System and method for mitigating machine collisions along passageways

A controller for mitigating machine collision in a passageway, the controller comprising:

• a processor;
• and
• a memory for storing instructions that, when executed by the processor, causes the processor to:
• receive at least one input from a remote sensing system of a machine, wherein the at least one remote sensing system configured to:
• monitor an environment of the passageway in front of and along the direction of movement of the machine, and
• and
• detect a presence of an obstacle in the monitored environment,
• detect a proximity of at least one lateral side of the machine to
• at least one side wall of the passageway;
• monitor a current speed of the machine and a steering angle or a steering rate of the machine defined by an input device in communication with the processor during the movement of the machine;
• determine an estimated distance the machine is expected to travel after a braking action is performed to bring the machine to a halt based on the monitored current speed;
• determine an estimated clearance between the at least one lateral side of the machine with the at least one side wall of the passageway based on the detected proximity by the remote sensing system, the monitored steering angle or steering rate of the machine, or a combination thereof;
• create at least one virtual safety zone that dynamically extends longitudinally along the direction of movement of the machine and laterally from each lateral side of the machine in real-time based on the monitored environment by the remote sensing system, the monitored current speed, the estimated distance, and the estimated clearance, wherein the at least one virtual safety zone extends longitudinally along a length of the machine and up to the estimated distance or beyond the estimated distance and up to a maximum detected distance in the passageway by the remote sensing system, and wherein the lateral extension of the at least one virtual safety zone dynamically varies based on the estimated clearance;
• and
• perform at least one action when:
• the remote sensing system detects an obstacle in the at least one virtual safety zone and the at least one received input is indicative of the detected obstacle,
• the estimated clearance is less than a threshold clearance, or any combination thereof.

A method for mitigating machine collision in a passageway, the method comprising:

• receiving, via a controller, at least one input from a remote sensing system of a machine, wherein the at least one input comprises:
• a monitored environment of the passageway in front of and along the direction of movement of the machine;
• an indication of a presence of an obstacle in the monitored environment, a proximity of at least one lateral side of the machine to at least one side
• wall of the passageway, or
• any combination thereof;
• monitoring, via the controller, a current speed of the machine and a steering angle or a steering rate of the machine defined by an input device in communication with the controller during the movement of the machine;
• determining, via the controller, an estimated distance the machine is expected to travel after a braking action is performed to bring the machine to a halt based on the monitored current speed;
• determining, via the controller, an estimated clearance between the at least one lateral side of the machine with the at least one side wall of the passageway based on the detected proximity by the remote sensing system, the monitored steering angle or steering rate of the machine, or a combination thereof;
• creating, via the controller, at least one virtual safety zone that dynamically extends longitudinally along the direction of movement of the machine and laterally from each lateral side of the machine in real-time based on the monitored environment by the remote sensing system, the monitored current speed, the estimated distance, and the estimated clearance, wherein the at least one virtual safety zone extends longitudinally along a length of the machine and up to the estimated distance or beyond the estimated distance and up to a maximum detected distance in the passageway by the remote sensing system, and wherein the lateral extension of the at least one virtual safety zone dynamically varies based on the estimated clearance;
• and
• performing, via the controller, at least one action when:
• the remote sensing system detects an obstacle in the at least one safety zone and the at least one received input is indicative of the detected obstacle,
• the estimated clearance is less than a threshold clearance, or any combination thereof.