# US 12,118,889 B2 · Warning system for alerting a vulnerable road user of a predicted collision with a hidden approaching vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,118,889 B2 - Document ID: US12118889B2 - Status: Granted - Kind: B2 - Application number: 18/051,661 - Filed: 2022-11-01 - Published: 2024-04-25 - Granted: 2024-10-15 - Earliest claimed: 2022-10-24 - Assignees: GM Global Technology Operations LLC - Applicants: GM Global Technology Operations LLC - Inventors: Mohammad Naserian; An Xu; Feiyu Cong; Jie Zhu - Web page: https://patentgrep.com/patent/US12118889B2 ## CPC - G08G 1/005: including pedestrian guidance indicator - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - B60Q 1/525: {automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data} - G08G 1/095: Traffic lights - G08G 1/164: {Centralised systems, e.g. external to vehicles} - B60Q 2400/50: Projected symbol or information, e.g. onto the road or car body - 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}) - B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL ## Abstract A warning system is provided for alerting a Vulnerable Road User (VRU) of a predicted collision. The system includes one or more input devices for transmitting a first input signal associated with a first vehicle positioned in a first lane, a second input signal associated with a second vehicle positioned in a second lane, and a third input signal associated with the VRU located on a crosswalk that extends across the first and second lanes. The system further includes a computer having a processor and a non-transitory computer readable medium. The processor is programmed to determine the predicted collision between the second vehicle and the VRU at a predicted collision site. The processor is further programmed to generate an actuation signal. One or more roadway notification devices notify the VRU that the second vehicle is positioned in the second lane and headed toward the predicted collision site in the crosswalk. ## Claims ### Claim 1 A warning system for alerting a Vulnerable Road User (VRU) of a predicted collision, the warning system comprising: at least one input device for transmitting a first input signal associated with a first vehicle positioned in a first lane of a roadway, a second input signal associated with a second vehicle positioned in a second lane of the roadway adjacent to the first lane, and a third input signal associated with the VRU located on a crosswalk that extends across the first and second lanes; and a computer mounted to a roadside sensor unit, the computer comprising: at least one processor electrically connected to the at least one input device and receiving the first, second, and third input signals from the at least one input device; and a non-transitory computer readable storage medium (CRM) for storing instructions, such that the at least one processor is programmed to: determine the predicted collision between the second vehicle and the VRU at a predicted collision site within a predicted time to collision based on the second and third input signals; generate an actuation signal in response to the at least one processor determining the predicted collision; wherein at least one roadway notification device is coupled to the roadway for notifying the VRU that the second vehicle is positioned in the second lane and headed toward the predicted collision site in the crosswalk in response to the at least one roadway notification device receiving the actuation signal from the at least one processor. ### Claim 2 (depends on 1) The warning system of claim 1 wherein the at least one processor is further programmed to: determine that the first vehicle has a heading toward the VRU and the first vehicle is waiting for the VRU to travel across the crosswalk in response to the at least one processor receiving the first and third input signals from the at least one input device; and generate the actuation signal in further response to the at least one processor determining that the first vehicle has a heading toward the VRU and the first vehicle is waiting for the VRU to travel across the crosswalk. ### Claim 3 (depends on 2) The warning system of claim 2 wherein the at least one processor is further programmed to: determine that the second vehicle is travelling toward the predicted collision site in the crosswalk in response to the at least one processor receiving the second and third input signals from the at least one input device; and generate the actuation signal in further response to the at least one processor determining that the second vehicle is travelling toward the predicted collision site in the crosswalk. ### Claim 4 (depends on 3) The warning system of claim 3 wherein the at least one processor is further programmed to: determine that the VRU is travelling toward the predicted collision site in the crosswalk in response to the at least one processor receiving the second and third input signals from the at least one input device; and generate the actuation signal in further response to the at least one processor determining that the VRU is travelling toward the predicted collision site in the crosswalk. ### Claim 5 (depends on 4) The warning system of claim 4 wherein the at least one processor is further programmed to: determine a predicted time-to-collision (predicted TTC) in response to the at least one processor receiving the first and third input signals from the at least one input device; compare the predicted TTC to a predetermined time threshold; and generate the actuation signal in further response to the at least one processor determining that the predicted TTC is less than the predetermined time threshold. ### Claim 6 (depends on 4) The warning system of claim 4 wherein the at least one processor is further programmed to: determine that the second vehicle is located at a closing distance from the predicted collision site in response to the at least one processor receiving the second and third input signals from the at least one input device; compare the closing distance to a predetermined distance threshold; and generate the actuation signal in further response to the at least one processor determining that the closing distance is less than the predetermined distance threshold. ### Claim 7 (depends on 4) The warning system of claim 4 wherein the at least one roadway notification device comprises at least one of a display device for displaying a visible alert related to the VRU, a speaker for emitting an audible alert related to the VRU, and a haptic device. ### Claim 8 (depends on 7) The warning system of claim 7 wherein the at least one roadway notification device further comprises at least one of: a traffic light signal facing the second vehicle, with the traffic light signal emitting a red light in response to the traffic light signal receiving the actuation signal from the at least one processor; and a plurality of indicator lights attached to the roadway and positioned about the crosswalk, with the indicator lights emitting a light in response to the indicator lights receiving the actuation signal from the at least one processor. ### Claim 9 A warning system for alerting a Vulnerable Road User (VRU) of a predicted collision, the warning system comprising: at least one input device for transmitting a first input signal associated with a first vehicle positioned in a first lane of a roadway, a second input signal associated with a second vehicle positioned in a second lane of the roadway adjacent to the first lane, and a third input signal associated with the VRU located on a crosswalk that extends across the first and second lanes; at least one roadway notification device coupled to at least one of the roadway and the first vehicle, with at least one roadway notification device positioned within a line of sight of the VRU and notifying the VRU that the second vehicle is positioned in the second lane and headed toward the crosswalk; and a computer mounted to each of the first vehicle and a roadside sensor unit, the computer comprising: at least one processor electrically connected to the at least one input device and receiving the first, second, and third input signals from the at least one input device; and a non-transitory computer readable storage medium (CRM) for storing instructions, such that the at least one processor is programmed to: determine the predicted collision between the second vehicle and the VRU at a predicted collision site within a predicted time to collision based on the second and third input signals; generate an actuation signal in response to the at least one processor determining the predicted collision; wherein the at least one roadway notification device notifies the VRU that the second vehicle is positioned in the second lane and headed toward predicted collision site in the crosswalk in response to the at least one roadway notification device receiving the actuation signal from the at least one processor. ### Claim 10 (depends on 9) The warning system of claim 9 wherein the at least one input device comprises at least one of a RADAR device, and a V2X input device. ### Claim 11 (depends on 10) The warning system of claim 10 wherein the at least one input device further comprises a forward collision module integrated within at least one of the first vehicle and a roadside sensor unit, the forward collision module being configured to generate the first input signal associated with the VRU being positioned in a first path of the first vehicle and having a heading toward the predicted collision site within a second path of the second vehicle. ### Claim 12 (depends on 9) The warning system of claim 9 further comprising at least one vehicle notification device mounted to the first vehicle, with the at least one vehicle notification device configured to notify the VRU that the second vehicle is positioned in the second lane and headed toward the predicted collision site in the crosswalk in response to the at least one vehicle notification device receiving the actuation signal from the at least one processor. ### Claim 13 (depends on 9) The warning system of claim 9 wherein the at least one processor is further programmed to: determine that the first vehicle has a heading toward the VRU and the first vehicle is waiting for the VRU to travel across the crosswalk in response to the at least one processor receiving the first and third input signals from the at least one input device; and generate the actuation signal in further response to the at least one processor determining that the first vehicle has a heading toward the VRU and the first vehicle is waiting for the VRU to travel across the crosswalk. ### Claim 14 (depends on 13) The warning system of claim 13 wherein the at least one processor is further programmed to: determine that the second vehicle is travelling toward the predicted collision site in the crosswalk in response to the at least one processor receiving the second and third input signals from the at least one input device; and generate the actuation signal in further response to the at least one processor determining that the second vehicle is travelling toward the predicted collision site in the crosswalk. ### Claim 15 (depends on 14) The warning system of claim 14 wherein the at least one processor is further programmed to: determine that the VRU is travelling toward the predicted collision site in the crosswalk in response to the at least one processor receiving the second and third input signals from the at least one input device; and generate the actuation signal in further response to the at least one processor determining that the VRU is travelling toward the predicted collision site in the crosswalk. ### Claim 16 (depends on 15) The warning system of claim 15 wherein the at least one processor is further programmed to: determine a predicted time-to-collision (predicted TTC) in response to the at least one processor receiving the first and third input signals from the at least one input device; compare the predicted TTC to a predetermined time threshold; and generate the actuation signal in further response to the at least one processor determining that the predicted TTC is less than the predetermined time threshold. ### Claim 17 (depends on 16) The warning system of claim 16 wherein the at least one processor is further programmed to: determine that the second vehicle is located at a closing distance from the predicted collision site in response to the at least one processor receiving the second input signal from the at least one input device; compare the closing distance to a predetermined distance threshold; and generate the actuation signal in further response to the at least one processor determining that the closing distance is less than the predetermined distance threshold. ### Claim 18 A method of operating a warning system for alerting a Vulnerable Road User (VRU) of a predicted collision, the method comprising: transmitting, using at least one input device, a first input signal associated with a first vehicle positioned in a first lane of a roadway; transmitting, using the at least one input device, a second input signal associated with a second vehicle positioned in a second lane of the roadway adjacent to the first lane; transmitting, using the at least one input device, a third input signal associated with the VRU located on a crosswalk that extends across the first and second lanes; determining, using at least one processor of a computer that has a non-transitory computer readable storage medium (CRM) for storing instructions, the predicted collision between the second vehicle and the VRU at a predicted collision site within a predicted time to collision based on the second and third input signals; generating, using the at least one processor, an actuation signal in response to the at least one processor determining the predicted collision; and notifying, using at least one roadway notification device, the VRU that the second vehicle is positioned in the second lane and headed toward the predicted collision site in the crosswalk in response to the at least one roadway notification device receiving the actuation signal from the at least one processor. ### Claim 19 (depends on 18) The method of claim 18 further comprising: determining, using the at least one processor, that the first vehicle has a heading toward the VRU and the first vehicle is waiting for the VRU to travel across the crosswalk in response to the at least one processor receiving the first and third input signals from the at least one input device; determining, using the at least one processor, that the second vehicle is travelling toward the predicted collision site in the crosswalk in response to the at least one processor receiving the second and third input signals from the at least one input device; determining, using the at least one processor, that the VRU is travelling toward the predicted collision site in the crosswalk in response to the at least one processor receiving the first and third input signals from the at least one input device; and generating the actuation signal in further response to the at least one processor: determining that the first vehicle has a heading toward the VRU and the first vehicle is waiting for the VRU to travel across the crosswalk; and determining that the second vehicle and the VRU are travelling toward the predicted collision site in the crosswalk. ### Claim 20 (depends on 19) The method of claim 19 further comprising: determining, using the at least one processor, that the second vehicle is located at a closing distance from the predicted collision site in response to the at least one processor receiving the second and third input signals from the at least one input device; comparing, using the at least one processor, the closing distance to a predetermined distance threshold; determining, using the at least one processor, a predicted time-to-collision (predicted TTC) in response to the at least one processor receiving the second and third input signals from the at least one input device; comparing, using the at least one processor, the predicted TTC to a predetermined time threshold; and generating, using the at least one processor, the actuation signal in further response to the at least one processor determining that the closing distance is less than the predetermined distance threshold and further determining that the predicted TTC is less than the predetermined time threshold.