving object, change of location of the moving object, change of speed of the moving object, change of trajectory of the moving object, change of distance between the user and the moving object.
The haptic warning sign may comprise a vibration. The haptic warning sign may have a duration which depends on any of location of the moving object, speed of the moving object, trajectory of the moving object, distance between the user and the moving object, change of location of the moving object, change of speed of the moving object, change of trajectory of the moving object, change of distance between the user and the moving object.
The visual warning sign may comprise any of a text display on a screen, a background colour of a screen. The visual warning sign may indicate any of location of the moving object, speed of the moving object, trajectory of the moving object, distance between the user and the moving object, change of location of the moving object, change of speed of the moving object, change of trajectory of the moving object, change of distance between the user and the moving object.
The warning device may send a warning sign to a separate display unit, which may be worn on the user's wrist, or attached to their clothing. This display unit makes it easier for a partially sighted person to be alerted within their field of vision. The warning device may send a warning sign to a driver of the moving object, to give a warning of the presence of the user.
Detailed Description of the Invention The invention will now be described by way of example only, with reference to the accompanying drawings, in which:
Figure 1 is a flow chart illustrating the operation of a first embodiment of the detection system of the invention;
Figure 2 is a flow chart illustrating the operation of a second embodiment of the detection system of the invention;
Figure 3 is a flow chart illustrating the operation of a third embodiment of the detection system of the invention;
Figure 4 is a flow chart illustrating the operation of a fourth embodiment of the detection system of the invention;
Figure 5 is a flow chart illustrating the operation of a fifth embodiment of the detection system of the invention;
Figure 6 is a flow chart illustrating the operation of a sixth embodiment of the detection system of the invention, and
Figure 7 is a flow chart illustrating the operation of a seventh embodiment of the detection system of the invention.
In a first embodiment of the moving object detection system, the detector comprises a magnetic field signal detector configured to detect at least one magnetic field signal from the moving object and use the at least one magnetic field signal to identify at least one characteristic of the moving object. The magnetic field signal detector detects a strength of the magnetic field signal from the moving object and uses this to identify at least one characteristic of the moving object comprising a distance of the moving object from the user.
Referring to Figure 1 , in Step 1, the detector of the detection system determines if a magnetic field has been detected. The magnet represents the approaching vehicle. If yes (S1 Yes), the detection system continues to Step 2. If no (S1 No), the detection system returns to Step 1. In step 2, the detector of the detection system determines the strength of the detected magnetic field signal and uses this to identify a distance of the moving object from the user. The detector of the detection system uses the distance to determine if the moving object poses a threat to the user and generates a warning indication when this is the case. In step 3, a warning device of the detection system receives the warning indication from the detector and emits at least one warning sign to the user which alerts the user to the moving object threat. The warning sign alerts the user with a unique alarm ringtone for a given magnetic field strength, or ‘zone1, and displays a corresponding number between 1-10.
In a second embodiment of the moving object detection system, the detector comprises a radio frequency signal detector configured to detect at least one radio frequency signal from the moving object and use the at least one radio frequency signal to identify at least one characteristic of the moving object. The at least one characteristic of the moving object may comprise any of a location of the object relative to the user, a speed of the object relative to the user, a distance of the object from the user, a trajectory of the moving object.
Referring to Figure 2, in Step 1 , all users of the detection system constantly emit radio frequency signals. In Step 2, the detector of the detection system determines if it has received a radio frequency signal from the moving object. If yes (S2 Yes), the detection system continues to Step 3. If no (S2 No), the detection system returns to Step 1. The detector of the detection system uses the characteristic of the moving object to determine if the moving object poses a threat to the user and generates a warning indication when this is the case. In step 3, a warning device of the detection system receives the warning signal and alerts the user with a unique alarm ringtone for a given radio frequency signal strength, or ‘zone1, and displays a corresponding number between 0-3.
In a third embodiment of the moving object detection system, the detector comprises an ultrasonic signal detector configured to detect at least one ultrasonic signal from the moving object and use the at least one ultrasonic signal to identify at least one characteristic of the moving object. The ultrasonic signal detector emits at least one ultrasonic signal from a speaker and receives at least one ultrasonic signal in a microphone which has bounced off the moving object. The at least one emitted ultrasonic signal and the at least one received ultrasonic signal have a frequency above the range of human hearing. The ultrasonic signal detector measures an amount of time between emitting at least one ultrasonic signal and receiving at least one ultrasonic signal and uses the time to identify a characteristic of the moving object comprising a distance of the moving object from the user.
Referring to Figure 3, in Step 1 , the detection system determines if the ultrasonic detector has detected another user comprising a moving object, such as an approaching vehicle. If the ultrasonic detector did not detect a moving object, (S1 No), the detection system continues to search. If the ultrasonic detector has detected a moving object (S2 Yes), the detection system continues. The ultrasonic signal detector measures an amount of time between emitting at least one ultrasonic signal and receiving at least one ultrasonic signal and uses the time to identify a characteristic of the moving object comprising a distance of the moving object from the user. The ultrasonic signal detector generates a warning indication when the moving object poses a threat to the user. In Step 2, a warning device of the detection system receives the warning indication from the detector and emits at least one warning sign to the user which indicates the moving object threat to the user. The warning device alerts the user with a unique alarm ringtone for a given distance between the moving object and the user, or ‘zone1, and displays a corresponding number between 0-4. The warning device sends a warning sign via a radio frequency signal to a separate display unit, which may be worn on the user's wrist, or attached to their clothing. This display makes it easier for a partially sighted person to be alerted within their field of vision. In Step 3, the warning device sends a warning signal via a radio frequency signal to the driver of the moving object to give a visual alert of their distance from the user.
In a fourth embodiment of the moving object detection system, the detector comprises a global positioning detector configured to identify at least one characteristic of the moving object comprising a location of the moving object relative to the user. The global positioning detector uses a global positioning system (GPS) to determine a location of the moving object and a location of the user and uses the locations to identify the characteristic of the moving object comprising a distance of the object from the user.
Referring to Figure 4, in Step 1, when a main page of the global positioning system initialises, the global positioning detector of the detection system calls a Cloud-based database to create tags to store the user's location in latitude and longitude components. In Step 2, a location sensor of the global positioning detector communicates with the GPS in order to find the user's current location. In Step 3, the detector of the detection system shares the user's location in longitude and latitude components to the Cloud-based database tags. When the user’s location changes, the detection system sends the most recent location to the Cloud-based database. In Step 4, a ‘Got Value’ block of the Cloud-based database is activated and the system determines which set of longitude and latitude components represent an other user's location i.e. the moving object's location. In Step 5, the detection system determines whether the user has requested it to calculate the distance between the user and the moving object. If yes (S5 Yes), the detection system continues to Step 6. If no (S5 No), the detection system returns to Step 1. In Step 6, the detection system calls the GPS to calculate the distance between the user and the moving object. The global positioning detector uses the locations of the user and the moving object to identify a characteristic of the moving object comprising a distance of the moving object from the user. The global positioning detector generates a warning indication when the moving object poses a threat to the user. In Step 7, a warning device of the detection system receives the warning indication from the detector and emits at least one warning sign to the user which alerts the user of the moving object threat. The warning sign comprises at least one visual alert, displaying the distance of the moving object from the user on a screen. The background colour of the screen changes, depending on the distance of the moving object from the user. When a text to speech function is activated, the warning device of the detection system also gives an audio description of the distance of the moving object from the user. In Step 8, the warning device of the detection system also uses a haptic device to issue a vibration, as an additional alert, and to alert users who may be hearing impaired. The duration of the vibration depends on the distance between the user and the moving object.
In a fifth embodiment of the moving object detection system, the detector comprises a global positioning detector configured to identify at least one characteristic of an other user of the system, which may be the moving object, comprising a location of the other user relative to the user. The global positioning detector uses a global positioning system (GPS) to determine a location of the other user and a location of the user and uses the locations to identify the characteristic of the other user comprising a distance of the other user from the user.
Referring to Figure 5, in Step 1, the server side component of the GPS initialises. The server records the user and other user locations in a database and makes calculations based on these locations. The detection system does not need to make these calculations - it calls on the server for this information, therefore improving the efficiency of the detection system. In Step 2, the global positioning detector of the detection system uses the GPS to determine the location of the user and sends it to the server, where it is recorded in the database. In Step 3, the detection system determines if there has been a request for the distance between the user and the other user, which could be a nearest other user. If yes (S3 Yes), the detection system moves on to Step 4. If no (S3 No), the detection system returns to Step 2. Step 3, S3 Yes, may also be activated by the presence of the other user within a specified range (default is 50 metres). The detection system allows the user to specify the range within which they wish to be alerted of the other road user. The default range is within 50 metres.
In Step 4, the server determines which other user is closest to the user in the database. It then calculates the distance between the user and the closest other user, and sends this information to the global positioning detector of the detection system. The global positioning detector uses the locations of the user and the other user to identify a characteristic of the other user comprising a distance of the other user from the user. The global positioning detector generates a warning indication when the other user poses a threat to the user. In Step 5, a warning device of the detection system receives the warning indication from the detector and emits at least one warning sign to the user which alerts the user of the other user threat. The warning sign comprises at least one visual alert, displaying the distance of the other user from the user on a screen. The background colour of the screen changes, depending on the distance. If a text to speech function is activated, the warning device of the detection system also gives an audio description of the distance in metres. The detection system may also allow the user to specify what type of road user they wish to be alerted of, e.g., e-scooters. The detection system may determine what type of road user the source of the radio signal is, and, based on the user’s settings, it may or may not warn the user. The user being alerted of all road users is the default. In Step 6, the warning device of the detection system also uses a haptic device to issue a vibration, as an additional alert, and to alert users who may be hearing impaired. The duration of the vibration is in inverse proportion to the distance between the user and the closest other user.
In a sixth embodiment of the moving object detection system, the detector comprises a radio frequency signal detector configured to detect at least one radio frequency signal from an other user, a moving object, and use the at least one radio frequency signal to identify at least one characteristic of the other user. The at least one characteristic of the other user may comprise any of a location of the other user relative to the user, a speed of the other user relative to the user, a distance of the other user from the user, a trajectory of the other user. The at least one radio frequency signal from the other user is emitted by the other user using cellular technology, for example the V2X system. Referring to Figure 6, in Step 1, all users of the detection system will emit radio frequency signals via cellular technology. These signals give information about the other user’s location, a distance of the other user from the user, trajectory and speed (if the other user is a vehicle). The cellular technology (especially V2X) may allow information to be sent from the other user, a vehicle, to any user. This detection system will work in conjunction with existing V2X cellular technology. In Step 2, the radio frequency signal detector of the detection system determines whether the user has received a signal from an other user. If no signal is received (S2 No), the detection system returns to Step 1. If a signal is received (S2 Yes), the detection system continues to Step 3. In Step 3, the radio frequency signal detector of the detection system determines the location of the source of the radio signal, i.e. the location of the other user, from the received radio frequency signal. In Step 4, if radio frequency signals are received from multiple users, the detection system prioritises the signal source, i.e. other user, closest to the user. The radio frequency signal detector uses the locations of the user and the other user to identify a characteristic of the other user comprising a distance of the other user from the user. The global positioning detector generates a warning indication when the other user poses a threat to the user. In this embodiment, if the source of the radio frequency signal, i.e. the location of the other user is within 50 metres of the user, a warning indication is generated.
In Step 5, a warning device of the detection system receives the warning indication from the detector and emits at least one warning sign to the user which alerts the user of the other user threat. The warning sign comprises at least one visual alert displayed on a screen. The distance of the other user from the user is displayed on the screen. The background colour of the screen changes, depending on the distance. When a text to speech function is activated, the warning device of the detection system also gives an audio description of the distance in metres. A user interface of the detection system allows the user to specify what type of other user they wish to be alerted of, e.g., e- scooters. The detection system may determine which type of other user has been detected, and based on the user’s settings, it may or may not warn the user. The user being alerted of all other users is the default setting. The user may also specify the range within which they wish to be alerted of the other user. The default range is within 50 metres. In Step 6, the warning device of the detection system also uses a haptic device to generate a vibration, as an additional alert, and to alert a user who may be hearing impaired. The duration of the vibration is inversely proportional to the distance between the user and the source of the radio signal i.e. the other user. In Step 7, the radio frequency signal detector of the detection system determines if the distance between the user and the other user has decreased. If the distance between the user and the other user has decreased (S7 Yes), the detection system sends a new updated alert to the user by changing the distance displayed on the screen. This display is updated for every 10-metre change in distance. The background colour and the duration of the vibration may change as this distance decreases. If the distance between the user and the source of the radio signal has increased to greater than 50 metres (S7 No), the detection system process returns to Step 2.
In a seventh embodiment of the moving object detection system, the detector comprises a plurality of cameras configured to detect at least one light signal from an other road user, a moving object, and uses the at least one light signal to identify at least one characteristic of the other road user. The at least one characteristic of the other road user may comprise any of a location of the other road user relative to the user, a speed of the other road user relative to the user, a distance of the other road user from the user, a trajectory of the other road user, a type of the other road user. The at least one camera comprises a computer vision identifier (CVI) system which is used to identify at least one characteristic of the other road user comprising the type of the other road user. The plurality of cameras provide 360° detection of light signals achieved by four cameras (front, back, left and right cameras) mounted on top of a hat of the detection system.
The detector of this detection system also comprises a light detection and ranging (LiDAR) signal detector configured to detect at least one LiDAR signal from the other road user, a moving object, and use the at least one LiDAR signal to identify at least one characteristic of the other road user. The at least one characteristic of the other road user comprises any of a speed of the other road user relative to the user, a distance of the other road user from the user, a trajectory of the other road user.
Referring to Figure 7, in Step 1, the plurality of cameras, the CVI systems of the cameras and the LiDAR signal detector initialise. In Step 2, a GPS in conjunction with HD maps determines a location of the user and broadcasts this information via cellular technology, e.g. V2X. In Step 3, the detection system determines if any cellular signals have been received from other road users. If no signal is received (S3 No), the detection system continues to Step 4. If a signal is received (S3 Yes), the detection system displays the information from the signal and continues to Step 4.
In Step 4, the cameras and LiDAR signal detector of the detection system determine if there is an approaching other road user. Using the cameras, the CVI systems scan for any nearby road users, using the CVI systems to learn what a generalised other road user, e.g. a car or an e-scooter etc. looks like. The cameras may be provided by a smart phone into which the detection system is incorporated. The LiDAR signal detector detects other road users and determines the distance between the user and other road users. If no road user has been detected (S4 No), the detection system returns to Step 1. If a road user has been detected (S4 Yes), the detection system continues to Step 5. In Step 5, using the CVI systems of the cameras and the LiDAR signal detector, the detection system determines the type, speed and trajectory of the other road user. The detection system generates a warning indication when the other road user poses a threat to the user. In this embodiment, if the location of the other road user is within 50 metres of the user, a warning indication is generated. The user may specify the range within which they wish to be alerted of the other road user. The default range is 0-50 metres. A user interface of the detection system allows the user to select a particular type of other road user of which they wish to be alerted, e.g., e-scooters. The detection system may determine which type of other road user has been detected, and based on the user’s settings, it may or may not issue a warning indication. The user being alerted of all road users is the default setting.
In Step 6, a warning device of the detection system receives the warning indication and emits at least one warning sign to the user which alerts the user of the other road user threat. The warning sign comprises at least one visual alert displayed on a screen. The warning sign alerts the user of the distance, speed, and trajectory of the other road user, using visual alerts. The background colour of the screen changes, depending on the distance between the user and the other road user. If a text to speech function is activated, the warning device of the detection system also gives an audio description of the distance (metres), speed (km/h) and trajectory. The warning device of the detection system also uses a haptic device to produce a vibration, as an additional alert, to alert users who may be hearing impaired. The duration of the vibration is inversely proportional to the distance between the user and the other road user. In Step 7, the cameras and LiDAR signal detector of the detection system determines if the distance between the user and the other road user has decreased. If the distance between the user and other road user has decreased (S7 Yes), the detection system returns to Step 5. The user is alerted (Step 6) with an updated alert which changes the distance between the user and the other road user displayed on the screen. This display is updated for every 10metre change in distance. The background colour and the duration of the vibration may change as this distance decreases. If the distance between the user and the detected road user has increased to greater than 50 metres (S7 No), the detection system process ends.
The detection system of any of the embodiments may also use signals received from infrastructure provided in an urban environment to identify a characteristic of the moving object.
The detection system, as described, is used in a road environment. It will be appreciated that the detection system may be used in other environments, particularly environments where there is likely to be limited visibility.

Claims

1 . A moving object detection system comprising: a detector configured to identify at least one characteristic of the moving object, and configured to use the characteristic to determine if the moving object poses a threat to the user and generate a warning indication when the moving object poses a threat to the user, and a warning device configured to receive the warning indication from the detector and emit at least one warning sign to the user which indicates the moving object threat to the user.
2. A detection system according to claim 1 which is a stand-alone system comprising a wearable device.
3. A detection system according to claim 1 which is incorporated into an existing device comprising a smart phone and operated using an application on the smart phone.
4. A detection system according to any of claims 1 to 3 in which the detector is configured to identify at least one characteristic of the moving object comprising any of a location of the object relative to the user, a speed of the object relative to the user, a trajectory of the object relative to the user, a distance of the object from the user, a type of the object.
5. A detection system according to any preceding claim in which the detector comprises a magnetic field signal detector configured to detect at least one magnetic field signal from the moving object and use the at least one magnetic field signal to identify at least one characteristic of the moving object.
6. A detection system according to any preceding claim in which the detector comprises an ultrasonic signal detector configured to detect at least one ultrasonic signal from the moving object and use the at least one ultrasonic signal to identify at least one characteristic of the moving object.
7. A detection system according to any preceding claim in which the detector comprises a global positioning detector configured to identify at least one characteristic of the moving object comprising a location of the moving object relative to the user.
8. A detection system according to any preceding claim in which the detector comprises a radio frequency signal detector configured to detect at least one radio frequency signal from the moving object and use the at least one radio frequency signal to identify at least one characteristic of the moving object comprising any of a location of the object relative to the user, a speed of the object relative to the user, a distance of the object from the user, a trajectory of the moving object.
9. A detection system according to any preceding claim in which the detector comprises at least one camera configured to detect at least one light signal from the moving object and use the at least one light signal to identify at least one characteristic of the moving object comprising any of a location of the object relative to the user, a speed of the object relative to the user, a distance of the object from the user, a trajectory of the moving object, a type of the moving object.
10. A detection system according to any preceding claim in which the detector comprises a light detection and ranging signal detector configured to detect at least one LiDAR signal from the moving object and use the at least one LiDAR signal to identify at least one characteristic of the moving object comprising any of a speed of the object relative to the user, a distance of the object from the user, a trajectory of the moving object.
11. A detection system according to any preceding claim in which the identified characteristic of the moving object comprises a distance of the object from the user and the detector determines that the moving object poses a threat to the user by determining that the distance is equal to or less than a predetermined distance of the object from the user.
12. A detection system according to any preceding claim in which the identified characteristic of the moving object comprises a speed of the object and the detector determines that the moving object poses a threat to the user by determining that the speed is equal to or greater than a predetermined speed of the object.
13. A detection system according to any preceding claim in which the identified characteristic of the moving object may comprise a type of the object and the detector may determine that the moving object poses a threat to the user by determining that the type is the same as a predetermined type of the object.
14. A detection system according to any preceding claim in which the warning device emits at least one warning sign to the user which indicates the threat to the user comprising any of an audible warning sign, a haptic warning sign, a visual warning sign.
15. A detection system according to any preceding claim in which the warning sign informs the user of any of location of the moving object, speed of the moving object, trajectory of the moving object, distance between the user and the moving object, change of location of the moving object, change of speed of the moving object, change of trajectory of the moving object, change of distance between the user and the moving object.
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