# US 11,029,401 B2 · Apparatus and method for detecting a traffic participant > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,029,401 B2 - Document ID: US11029401B2 - Status: Granted - Kind: B2 - Application number: 15/979,697 - Filed: 2018-05-15 - Published: 2018-11-22 - Granted: 2021-06-08 - Earliest claimed: 2017-05-16 - Assignees: HENSOLDT Sensors GmbH - Applicants: Hensoldt Sensors GmbH - Inventors: Matthias Eberle; Horst Mayer - Web page: https://patentgrep.com/patent/US11029401B2 ## CPC - G01S 13/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S13/46) - G01S 5/0027: {of actual mobile position, i.e. position determined on mobile} - G01S 13/781: {Secondary Surveillance Radar [SSR] in general} - G01S 13/86: Combinations of radar systems with non-radar systems, e.g. sonar, direction finder - G01S 13/872: {Combinations of primary radar and secondary radar} - G01S 13/93: for anti-collision purposes - G01S 13/933: of aircraft or spacecraft - G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - G08G 3/02: Anti-collision systems - G08G 5/21: located onboard the aircraft - G08G 5/80: Anti-collision systems - G01S 13/931: of land vehicles - G01S 2013/0245: {Radar with phased array antenna} - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract An apparatus for detecting a traffic participant includes a first detection device for detecting the traffic participant in a first detection zone. The first detection device is configured to repeatedly detect the first detection zone and to detect an entering of a traffic participant in the first detection zone, and/or to detect the traffic participant in an angular section in an extended first detection zone beyond the first detection zone according to an instruction. The apparatus also includes a second detection device that detects the traffic participant in a second detection zone, and is adapted to provide data required for instruction about the traffic participant in response to the detection of the traffic participant and to forward it to the first detection device for instruction. This way, the traffic participant may be detected by the first detection device before entering the first detection zone. ## Claims ### Claim 1 An apparatus for detecting at least one participant, the apparatus comprising: a first detection device configured to detect the at least one traffic participant in a first detection zone, wherein the first detection device is configured to repeatedly scan the first detection zone and to detect an entering of the at least one traffic participant in the first detection zone, and to detect the at least one traffic participant, based on an instruction, in an angular section in an enlarged first detection zone beyond the first detection zone; and a second detection device configured to detect the at least one traffic participant in a second detection zone, wherein the second detection device, responsive the detection of the at least one traffic participant, is configured to provide data needed for the instruction regarding the at least one traffic participant and to transmit the data to the first detection device for the instruction, so that the at least one traffic participant is detectable by the first detection device before entering the first detection zone, wherein the second detection device comprises at least one cooperative sensor configured to detect a position of the at least one traffic participant based on data sent by the at least one traffic participant. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the data used for the instruction indicate a direction towards the at least one traffic participant or the position of the at least one traffic participant, and the angular section is selected in a way that the direction or the position is inside the angular section, wherein the at least one traffic participant is located outside of the first detection zone. ### Claim 3 (depends on 1) The apparatus of claim 1, wherein the second detection device comprises at least one non-cooperative sensor configured to detect the at least one traffic participant independent of whether the at least one traffic participant sends data. ### Claim 4 (depends on 1) The apparatus of claim 1, wherein the first detection device comprises a non-cooperative sensor, which is a radar having an electronic beam swiveling and which is configured to detect the at least one traffic participant independent of whether the at least one traffic participant is sending data or not. ### Claim 5 (depends on 1) The apparatus of claim 1, further comprising: a controller configured to provide at least one of the following: synchronizing detection signals of the first detection device and/or of the second detection device in time, assigning traffic participants to the detected detection signals, providing a selection or data fusion of the data used for the instruction, in case the second detection device comprises at least two sensors, supplying sensor data, selecting traffic participants, which may be selectively detected by the first detection device in the angular section. ### Claim 6 (depends on 5) The apparatus of claim 5, wherein the controller is further configured to determine candidate traffic participants for which an instruction is to be performed, wherein the determination comprises at least one of the following: determining a candidate list for candidates for which an instruction is to be selectively performed, evaluating each element of the candidate lists using a cost function, sorting the candidate list based on the evaluation, forwarding candidates that are most weighted by the cost function to the first detection device in order to perform an instruction regarding the most weighted candidates. ### Claim 7 (depends on 1) The apparatus of claim 1, further comprising: a warning device configured to display the at least one traffic participant that has been detected by the first detection device in the enlarged first detection zone, as a warning. ### Claim 8 (depends on 7) The apparatus of claim 7, wherein the warning device comprises a display configured to display the at least one traffic participant upon detection in the enlarged first detection zone. ### Claim 9 (depends on 8) The apparatus of claim 8, wherein the at least one traffic participant is an aircraft, a water vehicle, or a land vehicle and a collision avoidance system proposes alternative routes and/or initiates them in an autonomous way based on the detection. ### Claim 10 A method for detecting a traffic participant using a detection apparatus comprising first and second detection devices, wherein the first detection device is able to repeatedly scan a first detection zone and to detect an entering of the traffic participant in the first detection zone, the method comprising: detecting the traffic participant in a second detection zone by the second detection device, wherein the second detection device comprises at least one cooperating sensor; detecting, by the second detection device, a position of the traffic participant based on data sent by the traffic participant; providing instruction data about the traffic participant responsive to the detection of the traffic participant; instructing the first detection device by transmitting the instruction data to the first detection device; and detecting the traffic participant by the first detection device in the extended first detection zone responsive to the instruction so that the traffic participant is detectable by the first detection device before entering the first detection zone. ### Claim 11 (depends on 10) The method of claim 10, further comprising at least one of the following steps: synchronizing detection signals from the first detection device and/or from the second detection device; assigning traffic participants to the detected detection signals; when the second detection device comprises at least two sensors providing detection data, selecting and/or combining of the data used for instruction; and selecting traffic participants, that are to be selectively detectable by the first detection device in a limited angular section. ### Claim 12 (depends on 10) The method of claim 10, further comprising at least one of the following steps: creating a candidate list for candidates of traffic participants for which an instruction has to be selectively performed; evaluating each element from the candidate list using a cost function; sorting the candidate list based on the evaluation; and forwarding candidates that are most weighted by the cost function to the first detection device to perform an instruction to the traffic participants. ### Claim 13 A non-transitory computer program product for detecting a traffic participant using a detection apparatus comprising first and second detection devices, wherein the first detection device is able to repeatedly scan a first detection zone and to detect an entering of the traffic participant in the first detection zone, wherein the non-transitory computer program product stores instructions, which when executed by a processor cause the processor to: detect the traffic participant in a second detection zone by the second detection device, wherein the second detection device comprises at least one cooperating sensor; detect, by the second detection device, a position of the traffic participant based on data sent by the traffic participant; provide instruction data about the traffic participant responsive to the detection of the traffic participant; instruct the first detection device by transmitting the instruction data to the first detection device; and detect the traffic participant by the first detection device in the extended first detection zone responsive to the instruction so that the traffic participant is detectable by the first detection device before entering the first detection zone.