U.S. patent application number 14/611901 was filed with the patent office on 2015-09-24 for tracking from a vehicle.
This patent application is currently assigned to FORD GLOBAL TECHNOLOGIES, LLC. The applicant listed for this patent is Ford Global Technologies, LLC. Invention is credited to Brian Bennie, Randy Michael Freiburger, Brad Alan Ignaczak, Thomas Michael McQuade, Thomas Lee Miller, Cynthia M. Neubecker.
Application Number | 20150268338 14/611901 |
Document ID | / |
Family ID | 54141310 |
Filed Date | 2015-09-24 |
United States Patent
Application |
20150268338 |
Kind Code |
A1 |
Freiburger; Randy Michael ;
et al. |
September 24, 2015 |
TRACKING FROM A VEHICLE
Abstract
Data related to a person outside of a vehicle can be collected
by a computer in the vehicle. The collected data is used to
generate a virtual map of one or more targets, including at least
the person, proximate to the vehicle. A display is provided based
on the virtual map that includes information about a location of
the person.
Inventors: |
Freiburger; Randy Michael;
(Novi, MI) ; Miller; Thomas Lee; (Ann Arbor,
MI) ; Bennie; Brian; (Sterling Heights, MI) ;
Neubecker; Cynthia M.; (Westland, MI) ; McQuade;
Thomas Michael; (Ann Arbor, MI) ; Ignaczak; Brad
Alan; (Canton, MI) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Ford Global Technologies, LLC |
Dearborn |
MI |
US |
|
|
Assignee: |
FORD GLOBAL TECHNOLOGIES,
LLC
Dearborn
MI
|
Family ID: |
54141310 |
Appl. No.: |
14/611901 |
Filed: |
February 2, 2015 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
61969122 |
Mar 22, 2014 |
|
|
|
61969123 |
Mar 22, 2014 |
|
|
|
61969124 |
Mar 22, 2014 |
|
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61969126 |
Mar 22, 2014 |
|
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Current U.S.
Class: |
701/36 ; 342/107;
356/4.01; 367/107 |
Current CPC
Class: |
B60Q 1/44 20130101; G08G
1/166 20130101; B60Q 1/2611 20130101; B60W 2756/10 20200201; G01S
17/66 20130101; G01S 2013/9324 20200101; G01S 13/931 20130101; G07C
5/008 20130101; G07C 5/085 20130101; B60W 10/20 20130101; B60W
2710/18 20130101; B60W 2710/20 20130101; G01S 13/72 20130101; B60Q
1/50 20130101; B60W 2710/06 20130101; B60W 10/18 20130101; B60W
2710/10 20130101; B60W 10/06 20130101; B60W 10/10 20130101; G01S
2013/9323 20200101; G01S 15/66 20130101; B60Q 1/38 20130101 |
International
Class: |
G01S 13/72 20060101
G01S013/72; B60W 10/10 20060101 B60W010/10; G01S 17/66 20060101
G01S017/66; B60W 10/20 20060101 B60W010/20; G07C 5/00 20060101
G07C005/00; G01S 15/66 20060101 G01S015/66; B60W 10/06 20060101
B60W010/06; B60W 10/18 20060101 B60W010/18 |
Claims
1. A system, comprising a computer in a vehicle, the computer
comprising a processor and a memory, wherein the computer is
programmed to: collect data related to a person outside of the
vehicle; use the collected data to generate a virtual map of one or
more targets, including at least the person, proximate to the
vehicle; provide a display based on the virtual map that includes
information about a location of the person.
2. The system of claim 1, wherein the computer is further
configured to provide an instruction to a vehicle controller to
take an action.
3. The system of claim 2, wherein the action includes directing at
least one vehicle light.
4. The system of claim 1, wherein the collected data includes a
position of the vehicle.
5. The system of claim 1, wherein the collected data includes at
least one of ultrasonic, image, radar, lidar, and infrared
data.
6. The system of claim 1, wherein the computer is further
configured to provide information to a remote device based on the
collected data.
7. The system of claim 1, wherein the information about the person
includes a direction of travel of the person.
8. The system of claim 1, wherein the collected data includes data
from at least one of a steering controller, a brake controller, an
engine controller, and a transmission controller.
9. The system of claim 1, wherein the computer is further
programmed to detect that emergency lights are activated in the
vehicle as a trigger to begin collecting the data related to the
person outside of the vehicle.
10. A method, carried out according to instructions stored in a
computer in a vehicle comprising: collecting data related to a
person outside of the vehicle; using the collected data to generate
a virtual map of one or more targets, including at least the
person, proximate to the vehicle; providing a display based on the
virtual map that includes information about a location of the
person.
11. The method of claim 10, wherein the computer is further
configured to provide an instruction to a vehicle controller to
take an action.
12. The method of claim 11, wherein the action includes directing
at least one vehicle light.
13. The method of claim 10, wherein the collected data includes a
position of the vehicle.
14. The method of claim 10, wherein the collected data includes at
least one of ultrasonic, image, radar, lidar, and infrared
data.
15. The method of claim 10, further comprising providing
information to a remote device based on the collected data.
16. The method of claim 10, wherein the information about the
person includes a direction of travel of the person.
17. The method of claim 10, wherein the collected data includes
data from at least one of a steering controller, a brake
controller, an engine controller, and a transmission
controller.
18. The method of claim 10, further comprising detecting that
emergency lights are activated in the vehicle as a trigger to begin
collecting the data related to the person outside of the vehicle.
Description
RELATED APPLICATIONS
[0001] This application claims priority to Provisional Application
Ser. No. 61/969,122 filed Mar. 22, 2014 entitled "Tracking a
Suspect From a Vehicle"; Provisional Application Ser. No.
61/969,123 filed Mar. 22, 2014 entitled "Approach Warning for a
Police Vehicle"; and Provisional Application Ser. No. 61/969,124
filed Mar. 22, 2014 entitled "Approach Warning for a Police
Vehicle" and Provisional Application Ser. No. 61/969,126 filed Mar.
22, 2014 entitled "Emergency Vehicle Maneuver Notification", each
of which provisional applications are hereby incorporated herein by
reference in their respective entireties.
BACKGROUND
[0002] During police pursuit of a suspect in a vehicle, a suspect
may stop his or her vehicle and/or flee on foot. In such
situations, it may be difficult for police personnel to determine a
direction in which the suspect flees due to low visibility (e.g.
low light conditions, dust from the stopping vehicle, etc.).
DRAWINGS
[0003] FIG. 1 is a block diagram of an exemplary vehicle equipped
suspect tracking.
[0004] FIG. 2 is a block diagram of a police vehicle and a suspect
vehicle, where a suspect is fleeing the suspect vehicle on
foot.
[0005] FIG. 3 is a diagram of an exemplary process for suspect
location detection and/or tracking.
DETAILED DESCRIPTION
System Overview
[0006] With reference to FIG. 1, a tracking system and method may
be deployed and used in vehicles such as a police vehicle 101. The
system and method are generally in implemented in and/or include a
computer 105 in the vehicle 101. The computer 105 generally
receives data from one or more data collectors 110, e.g., sensors,
deployed in an interior and/or exterior of the vehicle 101.
[0007] As illustrated in FIG. 2, a police vehicle 101 may be in
pursuit of a suspect vehicle 102, whereupon the suspect may stop
his or her vehicle 102 and exit the vehicle 102 in an attempt to
escape on foot. Accordingly, a police vehicle 101 may be provided
with a computer 105 and other elements such as data collectors 110
and possibly other elements, e.g., to provide data 115 to the
computer 105, to assist with tracking the suspect by indicating a
direction in which a suspect fled after exiting a suspect's
vehicle, and by making tracking information available. In general,
the computer 105 may be equipped to provide information relating to
suspect activity in a detection zone 200 (see FIG. 2), i.e., an
area defined by a distance at which sensors 110 in the vehicle 101
are able to obtain reliable and useful data 115 for suspect
detection and tracking.
[0008] FIG. 1 is a block diagram of an exemplary vehicle 101
equipped for suspect tracking. The vehicle 101 generally includes
one or more sensor data collectors 110, used to monitor the area
surrounding a police vehicle 102 during a chase, and to track any
moving objects in the vicinity. During a pursuit, the disclosed
system, e.g., the computer 105, can detect a location of a suspect
vehicle 102, and indicate this location on a display or the like
included in a human machine interface (HMI) 120 in the vehicle 101.
In the event that a suspect exits his/her vehicle 102, the HMI can
also be used to indicate a location of the suspect, in addition to
other information, to assist a police officer or the like in
tracking the suspect, including transmitting the suspect's location
to a portable device and/or aiming a light in a direction of the
suspect to help illuminate the scene and to indicate the location
of the suspect. Accordingly, the computer 105 can be used to detect
a location and movement of a second vehicle 102 and/or a location
and/or movement of a person outside the vehicles 101, 102, e.g., a
suspect being pursued.
[0009] As stated above, a vehicle 101 includes a vehicle computer
105. The vehicle 101 is generally a land-based vehicle having three
or more wheels, e.g., a passenger car, light truck, etc. The
computer 105 generally includes a processor and a memory, the
memory including one or more forms of computer-readable media, and
storing instructions executable by the processor for performing
various operations, including as disclosed herein. Further, the
computer 105 may include and/or be communicatively coupled to more
than one computing device, e.g., controllers or the like included
in the vehicle 101 for monitoring and/or controlling various
vehicle components, e.g., an engine control unit, transmission
control unit, etc. The computer 105 is generally configured for
communications on a controller area network (CAN) bus or the like.
Further, such computer 105 may include and/or be communicatively
coupled to more than one computing device, e.g., controllers or the
like included in the vehicle 101 for monitoring and/or controlling
various vehicle components, e.g., an engine control unit,
transmission control unit, etc. The computer 105 may also have a
connection to an onboard diagnostics connector (OBD-II), and or
other digital communications mechanisms
[0010] Via the CAN bus, OBD-II, and/or other wired or wireless
mechanisms, the computer 105 may transmit messages to various
devices in a vehicle and/or receive messages from the various
devices, e.g., controllers, actuators, sensors, etc., including
data collectors 110. Alternatively or additionally, in cases where
the computer 105 actually comprises multiple devices, the CAN bus
or the like may be used for communications between devices
represented as the computer 105 in this disclosure. In addition,
the computer 105 may be configured for communicating with other
devices via various wired and/or wireless networking technologies,
e.g., cellular, Bluetooth, a universal serial bus (USB), wired
and/or wireless packet networks, etc.
[0011] Data collectors 110 may include a variety of devices. For
example, as illustrated in FIG. 1, data collectors 110 can include
one or more ultrasonic sensors, cameras, lidar sensors, radar
sensors, infrared sensors, etc.
[0012] Further, the foregoing examples are not intended to be
limiting; other types of data collectors 110 could be used to
provide data 115 to the computer 105. For example, various
controllers in a vehicle 101 may operate as data collectors 110 to
provide data 115 via the CAN bus, e.g., data 115 relating to
vehicle 101 speed, acceleration, etc. Further, sensors or the like,
global positioning system (GPS) equipment, etc., could be included
in a vehicle 101 and configured as data collectors 110 to provide
data directly to the computer 105, e.g., via a wired or wireless
connection. Accordingly, vehicle 101 equipment and/or components
may be controlled based upon operating conditions defined by
vehicle 101 CAN bus 110 communications and or the like.
[0013] A memory of the computer 105 generally stores collected data
115. Collected data 115 may include a variety of data collected in
a vehicle 101. Examples of collected data 115 may include
measurements relating to a position, velocity, and size (e.g.,
length, width, height, radar cross section) of target(s) such as a
suspect in or near a detection zone 200. Data 115 may additionally
include data calculated therefrom in the computer 105. In general,
collected data 115 may include any data that may be gathered by a
collection device 110 and/or computed from such data.
[0014] The vehicle 101 generally includes a human machine interface
(HMI) 120. In general, the HMI 120 is equipped to accept inputs
for, and/or provide outputs from, the computer 105. For example,
the vehicle 101 may include one or more of a display configured to
provide a graphical user interface (GUI) or the like, an
interactive voice response (IVR) system, audio output devices,
mechanisms for providing haptic output, e.g., via a vehicle 101
steering wheel or seat, etc. Further, a user device, e.g., a
portable computing device such as a tablet computer, a wearable
device, a smart phone, or the like, may be used to provide some or
all of an HMI 120 to a computer 105. For example, a user device
could be connected to the computer 105 using technologies discussed
above, e.g., USB, Bluetooth, etc., and could be used to accept
inputs for and/or provide outputs from the computer 105.
Exemplary Operations
[0015] Exemplary operations of the computer 105, e.g., collecting
and/or using data 115, may include some of all of the following:
[0016] When the vehicle 101 emergency lights are turned on, suspect
tracking may be automatically initiated. [0017] Uses one or more
(e.g. ultrasonic, radar, video, lidar, infrared) sensors 110 to
detect any targets within the detection zone 200 during a police
pursuit. Targets may include people, bicycles, motor vehicles, etc.
[0018] Determine a position, velocity, and size (length, width,
height, radar cross section) of target(s) in or near a detection
zone 200. [0019] Tracks a position and velocity of the target(s) in
or near a detection zone 200. [0020] Classify target(s) based on a
target type; e.g., a target type classifier included in the
computer 105 may evaluate information from vehicle data collectors
110 such as radar cross section, length, width, shape, speed, etc.,
and assigns a target to an appropriate type class (e.g. person,
car, truck, bicycle, etc.) [0021] Display a position, speed,
classification of the target(s), and/or time history (breadcrumbs)
of target positions on a vehicle 101 HMI 120 display, e.g., as
shown in FIG. 2. Displays of moving and stationary targets can be
provided in different colors on the display so they can easily be
differentiated. [0022] Information relating to position, speed,
classification of the target(s), and/or time history can be
transmitted, e.g., via wi-fi, cellular data connections, etc., to a
portable device (e.g. smartphone) so it can be displayed remotely.
[0023] A log of past system trigger events can be stored in a
volatile memory of the computer 105, and can also be saved to a
non-volatile memory for longer storage. Data 115 so recorded and
logged can include an object list (including, e.g., a position,
velocity, size, and camera images) for one or more targets or
objects, as well as images and/or data from forward looking radar,
side radar, 360 degree radar, surround camera, forward looking
camera, GPS location, direction suspect fled, etc., stored over
some time range (e.g., 1 minute before and 5 minutes after a system
trigger event). A trigger event can be defined, e.g., as any time
the vehicle 101 comes to a stop during a while in a pursuit, e.g.,
while emergency lights and/or siren(s) are activated, or perhaps be
based on other vehicle 101 inputs corresponding to the time that
the suspect leaves the vehicle. [0024] The computer 105 can log the
GPS coordinates of the location at which someone exited the suspect
vehicle 102 and a direction in which a suspect fled. [0025] The
computer 105 can provide instructions to a vehicle 101 controller
to automatically aim a police search light (or a vehicle 101
headlight once the vehicle 101 stops) toward a suspect to better
illuminate a detection zone 200. Then, lights could continue to
follow a path of a suspect even after a police officer leaves the
vehicle 101. [0026] The computer 105 could also direct overhead
police lights to indicate a direction that the suspect fled. Such
lights could continue to follow a path of a suspect even after a
police officer leaves the vehicle 101. [0027] The computer 105
could include instructions for retrieving, viewing, copying, and
clearing the log of past system trigger events, e.g., according to
input by a user or administrator. [0028] The computer 105 could
include instructions for exporting the log of past system trigger
events to another device (e.g. memory card, smartphone, EDR reader,
etc.), and/or to a central location, e.g., a remote server in a
dispatch center or the like. [0029] The computer 105 could include
instructions to provide a trigger output signal to a DVR (digital
video recorder) or other device when a system trigger event occurs
(e.g., a DVR can record video from vehicle 101 cameras 110 before
and after a system trigger event). [0030] The computer 105 can use
GPS-based location of other police vehicles and indicate them on a
map display. This feature of course would require that GPS (global
positioning system) data 115 for the vehicle 101 was available, and
that such data was received from other police vehicles. [0031] The
computer 105 could provide an indication on an HMI 120 display
(e.g., using color coding) indicating which of a plurality of
targets indicated in the display is the suspect being pursued. In
some cases, an ability to track a suspect may be limited (e.g.,
suspect hidden in weeds). If the suspect is no longer being
tracked, the computer 105 can use an audio portion of the HMI 120
to provide an audible alert at the time that the suspect is first
lost from tracking, and/or could provide such indication on a
display of the HMI 120.
Exemplary Process Flow
[0032] FIG. 3 is a diagram of an exemplary process 300 for suspect
location detection and/or tracking. In general, actions performed
as part of the process 300 may be performed by the computer 105,
i.e., according to instructions stored in a memory of, and
executable by a processor of, the computer 105.
[0033] The process 300 begins in a block 305, in which suspect
monitoring, e.g., location detection and/or tracking is initiated.
For example, as noted above, such a process 300 could be initiated
when vehicle 101 emergency lights and/or sirens are activated.
Alternatively or additionally, by way of further example, the
computer 105 could be configured to initiate the process 300 on
receiving a user input.
[0034] Next, in a block 310, the computer 105 obtains and/or
generates collected data 115. For example, collected data 115 may
be obtained from one or more data collectors 110, as explained
above. Further, collected data 115 may be computed from other data
115 as explained above, obtained directly from a data collector
110. In any event, in the block 310, collected data 115 obtained by
the computer 105 may include data 115 such as described above.
[0035] Following the block 310, in a block 315, the computer 105
generates, or in the case of a second or later iteration of the
process 300, updates, a virtual map, discussed further below with
respect to the block 315, of the vehicle 101 surroundings. For
example, a map update may be performed substantially continuously,
e.g., after a predetermined amount of time, e.g., 100 milliseconds,
has elapsed since the virtual map was last updated, or, an amount
of time that data 115 has been collected, in the case of a first
iteration of the process 300. The virtual map may store a vehicle
101 location, a vehicle 101 speed, an orientation of the vehicle
101 and/or certain vehicle 101 components, e.g., an orientation of
vehicle 101 wheels, as well as a vehicle 102 location, a location
of a suspect and/or other targets, as well as "breadcrumbs" or the
like indicating movement of the suspect and/or other targets.
[0036] A virtual map of the vehicle 101 surroundings such as is
generated or updated in the block 315 generally includes a
three-dimensional coordinate system having an origin located with
reference to the vehicle 101, e.g., at an intersection of
horizontal, longitudinal, and vertical axes of the vehicle 101.
Further, the virtual map generally includes an identification and
location of objects, e.g., the vehicles 101, 102, possibly other
vehicles, bicycles, pedestrians, etc.
[0037] Data 115 from different data collectors 110 may be used by
itself or in combination with data from other types of data
collectors 110. For example, data 115 from one or more sensors 110
may be used in combination with data 115 from other data collectors
110, e.g. image data 115 from a vehicle 101 camera 110 could be
used with radar data 115, lidar data 115, etc. For example, radar
data 115 could indicate a likely presence of an object with respect
to a vehicle 101, whereupon image data 115 could be used, based on
image recognition techniques, to confirm and/or augment
identification of the object.
[0038] Following the block 315, in a block 320, the computer 105
generates and/or updates the a display in the HMI 120 based on
collected data 115 and/or the virtual map. For example, a location
of a suspect and/or other target objects could be indicated and/or
updated.
[0039] Following the block 320, in a block 325, the computer 105
determines whether collected data 115, including the virtual map,
provide a basis for an alert or action. For example, as mentioned
above, the computer 105 could be configured to automatically direct
vehicle 101 lights, to provide an audio and/or visual alert on
certain trigger events, etc. If the computer 105 is not configured
to provide alerts and/or take actions, or if none is warranted, the
block 320 may be omitted.
[0040] Following the block 325, in a block 530, the computer 105
determines whether the process 300 should continue. For example, if
the computer 105 is powered off, an operator has provided input to
cease collecting data 115 and/or to cease vehicle 101 operations,
etc., the process 300 may end. If such determination is not made,
the process 300 returns to the block 310.
CONCLUSION
[0041] (The term "police" as used herein may refer to various
public and/or private law enforcement and/or security operations,
in addition to referring to a formal police department.)
[0042] Computing devices such as those discussed herein, e.g., the
computer 105, generally each include instructions executable by one
or more computing devices such as those identified above, and for
carrying out blocks or steps of processes described above. For
example, process blocks discussed above may be embodied as
computer-executable instructions.
[0043] 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.TM., C, C++,
Visual Basic, Java Script, Perl, HTML, etc. In general, a processor
(e.g., a microprocessor) receives instructions, e.g., from a
memory, a computer-readable medium, etc., and executes these
instructions, thereby performing one or more processes, including
one or more of the processes described herein. Such instructions
and other data may be stored and transmitted using a variety of
computer-readable media. A file in a computing device is generally
a collection of data stored on a computer readable medium, such as
a storage medium, a random access memory, etc.
[0044] A computer-readable medium includes any medium that
participates in providing data (e.g., instructions), which may be
read by a computer. Such a medium may take many forms, including,
but not limited to, non-volatile media, volatile media, etc.
Non-volatile media include, for example, optical or magnetic disks
and other persistent memory. Volatile media include dynamic random
access memory (DRAM), which typically constitutes a main memory.
Common forms of computer-readable media include, for example, a
floppy disk, a flexible disk, hard disk, magnetic tape, any other
magnetic medium, a CD-ROM, DVD, any other optical medium, punch
cards, paper tape, any other physical medium with patterns of
holes, a RAM, a PROM, an EPROM, a FLASH-EEPROM, any other memory
chip or cartridge, or any other medium from which a computer can
read.
[0045] In the drawings, the same reference numbers indicate the
same elements. Further, some or all of these elements could be
changed. With regard to the media, processes, systems, methods,
etc. described herein, it should be understood that, although the
steps of such processes, etc. have been described as occurring
according to a certain ordered sequence, such processes could be
practiced with the described steps performed in an order other than
the order described herein. It further should be understood that
certain steps could be performed simultaneously, that other steps
could be added, or that certain steps described herein could be
omitted. In other words, the descriptions of processes herein are
provided for the purpose of illustrating certain embodiments, and
should in no way be construed so as to limit the claimed
invention.
[0046] Accordingly, it is to be understood that the above
description is intended to be illustrative and not restrictive.
Many embodiments and applications other than the examples provided
would be apparent to those of skill in the art upon reading the
above description. The scope of the invention should be determined,
not with reference to the above description, but should instead be
determined with reference to the appended claims, along with the
full scope of equivalents to which such claims are entitled. It is
anticipated and intended that future developments will occur in the
arts discussed herein, and that the disclosed systems and methods
will be incorporated into such future embodiments. In sum, it
should be understood that the invention is capable of modification
and variation and is limited only by the following claims.
[0047] All terms used in the claims are intended to be given their
plain and ordinary meanings as understood by those skilled in the
art unless an explicit indication to the contrary in made herein.
In particular, use of the singular articles such as "a," "the,"
"said," etc. should be read to recite one or more of the indicated
elements unless a claim recites an explicit limitation to the
contrary.
* * * * *