US 11,926,318 B2
Systems and methods for detecting a vulnerable road user in an environment of a vehicle
Luca Bravi, Scandicci (IT); Luca Kubin, Collecchio (IT); Leonardo Sarti, Sesto Fiorentino (IT); Leonardo Taccari, Florence (IT); and Francesco Sambo, Florence (IT)
Assigned to Verizon Connect Development Limited, Dublin (IE)
Filed by Verizon Connect Development Limited, Dublin (IE)
Filed on Oct. 29, 2020, as Appl. No. 16/949,441.
Prior Publication US 2022/0135027 A1, May 5, 2022
Int. Cl. B60W 30/095 (2012.01); B60W 50/14 (2020.01); G06F 18/24 (2023.01); G06T 7/20 (2017.01); G06T 7/60 (2017.01); G06T 7/70 (2017.01); G06V 20/58 (2022.01); G08G 1/16 (2006.01)
CPC B60W 30/0956 (2013.01) [B60W 50/14 (2013.01); G06F 18/24 (2023.01); G06T 7/20 (2013.01); G06T 7/60 (2013.01); G06T 7/70 (2017.01); G06V 20/58 (2022.01); G08G 1/166 (2013.01); B60W 2050/146 (2013.01); B60W 2420/42 (2013.01); B60W 2554/4042 (2020.02); B60W 2554/4044 (2020.02); G06T 2207/10016 (2013.01); G06T 2207/30241 (2013.01); G06T 2207/30261 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method, comprising:
receiving, by a device and from a camera, video data depicting an environment of a vehicle;
identifying, by the device and in the video data, an object and bounding boxes associated with the object;
determining, by the device, a configuration of the bounding boxes based on at least one of one or more sizes of the bounding boxes, one or more shapes of the bounding boxes, one or more locations of the bounding boxes, or one or more relationships between the bounding boxes;
comparing the configuration of the bounding boxes to stored configurations mapped to different objects including a vulnerable road user (VRU);
determining, by the device and based on comparing the configuration of the bounding boxes, that the object is the VRU;
determining, by the device and based on determining that the object is the VRU, a trajectory of the VRU based on a change in the configuration of the bounding boxes;
determining, by the device and based on the trajectory, a probability of a potential collision between the VRU and the vehicle;
comparing, by the device, the probability of the potential collision to a threshold associated with the potential collision being likely to occur; and
performing, by the device and based on the probability satisfying the threshold, an action associated with the vehicle.