US 12,223,837 B2
Systems and methods for detecting false positives in collision notifications
Mo Wei, Dunlap, IL (US); and Jun Zuo, Peoria, IL (US)
Assigned to Caterpillar Inc., Peoria, IL (US)
Filed by Caterpillar Inc., Peoria, IL (US)
Filed on Dec. 1, 2022, as Appl. No. 18/060,789.
Prior Publication US 2024/0185719 A1, Jun. 6, 2024
Int. Cl. G08G 1/16 (2006.01)
CPC G08G 1/165 (2013.01) 20 Claims
OG exemplary drawing
 
1. A collision detection system for a machine that changes shape, the collision detection system comprising:
at least one proximity sensor configured to detect an object in proximity to a location of the at least one proximity sensor;
at least one positioning sensor configured to determine a pose of at least one movable portion of the machine; and
a controller that includes:
at least one memory storing instructions and a model of the machine, the model having dimension information of the machine, location information of the at least one proximity sensor, and pose information of the at least one movable portion of the machine; and
at least one processor that is operatively connected to the at least one proximity sensor, the at least one positioning sensor, and to the at least one memory, and that is configured to execute the instructions to perform operations, including:
updating the pose information of the model based on the pose of the at least one movable portion determined using the at least one positioning sensor;
receiving a detection of the object within a pre-determined location threshold from the at least one proximity sensor, wherein the detection includes speed at which the object is approaching the at least one proximity sensor and/or the machine;
determining an expected detection result of the at least one proximity sensor using the model and based on the location information of the at least one proximity sensor and the updated pose information;
comparing the detection with the expected detection result; and
based on the comparing, determining whether the detection results from the at least one movable portion or from a foreign object.