# US 9,437,111 B2 · Boundary detection system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,437,111 B2 - Document ID: US9437111B2 - Status: Granted - Kind: B2 - Application number: 14/292,685 - Filed: 2014-05-30 - Published: 2015-12-03 - Granted: 2016-09-06 - Earliest claimed: 2014-05-30 - Assignees: Ford Global Technologies, LLC - Applicants: Ford Global Technologies, LLC - Inventors: Brad Ignaczak; Cynthia M. Neubecker; Brian Bennie; Thomas Lee Miller; Randy Michael Freiburger; Eric L Reed; Scott Alan Watkins - Web page: https://patentgrep.com/patent/US9437111B2 ## CPC - G08G 1/165: {for passive traffic, e.g. including static obstacles, trees} - G08B 25/08: using communication transmission lines {(G08B13/19658, G08B21/0286, G08B25/016 take precedence)} - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - 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}) - G08B: SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS ## Abstract Systems and methods provide for tracking objects around a vehicle, analyzing the potential threat of the tracked objects, and implementing a threat response based on the analysis in order to keep occupants of the vehicle safe. Embodiments include a boundary detection system comprising a memory configured to store threat identification information, and a sensor unit configured to sense the object outside the vehicle and obtain sensor information based on the sensed object. The boundary detection system further includes a processor in communication with the memory and sensor unit, the controller configured to receive the sensor information, and control a threat response based on the sensor information and the threat identification information. ## Claims ### Claim 1 A vehicle boundary detection system, comprising: a memory storing threat identification information; a sensor unit obtaining sensor information about a sensed object; and a processor determining a threat level, selecting a sensitivity level, and controlling a threat response based on at least one of the sensor information or the threat identification information, and increasing the threat level for the object when the sensitivity level is high; wherein the processor is further configured to: analyze the sensor information; determine a threat level for the object based on the sensor information and the threat identification information, and control the threat response based on the threat level; wherein the processor is configured to analyze the sensor information to: determine a distance of the object from the vehicle based on the analysis of the sensor information; determine a rate of approach of the object towards the vehicle based on the analysis of the sensor information; and wherein the processor is further configured to determine the threat level for the object based on the distance of the object from the vehicle and the object's rate of approach. ### Claim 2 (depends on 1) The vehicle boundary detection system of claim 1, wherein the processor is further configured to: increase the threat level when the analysis of the sensor information identifies the object as being located within a predetermined distance from the vehicle or determines the object's rate of approach towards the vehicle is greater than a predetermined rate threshold; wherein the sensor unit includes at least one of a radar sensor, ultrasonic sensor, lidar sensor, infrared sensor, or a camera. ### Claim 3 (depends on 1) The vehicle boundary detection system of claim 1, wherein the processor is configured to analyze the sensor information to: determine a predicted future location of the object based on the sensor information; determine whether the object is predicted to collide with the vehicle based on the predicted future location of the object; and increase the object threat level if the predicted future location of the object is determined to collide with the vehicle. ### Claim 4 (depends on 1) The vehicle boundary detection system of claim 1, wherein the processor is configured to analyze the sensor information to: determine a predicted future location of the object based on the sensor information; determine whether the object is predicted to collide with the vehicle based on the predicted future location of the object; determine an estimated time to collision of the object with the vehicle based on whether the object is predicted to collide with the vehicle, and increase the object threat level if the estimated time to collision is less than a predetermined time. ### Claim 5 (depends on 1) The vehicle boundary detection system of claim 1, wherein the processor is further configured to: determine a location of the object relative to vehicle, and classify the object as being within one of at least three threat detection zones that include a far zone, a near zone, and an occupied zone, wherein the occupied zone is within the vehicle, wherein the near zone includes at least a distance between the occupied zone and the far zone where the sensor unit senses the object, and wherein the far zone is further away from the occupied zone than the near zone; wherein the processor is configured to classify the object in a high threat class when the received sensor information identifies the object as being located within a predetermined distance from the occupied zone. ### Claim 6 (depends on 1) The vehicle boundary detection system of claim 1, wherein the processor is further configured to: analyze the received sensor information; determine whether a recording triggering event is recognized based on the analysis; and cause a recording unit to record sensor information when the recording triggering event is recognized from the analysis. ### Claim 7 A vehicle boundary detection system, comprising: a vehicle having memory, distance sensors, and a processor running a boundary program configured to, upon detecting vehicle park: find velocity and acceleration of a sensed object toward the vehicle; determine a sensitivity based on a detected vehicle occupant preoccupation; determine a threat level based on the sensed object's velocity, acceleration, sensitivity, and position; trigger a threat response based on the threat level. ### Claim 8 (depends on 7) The system of claim 7, wherein the boundary program is configured to base the sensitivity on crowding around the vehicle, time of day, and GPS coordinates of the vehicle. ### Claim 9 (depends on 7) The system of claim 7, wherein the boundary program is configured to affirmatively detect vehicle occupant preoccupation when user commands are input into a vehicle user-interface. ### Claim 10 (depends on 7) The system of claim 7, wherein the boundary program is configured to trigger the threat response by broadcasting a sound on vehicle audio speakers. ### Claim 11 (depends on 7) The system of claim 7, wherein the boundary program is configured to only trigger the threat response upon detecting vehicle park. ### Claim 12 (depends on 11) The system of claim 11, wherein the boundary program is configured to map the position of the object with respect to a plurality of zones centered around the vehicle. ### Claim 13 (depends on 12) The system of claim 12, wherein at least one of the zones is asymmetrical. ### Claim 14 (depends on 13) The system of claim 13, wherein the asymmetrical zone is oval-shaped and thus asymmetrical about a reference axis at an acute angle with respect to the vehicle's longitudinal axis. ### Claim 15 (depends on 12) The system of claim 12, wherein the at least one of the zones only includes areas immediately adjacent to a driver side and a passenger side of the vehicle. ### Claim 16 (depends on 7) The system of claim 7, wherein the boundary program is configured to classify sensed objects and to automatically assign sensed vehicles and people at least a predetermined minimum threat class, and the threat level of the sensed object is also based on the threat class of the sensed object. ### Claim 17 (depends on 7) The system of claim 7, wherein the boundary program is configured to base the threat level on a temperature of the sensed object. ### Claim 18 (depends on 17) The system of claim 17, wherein the boundary program is configured to base the threat level on the sensed object's temperature only for one or more predetermined sensitivities. ### Claim 19 A method of monitoring boundaries in a vehicle having memory, distance sensors, and a processor, comprising, upon detecting vehicle park with a boundary program running on the processor: finding velocity and acceleration of a sensed object toward to the vehicle; determining a sensitivity based on a detected vehicle occupant preoccupation; determining a threat level based on the position, velocity, acceleration, sensitivity, and position; triggering a threat response based on the threat level. ### Claim 20 (depends on 19) The method of claim 19, wherein the boundary program is configured to: base the sensitivity on crowding around the vehicle, time of day, and GPS coordinates of the vehicle, and map the position of the object with respect to at least one asymmetrical zone centered around the vehicle.