# US 11,897,463 B2 · Multi-mode collision avoidance system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,897,463 B2 - Document ID: US11897463B2 - Status: Granted - Kind: B2 - Application number: 17/165,981 - Filed: 2021-02-03 - Published: 2021-06-17 - Granted: 2024-02-13 - Earliest claimed: 2017-11-29 - Applicants: Esperanto Sensors LLC - Inventors: Miles Shugerman Denson; Jared Adam Denson; Michael Craig Schexnayder; Richard T. Garcia - Web page: https://patentgrep.com/patent/US11897463B2 ## CPC - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - B60W 30/0953: {the prediction being responsive to vehicle dynamic parameters} - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - G01S 7/006: {using shared front-end circuitry, e.g. antennas (G01S13/765, G01S13/825 take precedence)} - G01S 13/589: {measuring the velocity vector} - G01S 13/726: {Multiple target tracking} - G01S 13/878: {Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector (G01S13/874 takes precedence)} - G01S 13/931: of land vehicles - G08G 1/161: {Decentralised systems, e.g. inter-vehicle communication} - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - B60W 2400/00: Indexing codes relating to detected, measured or calculated conditions or factors - B60W 2420/60: Doppler effect - B60W 2554/00: Input parameters relating to objects - B60W 2556/45: External transmission of data to or from the vehicle - G01S 2013/9316: {combined with communication equipment with other vehicles or with base stations} - G01S 2013/9322: {using additional data, e.g. driver condition, road state or weather data} - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - 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 - 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 Implementations a method using a collision detection device associated with a user to detect a moving object in an environment and provide an alert to the user are provided. In some implementations the environment comprises at least one transmitter of opportunity. In some implementations, the collision detection device comprises a receiver and a processor. In some implementations, the method comprises receiving at the collision detection device Wi-Fi signals reflected from the moving object where the Wi-Fi signals originate from a Wi-Fi source not associated with the moving object. The method further comprises detecting, measuring, and tracking the Doppler effect of the Wi-Fi signals at the collision detection device to track velocity vector relative to the collision detection device. The method further comprises calculating the time of arrival of the moving object based on the velocity vector relative to the location of the collision detection device. The method further comprises tracking the relative angle between the moving object and the collision detection device based on the velocity vector. The method further comprises predicting the occurrence of a collision between the moving object and the collision detection device based on the relative angle. The method further comprises providing a notification based on the predicting step. ## Claims ### Claim 1 A method of using a collision detection device associated with a user to detect a moving object in an environment and provide an alert to the user wherein the environment comprises at least one transmitter of opportunity and the collision detection device comprises a receiver and a processor, the method comprising: receiving at the collision detection device wireless signals directly from the at least one transmitter of opportunity and wireless signals reflected from the moving object where the wireless signals reflected from the moving object originate from the at least one transmitter of opportunity, wherein the at least one transmitter of opportunity is not co-located with the moving object and not co-located with the collision detection device such that the at least one transmitter of opportunity does not move with the moving object and does not move with the collision detection device and wherein the at least one transmitter of opportunity is not selected by either the moving object or the collision detection device; detecting, measuring, and tracking a Doppler effect of the wireless signals at the collision detection device to track a velocity vector relative to the collision detection device where the Doppler effect is not based on location information of the at least one transmitter of opportunity and not based on a separate signal generated by the moving object; calculating a time of arrival of the moving object based on the velocity vector where the calculation is not based on location information of the at least one transmitter of opportunity and not based on a separate signal generated by the moving object; tracking a relative angle between the moving object and the collision detection device based on the velocity vector where the tracking is not based on location information of the at least one transmitter of opportunity and not based on a separate signal generated by the moving object; predicting the occurrence of a collision between the moving object and the collision detection device based on the relative angle where the prediction is not based on location information of the at least one transmitter of opportunity and not based on a separate signal generated by the moving object; and providing a notification based on the predicting step. ### Claim 2 (depends on 1) The method of claim 1 wherein the moving object is a vehicle and the collision detection device is affixed to a person. ### Claim 3 (depends on 1) The method of claim 1 further comprising: upon user selection, transmitting signals from the collision detection device toward the moving object; receiving at the collision detection device the transmitted signals reflected from the moving object; detecting, measuring, and tracking a Doppler effect of the reflected signals of the transmitted signals from the collision detection device at the collision detection device to track a second velocity vector relative to the collision detection device; calculating a time of arrival of the moving object based on the second velocity vector; tracking a second relative angle between the moving object and the collision detection device based on the second velocity vector; predicting the occurrence of a collision between the moving object and the collision detection device based on the second relative angle; and providing a notification based on the predicting step. ### Claim 4 (depends on 3) The method of claim 3 further comprising broadcasting a code to the moving object based on the Doppler effect of the reflected signals of the transmitted signals from the collision detection device. ### Claim 5 (depends on 4) The method of claim 4 further comprises receiving a RFID interrogation signal from a second moving object, modulating the RFID interrogation signal, and transmitting the modulated RFID signal for reception by the second moving object. ### Claim 6 (depends on 1) The method of claim 1 wherein the at least one transmitter of opportunity is a cellular phone emitter. ### Claim 7 (depends on 1) The method of claim 1 wherein the wireless signals received at the collision detection device directly from the at least one transmitter of opportunity are signal packets. ### Claim 8 (depends on 1) The method of claim 1 wherein the wireless signals received at the collision detection device directly from the at least one transmitter of opportunity are control signals. ### Claim 9 (depends on 1) The method of claim 1 wherein the at least one transmitter of opportunity is an emitter that is IEEE 802.11, IEEE 802.16, or IEEE 802.21 compliant. ### Claim 10 A method of using a collision detection device associated with a user to detect a moving object in an environment and provide an alert to the user wherein the environment comprises at least one transmitter of opportunity and the collision detection device comprises a receiver and a processor, the method comprising receiving at the collision detection device wireless signals directly from the at least one transmitter of opportunity and wireless signals reflected from the moving object where the wireless signals reflected from the moving object originate from the at least one transmitter of opportunity, wherein the at least one transmitter of opportunity is not co-located with the moving object and not co-located with the collision detection device such that the at least one transmitter of opportunity does not move with the moving object and does not move with the collision detection device and wherein the at least one transmitter of opportunity is not selected by either the moving object or the collision detection device, wherein the at least one transmitter of opportunity is an emitter that is IEEE 802.11, IEEE 802.16, or IEEE 802.21 compliant; detecting, measuring, and tracking a Doppler effect of the wireless signals at the collision detection device to track a velocity vector relative to the collision detection device where the Doppler effect is not based on location information of the at least one transmitter of opportunity and not based on a separate signal generated by the moving object; calculating a time of arrival of the moving object based on the velocity vector where the calculation is not based on location information of the at least one transmitter of opportunity and not based on a separate signal generated by the moving object; tracking a relative angle between the moving object and the collision detection device based on the velocity vector where the calculation is not based on location information of the at least one transmitter of opportunity and not based on a separate signal generated by the moving object; predicting the occurrence of a collision between the moving object and the collision detection device based on the relative angle where the prediction is not based on location information of the at least one transmitter of opportunity and not based on a separate signal generated by the moving object; upon user selection, transmitting signals from the collision detection device toward the moving object; receiving at the collision detection device the transmitted signals reflected from the moving object; detecting, measuring, and tracking a Doppler effect of the reflected signals of the transmitted signals from the collision detection device at the collision detection device to track a second velocity vector relative to the collision detection device; calculating a time of arrival of the moving object based on the second velocity vector tracking a second relative angle between the moving object and the collision detection device based on the second velocity vector; and predicting the occurrence of a collision between the moving object and the collision detection device based on the second relative angle; providing a notification based on the predicting steps; broadcasting a code to the moving object based on the Doppler effect of the reflected signals of the transmitted signals from the collision detection device; and when receiving a RFID interrogation signal from a second moving object, modulating the RFID interrogation signal, and transmitting the modulated RFID signal for reception by the moving object. ### Claim 11 A method of using a collision detection device associated with a user to detect a moving object in an environment and provide an alert to the user wherein the environment comprises at least one transmitter of opportunity and the collision detection device comprises a receiver and a processor, the method comprising: receiving at the collision detection device wireless signals directly from the at least one transmitter of opportunity and wireless signals reflected from the moving object where the wireless signals reflected from the moving object originate from the at least one transmitter of opportunity, wherein the at least one transmitter of opportunity is not co-located with the moving object and not co-located with the collision detection device such that the at least one transmitter of opportunity does not move with the moving object and does not move with the collision detection device and wherein the at least one transmitter of opportunity is not selected by either the moving object or the collision detection device, wherein the at least one transmitter of opportunity is a transmitter that produces a-wireless signals; detecting, measuring, and tracking a Doppler effect of the wireless signals at the collision detection device to track a velocity vector relative to the collision detection device where the Doppler effect is not based on location information of the at least one transmitter of opportunity and not based on a separate signal generated by the moving object; calculating a time of arrival of the moving object based on the velocity vector where the calculation is not based on location information of the at least one transmitter of opportunity and not based on a separate signal generated by the moving object; tracking the relative angle between the moving object and the collision detection device based on the velocity vector where the calculation is not based on location information of the at least one transmitter of opportunity and not based on a separate signal generated by the moving object; predicting the occurrence of a collision between the moving object and the collision detection device based on the relative angle where the prediction is not based on location information of the at least one transmitter of opportunity and not based on a separate signal generated by the moving object; and providing a notification based on the prediction. ### Claim 12 (depends on 11) The method of claim 11 wherein the at least one transmitter of opportunity is a cellular phone emitter. ### Claim 13 (depends on 11) The method of claim 11 wherein the at least one transmitter of opportunity is a wireless router. ### Claim 14 (depends on 11) The method of claim 11 wherein the at least one transmitter of opportunity is a Wi-Fi device. ### Claim 15 (depends on 11) The method of claim 11 wherein the wireless signals received at the collision detection device directly from the at least one transmitter of opportunity are signal packets. ### Claim 16 (depends on 11) The method of claim 11 wherein the wireless signals received at the collision detection device directly from the at least one transmitter of opportunity are control signals. ### Claim 17 (depends on 11) The method of claim 11 wherein the wireless signals received at the collision detection device directly from the at least one transmitter of opportunity are beacon signals.