# US 2020/0286384 A1 · Collision Prevention System and Method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2020/0286384 A1 - Document ID: US20200286384A1 - Status: Published application - Kind: A1 - Application number: 16/652,443 - Filed: 2017-11-24 - Published: 2020-09-10 - Earliest claimed: 2017-11-24 - Assignees: Telefonaktiebolaget LM Ericsson (publ) - Applicants: Telefonaktiebolaget LM Ericsson (publ) - Inventors: Tamas Borsos; Péter Hága; Zsófia Kallus; Zsolt Kenesi; Mate Szebenyei; Peter Vaderna; András Veres - Web page: https://patentgrep.com/patent/US20200286384A1 ## CPC - G05D 1/0282: {generated in a local control room} - G08G 1/164: {Centralised systems, e.g. external to vehicles} - B60Q 5/006: {indicating risk of collision between vehicles or with pedestrians} - B60W 60/0016: {of the vehicle or its occupants} - B60W 60/0017: {of other traffic participants} - B60W 60/007: {Emergency override (Handing over between remote control and on-board control or handing over between remote control arrangements G05D1/227)} - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - G08G 1/20: {Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles} - 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}) - B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL - 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 ## Abstract We generally describe a collision prevention system (100) comprising: a localization system (402) for determining positions of an autonomous vehicle (104) and a human (106); and a collision determination unit (404) coupled to or in communication with the localization system (402), wherein the collision determination unit (404) is configured to determine, based on the determined positions of the autonomous vehicle (104) and the human (106), whether a predefined condition for an anticipated collision of the autonomous vehicle (104) with the human (106) is met; wherein the collision prevention system (100) is configured to: lock the autonomous vehicle (104) if the predefined condition is met; alert the human (106) for whom the predefined condition for colliding with the autonomous vehicle (104) is met; and allow unlocking of the autonomous vehicle (104) to be performed or initialized by the alerted human (106) only. ## Claims ### Claim at position 1 1-25. (canceled) ### Claim 26 A collision prevention system, comprising: a localization system configured to determine positions of an autonomous vehicle and a human; and a collision determination unit coupled to or in communication with the localization system, wherein the collision determination unit is configured to determine, based on the determined positions of the autonomous vehicle and the human, whether a predefined condition for an anticipated collision of the autonomous vehicle with the human is met; wherein the collision prevention system is configured to: lock the autonomous vehicle if the predefined condition is met; alert the human for whom the predefined condition for colliding with the autonomous vehicle is met; and allow unlocking of the autonomous vehicle to be performed or initialized by the alerted human only. ### Claim 27 (depends on 26) The collision prevention system of claim 26, wherein the collision prevention system is configured to determine a predicted path of movement of one or both of the autonomous vehicle and the human to determine whether the predefined condition is met. ### Claim 28 (depends on 26) The collision prevention system of claim 26, wherein the collision determination unit is configured to determine whether the predefined condition is met based on position streams obtained via the localization system. ### Claim 29 (depends on 26) The collision prevention system of claim 26, wherein localization system is configured to determine the positions of the autonomous vehicle and the human by determining relative positions between the autonomous vehicle and the human. ### Claim 30 (depends on 26) The collision prevention system of claim 26, wherein the localization system comprises one or more tags fixable to the autonomous vehicle and the human for determining: absolute positions of the autonomous vehicle and/or the human; and/or relative positions between the autonomous vehicle and the human. ### Claim 31 (depends on 26) The collision prevention system of claim 26, wherein the localization system comprises one or more anchors configured to perform positioning measurements of the autonomous vehicle and the human. ### Claim 32 (depends on 31) The collision prevention system of claim 31: wherein the localization system comprises one or more tags fixable to the autonomous vehicle and the human for determining: absolute positions of the autonomous vehicle and/or the human; and/or relative positions between the autonomous vehicle and the human; wherein the one or more anchors are in communication with the one or more tags for determining the position of the autonomous vehicle and/or the human. ### Claim 33 (depends on 31) The collision prevention system of claim 31, wherein the one or more anchors are mobile anchors configured to determine a relative position between the autonomous vehicle and the human. ### Claim 34 (depends on 26) The collision prevention system of claim 26, wherein the collision determination unit is configured to determine whether the predefined condition is met based on one or more maps, each of the maps depicting one or more time-varying zones in which one or both of the autonomous vehicle and the human can move. ### Claim 35 (depends on 26) The collision prevention system of claim 26, wherein the collision determination unit is configured to determine whether the predefined condition is met based on historical data relating to: collisions of autonomous vehicles with humans; and/or determined positions or trajectories of the autonomous vehicles and humans. ### Claim 36 (depends on 35) The collision prevention system of claim 35, wherein the collision determination unit is configured to determine whether the predefined condition is met based on a machine learning algorithm developed using the historical data. ### Claim 37 (depends on 26) The collision prevention system of claim 26, wherein the collision prevention system is further configured to define a first danger zone around the autonomous vehicle, or around a trajectory of the autonomous vehicle, within which first danger zone it is possible for the predefined condition to be met. ### Claim 38 (depends on 37) The collision prevention system of claim 37, wherein the first danger zone is defined taking into consideration: an uncertainty in position determination of one or both of the autonomous vehicle and the human; a reaction time of a closed loop vehicle control; a prediction of the trajectory of the autonomous vehicle; and/or one or more movement characteristics of the human. ### Claim 39 (depends on 37) The collision prevention system of claim 37, wherein the collision prevention system is further configured to alert all humans located within the first danger zone. ### Claim 40 (depends on 39) The collision prevention system of claim 39, wherein the collision prevention system is further configured to allow unlocking of the autonomous vehicle only if it is triggered by each of the humans located within the first danger zone. ### Claim 41 (depends on 26) The collision prevention system of claim 26, wherein the collision prevention system is configured to allow unlocking of the autonomous vehicle to be triggered by: pressing a physical button and/or reading an ID unique to the alerted human; a mobile device of the alerted human sending a safety signal to the collision determination unit; and/or detection of the alerted human leaving a zone which is within reach by the autonomous vehicle or by a predicted trajectory of the autonomous vehicle. ### Claim 42 (depends on 26) The collision prevention system of claim 26, wherein the collision prevention system is configured to define a second danger zone and to allow unlocking of the autonomous vehicle to be triggered only: if no humans are located within the second danger zone; and/or by a signal sent from outside the second danger zone. ### Claim 43 A method, comprising: determining, based on real-time locations of a human and an autonomous vehicle, whether a predefined condition for an anticipated collision of the autonomous vehicle with the human is met; locking the autonomous vehicle if the predefined condition is met; alerting the human for whom the predefined condition for colliding with the autonomous vehicle is met; wherein a subsequent unlocking of the autonomous vehicle is performable or initializable by the alerted human only. ### Claim 44 (depends on 43) The method of claim 43, wherein determining whether the predefined condition is met based on real-time locations of the human and the autonomous vehicle comprises determining whether the predefined condition is met based on a predicted path of movement of the autonomous vehicle and/or the human. ### Claim 45 A non-transitory computer readable recording medium storing a computer program product for preventing collisions between an autonomous vehicle and a human, the computer program product comprising program instructions which, when run on processing circuitry of a collision prevention system, causes the collision prevention system to: determine based on real-time locations of a human and an autonomous vehicle, whether a predefined condition for an anticipated collision of the autonomous vehicle with the human is met; lock the autonomous vehicle if the predefined condition is met; alert the human for whom the predefined condition for colliding with the autonomous vehicle is met; wherein a subsequent unlocking of the autonomous vehicle is performable or initializable by the alerted human only.