Machine detection zones and control system

A grass mowing vehicle, comprising:

• a perception system configured to sense one or more objects;
• a sensor processing unit configured to receive information from said perception system and send information to a vehicle control unit;
• a traction system configured to move said grass mowing vehicle;
• an alert system;
• and
• said vehicle control unit including at least one processor and at least one memory and configured to generate at least one alert of a predetermined length by:
• determine the location of one or more objects relative to said grass mowing vehicle using information received from said sensor processing unit;
• generating at least first and second detection zones separated by an inner boundary wherein the second detection zone is variable is size and shape;
• determining the size of said second detection zone wherein said size is based on the amount of time needed for a sensed object to transition from an outer boundary of said second detection zone to said inner boundary given a current velocity of said grass mowing vehicle and wherein said predetermined length is the amount of time needed for an object to transition relative to said grass mowing vehicle from an outer boundary of said second detection zone to said inner boundary given said current velocity of said grass mowing vehicle;
• determining the shape of said second detection zone wherein said shape is based on a predicted path of travel and wherein said predicted path of travel is based on a path plan;
• instruct said alert system to generate said at least one alert of said predetermined length when at least one object is sensed in said second detection zone.

A grass mowing vehicle, comprising:

• a perception system configured to sense one or more dynamic objects;
• a traction system;
• an alert system;
• and
• a control system configured to:
• generate at least a first detection zone and a second detection zone, at least one of said first and second detection zones variable in size, said first detection zone between said grass mowing machine and said second detection zone, and said first detection zone and said second detection zone separated by an inner boundary;
• determine the location of said one or more objects relative to said grass mowing vehicle;
• generate an alert via said alert system when said one or more objects are located in said second detection zone, the alert having a duration of a predetermined length of time;
• and
• determine the size of said second detection zone, wherein the size of said second detection zone is based the amount of time needed for an object to transition relative to said grass mowing vehicle from an outer boundary of said second detection zone to said inner boundary given a current velocity of said grass mowing vehicle and a velocity of said object;
• and
• wherein the amount of time needed for an object to transition relative to said grass mowing vehicle from an outer boundary of said second detection zone to said inner boundary given a current velocity of said grass mowing vehicle and a velocity of said object.