Apparatus, systems, and methods for detecting, alerting, and responding to an emergency vehicle

Apparatus, systems, and methods for detecting, alerting, and responding to an emergency vehicle. One such method includes receiving, using a first vehicle, a warning signal from an emergency vehicle. The first vehicle broadcasts a recognition signal based on the warning signal received by the first vehicle. A second vehicle receives the warning signal from the emergency vehicle and the recognition signal from the first vehicle. The second vehicle broadcasts a confirmation signal based on both the warning signal and the recognition signal received by the second vehicle. The confirmation signal is received from the second vehicle using a third vehicle. Finally, the confirmation signal is rebroadcasted from the third vehicle based solely on the confirmation signal received by the third vehicle.

TECHNICAL FIELD

The present disclosure relates generally to emergency vehicles and, more particularly, to apparatus, systems, and methods for detecting, alerting, and responding to an emergency vehicle.

BACKGROUND

Emergency vehicles such as fire trucks, law enforcement vehicles, military vehicles, and ambulances are often permitted by law, when responding to an emergency situation, to break conventional road rules in order to reach their destinations as quickly as possible (e.g., traffic lights, speed limits, etc.). To help reduce the risk of potential collisions with pedestrians and other vehicles, emergency vehicles are typically fitted with audible and/or visual warning devices, such as sirens and flashing lights, designed to alert the surrounding area of the emergency vehicle's presence. However, these warning devices alone are not always effective. For example, depending on the relative location/position of a given pedestrian or vehicle, the flashing lights of an emergency vehicle may be obscured such that the flashing lights are not be visible in time to provide a sufficient warning period. Furthermore, the siren may be obscured due to ambient noise, headphones, speakers, a person's hearing impairment, or the like such the siren would not be audible in time to provide a sufficient warning period. Depending on how quickly a given driver realizes the presence of an emergency vehicle, he or she may not have sufficient time to react accordingly by, for example, pulling his or her vehicle to the side of the road to clear a path for the emergency vehicle to pass. Therefore, what is needed is an apparatus, system, or method that addressed on or more of the foregoing issues, and/or one or more other issues.

SUMMARY

The present disclosure provides apparatus, systems, and methods for detecting, alerting, and responding to an emergency vehicle. A generalized method includes receiving, using a first vehicle, a warning signal from an emergency vehicle. The first vehicle broadcasts a recognition signal based on the warning signal received by the first vehicle. A second vehicle receives the warning signal from the emergency vehicle and the recognition signal from the first vehicle. The second vehicle broadcasts a confirmation signal based on both the warning signal and the recognition signal received by the second vehicle.

A generalized system includes an emergency vehicle adapted to broadcast a warning signal. A first vehicle is adapted to receive the warning signal from the emergency vehicle, wherein the first vehicle is further adapted to broadcast a recognition signal based on the warning signal received by the first vehicle. A second vehicle adapted to receive the warning signal from the emergency vehicle and the recognition signal from the first vehicle, wherein the second vehicle is further adapted to broadcast a confirmation signal based on both the warning signal and the recognition signal received by the second vehicle.

A generalized apparatus includes a non-transitory computer readable medium and a plurality of instructions stored on the non-transitory computer readable medium and executable by one or more processors. The plurality of instructions includes instructions that, when executed, cause the one or more processors to receive, using a first vehicle, a warning signal from an emergency vehicle. The plurality of instructions also includes instructions that, when executed, cause the one or more processors to broadcast, from the first vehicle, a recognition signal based on the warning signal received by the first vehicle. The plurality of instructions also includes instructions that, when executed, cause the one or more processors to receive, using a second vehicle, the warning signal from the emergency vehicle and the recognition signal from the first vehicle. The plurality of instructions also includes instructions that, when executed, cause the one or more processors to broadcast, from the second vehicle, a confirmation signal based on both the warning signal and the recognition signal received by the second vehicle.

DETAILED DESCRIPTION

The present disclosure describes a system for electronic tracking and driver notification of upcoming emergency vehicles based on a route travelled or to be travelled by the emergency vehicles. Existing map and GPS systems may provide an update on a map that indicates congestion ahead, and may recommend alternate routes, but do not provide driver notification of upcoming emergency vehicles. As a result, drivers don't pull over until they hear the siren or see the emergency lights of an approaching emergency vehicle. The system provides drivers with an alert or indication that emergency vehicles are approaching. This allows drivers to properly respond by pulling out of the way or seeking an alternative route. In addition, the system may recommend an alternative route to avoid the approaching emergency vehicles and/or the emergency ahead. More particularly, the system may operate as a centralized system or a decentralized system. For example, in one embodiment of a centralized system, an emergency dispatch (e.g., a911operator) is made and the dispatcher broadcasts out to a central server, which server passes the information to individual vehicle control units using cell-towers. The information may be broadcast to vehicles along the estimated route to be traveled by the emergency vehicle. Accordingly, the destination of the emergency vehicle may also be included in the broadcast. An output device or display may notify the driver that emergency vehicles are approaching. In some implementations, depending upon the route of the emergency vehicle, a vehicle-based navigation system may recommend an alternative route to avoid the emergency scene even before the emergency vehicles arrive.

For another example, in one embodiment of a decentralized system in which the emergency vehicle is enabled to work with the system, the emergency vehicle may operate as a part of a vehicle-to-vehicle (“V2V”) system to transmit signals ahead to cars along the route it will travel so that drivers of those cars may take remedial action. The range of the transmission may be faster than would be obtained through conventional sound and vision notifications. The emergency vehicle may broadcast its destination so other vehicles can navigate around the emergency scene. In some implementations, enabled cars may communicate to each other to pass the emergency information ahead of the emergency vehicle. In some instances, the driver alert may include info regarding the type of vehicle approaching, whether ambulance, police car, or fire truck. Accordingly, the system would identify incidents approaching from behind the vehicle and not just in front of the vehicle. For yet another example, in another embodiment of a decentralized system in which the emergency vehicle is not enabled to work with the system, “smart” vehicles along the route may recognize the emergency vehicle (e.g., visible flashing lights and/or audible sirens) and broadcast a recognition of the emergency vehicle. An algorithm may help with accuracy. For example, if multiple vehicles (e.g., two, three, or more) along the same route recognize and broadcast the same recognition of an emergency vehicle, then other vehicles may relay that message to vehicles along the route.

Referring toFIG. 1, in an embodiment, an emergency vehicle detection, alert, and response system is generally referred to by the reference numeral100and includes a vehicle105, such as an automobile, and a vehicle control unit110located on the vehicle105. The vehicle105may include a front portion115a(including a front bumper), a rear portion115b(including a rear bumper), a right side portion115c(including a right front quarter panel, a right front door, a right rear door, and a right rear quarter panel), a left side portion115d(including a left front quarter panel, a left front door, a left rear door, and a left rear quarter panel), and wheels115e. A communication module120is operably coupled to, and adapted to be in communication with, the vehicle control unit110. The communication module120is adapted to communicate wirelessly with a central server125via a network130(e.g., a 3G network, a 4G network, a 5G network, a Wi-Fi network, an ad hoc network, or the like).

An operational equipment engine135is operably coupled to, and adapted to be in communication with, the vehicle control unit110. A sensor engine140is operably coupled to, and adapted to be in communication with, the vehicle control unit110. The sensor engine140is adapted to monitor various components of, for example, the operational equipment engine135and/or the surrounding environment, as will be described in further detail below. An interface engine145is operably coupled to, and adapted to be in communication with, the vehicle control unit110. In addition to, or instead of, being operably coupled to, and adapted to be in communication with, the vehicle control unit110, the communication module120, the operational equipment engine135, the sensor engine140, and/or the interface engine145may be operably coupled to, and adapted to be in communication with, one another via wired or wireless communication (e.g., via an in-vehicle network). In some embodiments, as inFIG. 1, the vehicle control unit110is adapted to communicate with the communication module120, the operational equipment engine135, the sensor engine140, and the interface engine145to at least partially control the interaction of data with and between the various components of the emergency vehicle detection, alert, and response system100.

The term “engine” is meant herein to refer to an agent, instrument, or combination of either, or both, agents and instruments that may be associated to serve a purpose or accomplish a task—agents and instruments may include sensors, actuators, switches, relays, power plants, system wiring, computers, components of computers, programmable logic devices, microprocessors, software, software routines, software modules, communication equipment, networks, network services, and/or other elements and their equivalents that contribute to the purpose or task to be accomplished by the engine. Accordingly, some of the engines may be software modules or routines, while others of the engines may be hardware and/or equipment elements in communication with the vehicle control unit110, the communication module120, the network130, and/or the central server125.

Referring toFIG. 2, a detailed diagrammatic view of the system100ofFIG. 1is illustrated. As shown inFIG. 2, the vehicle control unit110includes a processor150and a memory155. In some embodiments, as inFIG. 2, the communication module120, which is operably coupled to, and adapted to be in communication with, the vehicle control unit110, includes a transmitter160and a receiver165. In some embodiments, one or the other of the transmitter160and the receiver165may be omitted according to the particular application for which the communication module120is to be used. In some embodiments, the transmitter160and the receiver165are combined into a transceiver capable of both sending and receiving wireless signals. In any case, the transmitter160and the receiver165are adapted to send/receive data to/from the network130, as indicated by arrow(s)170.

In some embodiments, as inFIG. 2, the operational equipment engine135, which is operably coupled to, and adapted to be in communication with, the vehicle control unit110, includes a plurality of devices configured to facilitate driving of the vehicle105. In this regard, the operational equipment engine135may be designed to exchange communication with the vehicle control unit110, so as to not only receive instructions, but to provide information on the operation of the operational equipment engine135. For example, the operational equipment engine135may include a vehicle battery175, a motor180(e.g., electric or combustion), a drivetrain185, a steering system190, and a braking system195. The vehicle battery175provides electrical power to the motor180, which motor180drives the wheels115eof the vehicle105via the drivetrain185. In some embodiments, in addition to providing power to the motor180, the vehicle battery175provides electrical power to other component(s) of the operational equipment engine135, the vehicle control unit110, the communication module120, the sensor engine140, the interface engine145, or any combination thereof.

In some embodiments, as inFIG. 2, the sensor engine140, which is operably coupled to, and adapted to be in communication with, the vehicle control unit110, includes devices such as sensors, meters, detectors, or other devices configured to measure or sense a parameter related to a driving operation of the vehicle105, as will be described in further detail below. For example, the sensor engine140may include a global positioning system200, vehicle camera(s)205, vehicle microphone(s)210, vehicle impact sensor(s)215, an airbag sensor220, a braking sensor225, an accelerometer230, a speedometer235, a tachometer240, or any combination thereof. The sensors or other detection devices are generally configured to sense or detect activity, conditions, and circumstances in an area to which the device has access. Sub-components of the sensor engine140may be deployed at any operational area where readings regarding the driving of the vehicle105may be taken. Readings from the sensor engine140are fed back to the vehicle control unit110. The reported data may include the sensed data, or may be derived, calculated, or inferred from sensed data. The vehicle control unit110may send signals to the sensor engine140to adjust the calibration or operating parameters of the sensor engine140in accordance with a control program in the vehicle control unit110. The vehicle control unit110is adapted to receive and process data from the sensor engine140or from other suitable source(s), and to monitor, store (e.g., in the memory155), and/or otherwise process (e.g., using the processor150) the received data.

The global positioning system200is adapted to track the location of the vehicle105and to communicate the location information to the vehicle control unit110. The vehicle camera(s)205are adapted to monitor the vehicle105's surroundings and the communicate image data to the vehicle control unit110. The vehicle microphone(s)210are adapted to monitor the vehicle105's surroundings and the communicate noise data to the vehicle control unit110. The vehicle impact sensor(s)215are adapted to detect an impact of the vehicle with another vehicle or object, and to communicate the impact information to the vehicle control unit110. In some embodiments, the vehicle impact sensor(s)215is or includes a G-sensor. In some embodiments, the vehicle impact sensor(s)215is or includes a microphone. In some embodiments, the vehicle impact sensor(s)215includes multiple vehicle impact sensors, respective ones of which may be incorporated into the front portion115a(e.g., the front bumper), the rear portion115b(e.g., the rear bumper), the right side portion115c(e.g., the right front quarter panel, the right front door, the right rear door, and/or the right rear quarter panel), and/or the left side portion115d(e.g., the left front quarter panel, the left front door, the left rear door, and/or the left rear quarter panel) of the vehicle105. The airbag sensor220is adapted to activate and/or detect deployment of the vehicle105's airbag(s) and to communicate the airbag deployment information to the vehicle control unit110. The braking sensor225is adapted to monitor usage of the vehicle105's braking system195(e.g., an antilock braking system195) and to communicate the braking information to the vehicle control unit110.

The accelerometer230is adapted to monitor acceleration of the vehicle105and to communicate the acceleration information to the vehicle control unit110. The accelerometer230may be, for example, a two-axis accelerometer230or a three-axis accelerometer230. In some embodiments, the accelerometer230is associated with an airbag of the vehicle105to trigger deployment of the airbag. The speedometer235is adapted to monitor speed of the vehicle105and to communicate the speed information to the vehicle control unit110. In some embodiments, the speedometer235is associated with a display unit of the vehicle105such as, for example, a display unit of the interface engine145, to provide a visual indication of vehicle speed to a driver of the vehicle105. The tachometer240is adapted to monitor the working speed (e.g., in revolutions-per-minute) of the vehicle105's motor180and to communicate the angular velocity information to the vehicle control unit110. In some embodiments, the tachometer240is associated with a display unit of the vehicle105such as, for example, a display unit of the interface engine145, to provide a visual indication of the motor180's working speed to the driver of the vehicle105.

In some embodiments, as inFIG. 2, the interface engine145, which is operably coupled to, and adapted to be in communication with, the vehicle control unit110, includes at least one input and output device or system that enables a user to interact with the vehicle control unit110and the functions that the vehicle control unit110provides. For example, the interface engine145may include a display unit245and an input/output (“I/O”) device250. The display unit245may be, include, or be part of multiple display units. For example, in some embodiments, the display unit245may include one, or any combination, of a central display unit associated with a dash of the vehicle105, an instrument cluster display unit associated with an instrument cluster of the vehicle105, and/or a heads-up display unit associated with the dash and a windshield of the vehicle105; accordingly, as used herein the reference numeral245may refer to one, or any combination, of the display units. The I/O device250may be, include, or be part of a communication port (e.g., a USB port), a Bluetooth communication interface, a touch-screen display unit, soft keys associated with a dash, a steering wheel, or another component of the vehicle105, and/or similar components. Other examples of sub-components that may be part of the interface engine145include, but are not limited to, audible alarms, visual alerts, tactile alerts, telecommunications equipment, and computer-related components, peripherals, and systems.

In some embodiments, a portable user device255belonging to an occupant of the vehicle105may be coupled to, and adapted to be in communication with, the interface engine145. For example, the portable user device255may be coupled to, and adapted to be in communication with, the interface engine145via the I/O device250(e.g., the USB port and/or the Bluetooth communication interface). In an embodiment, the portable user device255is a handheld or otherwise portable device which is carried onto the vehicle105by a user who is a driver or a passenger on the vehicle105. In addition, or instead, the portable user device255may be removably connectable to the vehicle105, such as by temporarily attaching the portable user device255to the dash, a center console, a seatback, or another surface in the vehicle105. In another embodiment, the portable user device255may be permanently installed in the vehicle105. In some embodiments, the portable user device255is, includes, or is part of one or more computing devices such as personal computers, personal digital assistants, cellular devices, mobile telephones, wireless devices, handheld devices, laptops, audio devices, tablet computers, game consoles, cameras, and/or any other suitable devices. In several embodiments, the portable user device255is a smartphone such as, for example, an iPhone® by Apple Inc.

Referring toFIG. 3, in an embodiment, an emergency vehicle detection, alert, and response system is generally referred to by the reference numeral260and includes several components of the system100. More particularly, the system260includes a plurality of vehicles substantially identical to the vehicle105of the system100, which vehicles are given the same reference numeral105, except that a subscript 1, 2, 3, 4, 5, 6, or i is added to each as a suffix. In some embodiments, as inFIG. 3, the system260includes the vehicles1051-4, which form a vehicle group265whose current location is in the vicinity of an emergency vehicle270. As it approaches the vehicle group265, the emergency vehicle270is adapted to send a warning signal toward the vehicle group265, as indicated by arrow275. In some embodiments, the warning signal275may be or include visible flashing lights and/or an audible siren. In addition, or instead, the warning signal275may be or include an electromagnetic signal (e.g., a radio signal) sent toward the vehicle group265, which electromagnetic signal may include, for example, data relating to a location, a direction of travel, a speed, a destination, and/or a route of the emergency vehicle270. Since the vehicle group265is located in the vicinity of the emergency vehicle270, one or more of the respective sensor engines or communication devices of the vehicles1051-4are adapted to detect the warning signal275sent by the emergency vehicle270. For example, the emergency vehicle270flashing lights and/or siren may be detected using the vehicle camera(s) and/or the vehicle microphone(s) of one or more of the vehicles1051-4. For another example, the electromagnetic signal sent by the emergency vehicle270may be detected using the communication modules of one or more of the vehicles1051-4. In addition, the vehicles1051-4are adapted to communicate with one another via their respective communication modules, as indicated by arrow(s)280, so as to form an ad hoc network285.

In some embodiments, as inFIG. 3, the system260also includes the vehicles1055-6, which are not located in the vicinity of the emergency vehicle270, but instead form a vehicle group290whose route intersects a route of the emergency vehicle270. If the physical distance between the vehicle group290and the vehicle group265is close enough to permit direct V2V communication therebetween (e.g., within range of the ad hoc network285), one or more of the vehicles1055-6is adapted to communicate with one or more of the vehicles1051-4via their respective communication modules, as indicated by arrow295, so as to form part of the ad hoc network285. In contrast, if the physical distance between the vehicle group290and the vehicle group265is not close enough to permit direct V2V communication therebetween (e.g., not within range of the ad hoc network285), one or more of the vehicles1051-4forming the ad hoc network285may be further adapted to communicate via another communication protocol such as, for example, a cellular network300, as indicated by arrow305. In such embodiments, one or more of the vehicles1055-6is also adapted to communicate via the cellular network300, as indicated by arrow310. Moreover, in those embodiments in which the physical distance between the vehicle group290and the vehicle group265is not close enough to permit direct V2V communication therebetween (e.g., not within range of the ad hoc network285), the vehicles1055-6in the vehicle group290may nevertheless be adapted to communicate with one another via their respective communication modules so as to form another ad hoc network (not visible inFIG. 3).

In some embodiments, as inFIG. 3, the system260further includes the vehicle105i, which is neither located in the vicinity of the emergency vehicle270nor does it have a route that intersects the route of the emergency vehicle270. The vehicle105iis adapted to communicate via the cellular network300, as indicated by arrow315. In some embodiments, as inFIG. 3, the emergency vehicle270is also adapted to communicate via the cellular network300, as indicated by arrow320. Finally, in some embodiments, as inFIG. 3, the system260includes the central server125, which is adapted to send and receive data to/from the emergency vehicle270, one more of the vehicles1051-4in the vehicle group265, one or more of the vehicles1055-6in the vehicle group290, and/or the vehicle105ivia the cellular network300, the ad hoc network285, the ad hoc network (not visible inFIG. 3) formed by and between the vehicles1055-6, or any combination thereof.

Referring still toFIG. 3, in operation, as it approaches, the emergency vehicle270sends the warning signal275toward the vehicle group265. Turning toFIG. 4, with continuing reference toFIG. 3, the vehicles1051-imay each include components substantially identical to corresponding components of the vehicle105, which substantially identical components are referred to by the same reference numerals inFIG. 4, except that a subscript 1, 2, 3, 4, 5, 6, or i is added to each as a suffix. In some embodiments, as inFIG. 4, the warning signal275may include visible flashing lights and/or an audible siren. In those embodiments in which the warning signal275includes the visible flashing lights and/or the audible siren, the sensor engine1401of the vehicle1051detects the warning signal275, as indicated by arrow325, and sends data based on the warning signal275to the vehicle control unit1101, as indicated by arrow330. For example, if the warning signal275includes the visible flashing lights and/or the audible siren, the vehicle camera(s) and/or the vehicle microphone(s) of the vehicle1051's sensor engine1401may detect the warning signal275. In some embodiments, after receiving the data based on the warning signal275, as indicated by the arrow330, the vehicle control unit1101alerts a driver of the vehicle1051visually, audible, or otherwise (e.g., tactile alerts) via the vehicle1051's interface engine (shown inFIG. 2) or a portable user device coupled to, and adapted to be in communication with, the vehicle1051's interface engine. In at least one such embodiment, the driver alert includes alternate route information to avoid the approaching emergency vehicle270.

In addition to the data based on the warning signal275, location data collected from the global positioning system of the sensor engine1401may be sent, in combination with the data based on the warning signal275, from the sensor engine1401to the vehicle control unit1101, as indicated by the arrow330. The vehicle control unit1101receives the combined data from the sensor engine1401and executes programming to verify the detection of the warning signal275by the sensor engine1401and the location of the vehicle1051(e.g., before, during or after the detection of the warning signal275). The vehicle control unit1101may also be programmed to determine a location, a direction of travel, a speed, a destination, and/or a route of the emergency vehicle270in relation to the vehicle1051based on the combined data. After verifying the detection of the warning signal275by the sensor engine1401and the location of the vehicle1051, the vehicle control unit1101sends data based on the verification to the communication module1201, as indicated by arrow335, which communication module1201, in turn, broadcasts a recognition signal, as indicated by arrow340. The recognition signal may include, but is not limited to, data relating to: the detection of the warning signal275by the sensor engine1401; the location of the vehicle1051; and/or the location, the direction of travel, the speed, the destination, and/or the route of the emergency vehicle270.

The communication module1202of the vehicle1052receives the recognition signal, as indicated by the arrow340, and sends data based on the recognition signal to the vehicle control unit1102, as indicated by arrow345. The vehicle control unit1102receives the data based on the recognition signal from the communication module1202and executes programming to verify the reception of the recognition signal by the communication module1202. Moreover, in those embodiments in which the warning signal275includes the visible flashing lights and/or the audible siren, the sensor engine1402of the vehicle1052also detects the warning signal275, as indicated by arrow350, in a manner substantially identical to the manner in which the sensor engine1401of the vehicle1051detects the warning signal275, and sends data based on the warning signal275to the vehicle control unit1102, as indicated by arrow355. In some embodiments, after receiving the data based on the recognition signal and/or the data based on the warning signal275, as indicated by the arrow355, the vehicle control unit1102alerts a driver of the vehicle1052visually, audible, or otherwise (e.g., tactile alerts) via the vehicle1052's interface engine or a portable user device coupled to, and adapted to be in communication with, the vehicle1052's interface engine. In at least one such embodiment, the driver alert includes alternate route information to avoid the approaching emergency vehicle270.

In addition to the data based on the warning signal275, location data collected from the global positioning system of the sensor engine1402may be sent, in combination with the data based on the warning signal275, from the sensor engine1402to the vehicle control unit1102, as indicated by the arrow355. The vehicle control unit1102receives the combined data from the sensor engine1402and executes programming to verify the detection of the warning signal275by the sensor engine1402and the location of the vehicle1052(e.g., before, during or after the detection of the warning signal275). The vehicle control unit1102may also be programmed to determine a location, a direction of travel, a speed, a destination, and/or a route of the emergency vehicle270in relation to the vehicle1052based on the combined data. After verifying the detection of the warning signal275by the sensor engine1402, the location of the vehicle1052, and the reception of the recognition signal by the communication module1202, the vehicle control unit1102sends data based on the verification back to the communication module1202, as indicated by the arrow345, which communication module1202, in turn, broadcasts a confirmation signal, as indicated by arrow360. The confirmation signal may include, but is not limited to, data relating to: the detection of the warning signal275by the sensor engine1402; the location of the vehicle1052; the location, the direction of travel, the speed, the destination, and/or the route of the emergency vehicle270; and/or the recognition signal received from the communication module1201of the vehicle1051.

The communication module1203of the vehicle1053receives the confirmation signal, as indicated by the arrow360, and sends data based on the confirmation signal to the vehicle control unit1103, as indicated by arrow365. The vehicle control unit1103receives the data based on the confirmation signal from the communication module1203and executes programming to verify the reception of the recognition signal by the communication module1203. In some embodiments, after receiving the data based on the confirmation signal, as indicated by the arrow365, the vehicle control unit1103alerts a driver of the vehicle1053visually, audible, or otherwise (e.g., tactile alerts) via the vehicle1053's interface engine or a portable user device coupled to, and adapted to be in communication with, the vehicle1053's interface engine. In at least one such embodiment, the driver alert includes alternate route information to avoid the approaching emergency vehicle270. Moreover, the vehicle control unit1103queries location data collected from the global positioning system of the sensor engine1403, as indicated by arrow370, but the sensor engine1403does not detect the warning signal275. Because the sensor engine1403does not detect the warning signal275, the vehicle control unit1103must rely on the data received from the communication module1203based on the confirmation signal and the location data queried from the sensor engine1403to determine the location, the direction of travel, the speed, the destination, and/or the route of the emergency vehicle270in relation to the vehicle1053.

After verifying the reception of the confirmation signal by the communication module1203, the vehicle control unit1103sends data based on the verification back to the communication module1203, as indicated by the arrow365, which communication module1203, in turn, rebroadcasts the confirmation signal, as indicated by arrow375. The (rebroadcasted) confirmation signal may include, but is not limited to, data relating to: the location of the vehicle1053; the location, the direction of travel, the speed, the destination, and/or the route of the emergency vehicle270; and/or the confirmation signal received from the communication module1202of the vehicle1052. This process may continue indefinitely as one or more of the vehicles1054-ireceives the (rebroadcasted) confirmation signal, as indicated by the arrow375, and rebroadcasts the (rebroadcasted) confirmation signal in a manner substantially similar to the manner in which the vehicle1053rebroadcasts the confirmation signal. The above-described broadcasting (and rebroadcasting) of the confirmation signal may be facilitated by the ad hoc network285, the cellular network300, the ad hoc network formed by the vehicle group290, or any combination thereof. Moreover, the above-described broadcasting of the recognition signal may be facilitated by the ad hoc network285, the cellular network300, the ad hoc network formed by the vehicle group290, or any combination thereof.

In addition to, or instead of, being or including the visible flashing lights and/or the audible siren, the warning signal275sent by the emergency vehicle270may include an electromagnetic signal (e.g., a radio signal) sent toward the vehicle group265, which electromagnetic signal may include, for example, data relating to the location, the direction of travel, the speed, the destination, and/or the route of the emergency vehicle270. In those embodiments in which the warning signal275includes the electromagnetic signal, the communication module1201of the vehicle1051detects the warning signal275, as indicated by arrow380, and sends data based on the warning signal275to the vehicle control unit1101, as indicated by arrow385. In some embodiments, after receiving the data based on the warning signal275, as indicated by the arrow385, the vehicle control unit1101alerts a driver of the vehicle1051visually, audible, or otherwise (e.g., tactile alerts) via the vehicle1051's interface engine or a portable user device coupled to, and adapted to be in communication with, the vehicle1051's interface engine. In at least one such embodiment, the driver alert includes alternate route information to avoid the approaching emergency vehicle270. In addition to the data based on the warning signal275, the vehicle control unit1101may query location data collected from the global positioning system of the sensor engine1401, as indicated by arrow390. The vehicle control unit1101receives the data based on the warning signal275from the communication module1201and the location data and/or the route data from the sensor engine1401, and executes programming to verify the reception of the warning signal275by the communication module1201and the location of the vehicle1051. After the reception of the warning signal275and the location of the vehicle1051are verified by the vehicle control unit1101, the vehicle control unit1101sends data based on the verification back to the communication module1201, as indicated by the arrow385, which communication module1201, in turn, broadcasts a recognition signal, as indicated by arrow395. The recognition signal may include, but is not limited to, data relating to: the detection of the warning signal275by the communication module1201; the location of the vehicle1051; and/or the location, the direction of travel, the speed, the destination, and/or the route of the emergency vehicle270.

The communication module1202of the vehicle1052receives the recognition signal, as indicated by the arrow395, and sends data based on the recognition signal to the vehicle control unit1102, as indicated by arrow400. The vehicle control unit1102receives the data based on the recognition signal from the communication module1202and executes programming to verify the reception of the recognition signal by the communication module1202. Moreover, in those embodiments in which the warning signal275includes the electromagnetic signal, the communication module1202of the vehicle1052detects the warning signal275, as indicated by arrow405, in a manner substantially identical to the manner in which the communication module1201of the vehicle1051detects the warning signal275, and sends data based on the warning signal275to the vehicle control unit1102, as indicated by the arrow400. In some embodiments, after receiving the data based on the recognition signal and/or the data based on the warning signal275, as indicated by the arrow400, the vehicle control unit1102alerts a driver of the vehicle1052visually, audible, or otherwise (e.g., tactile alerts) via the vehicle1052's interface engine or a portable user device coupled to, and adapted to be in communication with, the vehicle1052's interface engine. In at least one such embodiment, the driver alert includes alternate route information to avoid the approaching emergency vehicle270. In addition to the data based on the warning signal275, the vehicle control unit1102may query location data collected from the global positioning system of the sensor engine1402, as indicated by arrow410.

The vehicle control unit1102receives the data based on the recognition signal from the communication module1202, the data based on the warning signal275from the communication module1202, and the location data and/or the route data from the sensor engine1402, and executes programming to verify the reception of the recognition signal, the reception of the warning signal275, and the location of the vehicle1052. After the reception of the recognition signal, the reception of the warning signal275, and the location of the vehicle1052are verified by the vehicle control unit1102, the vehicle control unit1102sends data based on the verification back to the communication module1202, as indicated by the arrow400, which communication module1202, in turn, broadcasts a confirmation signal, as indicated by arrow415. The confirmation signal may include, but is not limited to, data relating to: the detection of the warning signal275by the communication module1202; the location of the vehicle1052; the location, the direction of travel, the speed, the destination, and/or the route of the emergency vehicle270; and/or the recognition signal received from the communication module1201of the vehicle1051.

The communication module1203of the vehicle1053receives the confirmation signal, as indicated by the arrow415, and sends data based on the confirmation signal to the vehicle control unit1103, as indicated by arrow420, but the communication module1203does not detect the warning signal275. In some embodiments, after receiving the data based on the confirmation signal, as indicated by the arrow420, the vehicle control unit1103alerts a driver of the vehicle1053visually, audible, or otherwise (e.g., tactile alerts) via the vehicle1053's interface engine or a portable user device coupled to, and adapted to be in communication with, the vehicle1053's interface engine. In at least one such embodiment, the driver alert includes alternate route information to avoid the approaching emergency vehicle270. In addition to the data based on the confirmation signal, the vehicle control unit1103may query location data collected from the global positioning system of the sensor engine1403, as indicated by arrow425. The vehicle control unit1103receives the data based on the confirmation signal from the communication module1203and the location data and/or the route data from the sensor engine1403, and executes programming to verify the reception of the confirmation signal by the communication module1203and the location and/or the route of the vehicle1053. After the reception of the confirmation signal and the location and/or the route of the vehicle1053are verified by the vehicle control unit1103, the vehicle control unit1103sends data based on the verification back to the communication module1203, as indicated by the arrow420, which communication module1203, in turn, rebroadcasts the confirmation signal, as indicated by arrow430. The rebroadcasted confirmation signal may include, but is not limited to, data relating to the location and/or the route of the vehicle1053, and/or data relating to the confirmation signal received from the vehicle1052.

The (rebroadcasted) confirmation signal may include, but is not limited to, data relating to: the location of the vehicle1053; the location, the direction of travel, the speed, the destination, and/or the route of the emergency vehicle270; and/or the confirmation signal received from the communication module1202of the vehicle1052. This process may continue indefinitely as one or more of the vehicles1054-ireceives the (rebroadcasted) confirmation signal, as indicated by the arrow430, and rebroadcasts the (rebroadcasted) confirmation signal in a manner substantially similar to the manner in which the vehicle1053rebroadcasts the confirmation signal. The above-described broadcasting (and rebroadcasting) of the confirmation signal may be facilitated by the ad hoc network285, the cellular network300, the ad hoc network formed by the vehicle group290, or any combination thereof. Moreover, the above-described broadcasting of the recognition signal may be facilitated by the ad hoc network285, the cellular network300, the ad hoc network formed by the vehicle group290, or any combination thereof.

Referring toFIG. 5, in an embodiment, a method of operating the system260is generally referred to by the reference numeral500. The method500is executed in response to the emergency vehicle270sending the warning signal275toward the vehicle group as it approaches. The method500includes at a step505, receiving, using the vehicle1051, the warning signal275from the emergency vehicle270. In some embodiments, the method500further includes communicating a first alert regarding the emergency vehicle270to a driver of the vehicle1051based on the warning signal275received by the vehicle1051, the first alert including data relating to a location, a direction of travel, a speed, a destination, and/or a route of the emergency vehicle270.

At a step510, a recognition signal is broadcast from the vehicle1051based on the warning signal275received by the vehicle1051. In some embodiments of the step510, the recognition signal includes data relating to the warning signal275received by the vehicle1051, and at least one of: a location, a direction of travel, a speed, a destination, and/or a route of the emergency vehicle270; and a location, a direction of travel, a speed, a destination, and/or a route of the vehicle1051.

At a step515, using the vehicle1052, the warning signal275is received from the emergency vehicle270and the recognition signal is received from the vehicle1051. In some embodiments, the method500further includes communicating a second alert regarding the emergency vehicle270to a driver of the vehicle1052based on the warning signal275received by the vehicle1052, the second alert including data relating to the location, the direction of travel, the speed, the destination, and/or the route of the emergency vehicle270.

At a step520, a confirmation signal is broadcast from the vehicle1052based on both the warning signal275and the recognition signal received by the vehicle1052. In some embodiments of the step520, the confirmation signal includes data relating to the warning signal275received by the vehicle1052, the recognition signal received by the vehicle1052, and at least one of: a location, a direction of travel, a speed, a destination, and/or a route of the emergency vehicle270; and a location, a direction of travel, a speed, a destination, and/or a route of the vehicle1052.

At a step525, using the vehicle1053, the confirmation signal is received from the vehicle1052. In some embodiments, the method500further includes communicating a third alert regarding the emergency vehicle270to a driver of the vehicle1053based on the confirmation signal received by the vehicle1053, the third alert including data relating to the location, the direction of travel, the speed, the destination, and/or the route of the emergency vehicle270.

At a step530, the confirmation signal is rebroadcasted from the vehicle1053based solely on the confirmation signal received by the vehicle1053.

In some embodiments of the method500, the warning signal275includes visible flashing lights and/or an audible siren; receiving, using the vehicle1051, the warning signal275from the emergency vehicle270includes detecting the visible flashing lights and/or the audible siren using the camera and/or the microphone of the vehicle1051; and receiving, using the vehicle1052, the warning signal275from the emergency vehicle270and the recognition signal from the vehicle1051includes: detecting the visible flashing lights and/or the audible siren using the camera and/or the microphone of the vehicle1052, and receiving the recognition signal using the communication module1202of the vehicle1052.

In some embodiments of the method500, the warning signal275is an electromagnetic signal including data relating to a location, a direction of travel, a speed, a destination, and/or a route of the emergency vehicle270; receiving, using the vehicle1051, the warning signal275from the emergency vehicle270includes receiving the electromagnetic signal using the communication module1201of the vehicle1051; and receiving, using the vehicle1052, the warning signal275from the emergency vehicle270and the recognition signal from the vehicle1051includes: receiving the electromagnetic signal using the communication module1202of the vehicle1052, and receiving the recognition signal using the communication module1202of the vehicle1052.

In some embodiments, the operation of the system260and/or the execution of the method500provides a longer warning period for vehicle drivers to react accordingly to an approaching emergency vehicle by, for example, pulling his or her vehicle to the side of the road to clear a path for the emergency vehicle to pass. Furthermore, although only the vehicles1051and1052are described in connection with the system260and the method500as receiving the warning signal275from the emergency vehicle270, any one of the vehicles1053-imay also receive the warning signal275. In various embodiments, a confidence score may be assigned to the confirmation signal based on the number of the vehicles1051-ithat detect the warning signal275, with a higher confidence score equating to a greater number of the vehicles1051-iactually receiving the warning signal275, as opposed to merely rebroadcasting the confirmation signal.

Referring toFIG. 6, in an embodiment, a computing node1000for implementing one or more embodiments of one or more of the above-described elements, control units (e.g.,1101-i) systems (e.g.,100and/or260), methods (e.g.,500) and/or steps (e.g.,505,510,515,520,525, and/or530), or any combination thereof, is depicted. The node1000includes a microprocessor1000a, an input device1000b, a storage device1000c, a video controller1000d, a system memory1000e, a display1000f, and a communication device1000gall interconnected by one or more buses1000h. In several embodiments, the storage device1000cmay include a floppy drive, hard drive, CD-ROM, optical drive, any other form of storage device or any combination thereof. In several embodiments, the storage device1000cmay include, and/or be capable of receiving, a floppy disk, CD-ROM, DVD-ROM, or any other form of computer-readable medium that may contain executable instructions. In several embodiments, the communication device1000gmay include a modem, network card, or any other device to enable the node1000to communicate with other nodes. In several embodiments, any node represents a plurality of interconnected (whether by intranet or Internet) computer systems, including without limitation, personal computers, mainframes, PDAs, smartphones and cell phones.

In several embodiments, one or more of the components of any of the above-described systems include at least the node1000and/or components thereof, and/or one or more nodes that are substantially similar to the node1000and/or components thereof. In several embodiments, one or more of the above-described components of the node1000and/or the above-described systems include respective pluralities of same components.

In several embodiments, a computer system typically includes at least hardware capable of executing machine readable instructions, as well as the software for executing acts (typically machine-readable instructions) that produce a desired result. In several embodiments, a computer system may include hybrids of hardware and software, as well as computer sub-systems.

In several embodiments, hardware generally includes at least processor-capable platforms, such as client-machines (also known as personal computers or servers), and hand-held processing devices (such as smart phones, tablet computers, personal digital assistants (PDAs), or personal computing devices (PCDs), for example). In several embodiments, hardware may include any physical device that is capable of storing machine-readable instructions, such as memory or other data storage devices. In several embodiments, other forms of hardware include hardware sub-systems, including transfer devices such as modems, modem cards, ports, and port cards, for example.

In several embodiments, software includes any machine code stored in any memory medium, such as RAM or ROM, and machine code stored on other devices (such as floppy disks, flash memory, or a CD ROM, for example). In several embodiments, software may include source or object code. In several embodiments, software encompasses any set of instructions capable of being executed on a node such as, for example, on a client machine or server.

In several embodiments, combinations of software and hardware could also be used for providing enhanced functionality and performance for certain embodiments of the present disclosure. In an embodiment, software functions may be directly manufactured into a silicon chip. Accordingly, it should be understood that combinations of hardware and software are also included within the definition of a computer system and are thus envisioned by the present disclosure as possible equivalent structures and equivalent methods.

In several embodiments, computer readable mediums include, for example, passive data storage, such as a random access memory (RAM) as well as semi-permanent data storage such as a compact disk read only memory (CD-ROM). One or more embodiments of the present disclosure may be embodied in the RAM of a computer to transform a standard computer into a new specific computing machine. In several embodiments, data structures are defined organizations of data that may enable an embodiment of the present disclosure. In an embodiment, data structure may provide an organization of data, or an organization of executable code.

In several embodiments, any networks and/or one or more portions thereof, may be designed to work on any specific architecture. In an embodiment, one or more portions of any networks may be executed on a single computer, local area networks, client-server networks, wide area networks, internets, hand-held and other portable and wireless devices and networks.

In several embodiments, database may be any standard or proprietary database software. In several embodiments, the database may have fields, records, data, and other database elements that may be associated through database specific software. In several embodiments, data may be mapped. In several embodiments, mapping is the process of associating one data entry with another data entry. In an embodiment, the data contained in the location of a character file can be mapped to a field in a second table. In several embodiments, the physical location of the database is not limiting, and the database may be distributed. In an embodiment, the database may exist remotely from the server, and run on a separate platform. In an embodiment, the database may be accessible across the Internet. In several embodiments, more than one database may be implemented.

In several embodiments, a plurality of instructions stored on a computer readable medium may be executed by one or more processors to cause the one or more processors to carry out or implement in whole or in part the above-described operation of each of the above-described elements, control units (e.g.,1101-i) systems (e.g.,100and/or260), methods (e.g.,500) and/or steps (e.g.,505,510,515,520,525, and/or530), and/or any combination thereof. In several embodiments, such a processor may include one or more of the microprocessor1000a, any processor(s) that are part of the components of the above-described systems, and/or any combination thereof, and such a computer readable medium may be distributed among one or more components of the above-described systems. In several embodiments, such a processor may execute the plurality of instructions in connection with a virtual computer system. In several embodiments, such a plurality of instructions may communicate directly with the one or more processors, and/or may interact with one or more operating systems, middleware, firmware, other applications, and/or any combination thereof, to cause the one or more processors to execute the instructions.

A method has been disclosed. The method generally includes receiving, using a first vehicle, a warning signal from an emergency vehicle; broadcasting, from the first vehicle, a recognition signal based on the warning signal received by the first vehicle; receiving, using a second vehicle, the warning signal from the emergency vehicle and the recognition signal from the first vehicle; and broadcasting, from the second vehicle, a confirmation signal based on both the warning signal and the recognition signal received by the second vehicle.

The foregoing method embodiment may include one or more of the following elements, either alone or in combination with one another:The recognition signal includes data relating to: the warning signal received by the first vehicle; and at least one of: a location, a direction of travel, a speed, a destination, and/or a route of the emergency vehicle; and a location, a direction of travel, a speed, a destination, and/or a route of the first vehicle.The confirmation signal includes data relating to: the warning signal received by the second vehicle; the recognition signal received by the second vehicle; and at least one of: a location, a direction of travel, a speed, a destination, and/or a route of the emergency vehicle; and a location, a direction of travel, a speed, a destination, and/or a route of the second vehicle.The method further includes receiving, using a third vehicle, the confirmation signal from the second vehicle; and rebroadcasting, from the third vehicle, the confirmation signal based solely on the confirmation signal received by the third vehicle.The method further includes at least one of: communicating a first alert regarding the emergency vehicle to a driver of the first vehicle based the warning signal received by the first vehicle, the first alert including data relating to a location, a direction of travel, a speed, a destination, and/or a route of the emergency vehicle; communicating a second alert regarding the emergency vehicle to a driver of the second vehicle based on the warning signal received by the second vehicle, the second alert including data relating to the location, the direction of travel, the speed, the destination, and/or the route of the emergency vehicle; and communicating a third alert regarding the emergency vehicle to a driver of the third vehicle based on the confirmation signal received by the third vehicle, the third alert including data relating to the location, the direction of travel, the speed, the destination, and/or the route of the emergency vehicle.The warning signal includes visible flashing lights and/or an audible siren; wherein receiving, using the first vehicle, the warning signal from the emergency vehicle includes detecting the visible flashing lights and/or the audible siren using a camera and/or a microphone of the first vehicle; and wherein receiving, using the second vehicle, the warning signal from the emergency vehicle and the recognition signal from the first vehicle includes: detecting the visible flashing lights and/or the audible siren using a camera and/or a microphone of the second vehicle; and receiving the recognition signal using a communication module of the second vehicle.The warning signal is an electromagnetic signal including data relating to a location, a direction of travel, a speed, a destination, and/or a route of the emergency vehicle; wherein receiving, using the first vehicle, the warning signal from the emergency vehicle includes receiving the electromagnetic signal using a communication module of the first vehicle; and wherein receiving, using the second vehicle, the warning signal from the emergency vehicle and the recognition signal from the first vehicle includes: receiving the electromagnetic signal using a communication module of the second vehicle; and receiving the recognition signal using the communication module of the second vehicle.

A system has also been disclosed. The system generally includes an emergency vehicle adapted to broadcast a warning signal; a first vehicle adapted to receive the warning signal from the emergency vehicle, wherein the first vehicle is further adapted to broadcast a recognition signal based on the warning signal received by the first vehicle; and a second vehicle adapted to receive the warning signal from the emergency vehicle and the recognition signal from the first vehicle, wherein the second vehicle is further adapted to broadcast a confirmation signal based both on the warning signal and the recognition signal received by the second vehicle.

The foregoing system embodiment may include one or more of the following elements, either alone or in combination with one another:The recognition signal includes data relating to: the warning signal received by the first vehicle; and at least one of: a location, a direction of travel, a speed, a destination, and/or a route of the emergency vehicle; and a location, a direction of travel, a speed, a destination, and/or a route of the first vehicle.The confirmation signal includes data relating to: the warning signal received by the second vehicle; the recognition signal received by the second vehicle; and at least one of: a location, a direction of travel, a speed, a destination, and/or a route of the emergency vehicle; and a location, a direction of travel, a speed, a destination, and/or a route of the second vehicle.The system further includes a third vehicle adapted to receive the confirmation signal from the second vehicle, wherein the third vehicle is further adapted to rebroadcast the confirmation signal based solely on the confirmation signal received by the third vehicle.The warning signal includes visible flashing lights and/or an audible siren; wherein the first vehicle is adapted to receive the warning signal from the emergency vehicle by detecting the visible flashing lights and/or the audible siren using a camera and/or a microphone of the first vehicle; and wherein the second vehicle is adapted to receive the warning signal from the emergency vehicle and the recognition signal from the first vehicle by: detecting the visible flashing lights and/or the audible siren using a camera and/or a microphone of the second vehicle; and receiving the recognition signal using a communication module of the second vehicle.The warning signal is an electromagnetic signal including data relating to a location, a direction of travel, a speed, a destination, and/or a route of the emergency vehicle; wherein the first vehicle is adapted to receive the warning signal from the emergency vehicle by receiving the electromagnetic signal using a communication module of the first vehicle; and wherein the second vehicle is adapted to receive the warning signal from the emergency vehicle and the recognition signal from the first vehicle by: receiving the electromagnetic signal using a communication module of the second vehicle; and receiving the recognition signal using the communication module of the second vehicle.

An apparatus has also been disclosed. The apparatus generally includes a non-transitory computer readable medium; and a plurality of instructions stored on the non-transitory computer readable medium and executable by one or more processors, the plurality of instructions including: instructions that, when executed, cause the one or more processors to receive, using a first vehicle, a warning signal from an emergency vehicle; instructions that, when executed, cause the one or more processors to broadcast, from the first vehicle, a recognition signal based on the warning signal received by the first vehicle; instructions that, when executed, cause the one or more processors to receive, using a second vehicle, the warning signal from the emergency vehicle and the recognition signal from the first vehicle; and instructions that, when executed, cause the one or more processors to broadcast, from the second vehicle, a confirmation signal based on both the warning signal and the recognition signal received by the second vehicle.

The foregoing apparatus embodiment may include one or more of the following elements, either alone or in combination with one another:The recognition signal includes data relating to: the warning signal received by the first vehicle; and at least one of: a location, a direction of travel, a speed, a destination, and/or a route of the emergency vehicle; and a location, a direction of travel, a speed, a destination, and/or a route of the first vehicle.The confirmation signal includes data relating to: the warning signal received by the second vehicle; the recognition signal received by the second vehicle; and at least one of: a location, a direction of travel, a speed, a destination, and/or a route of the emergency vehicle; and a location, a direction of travel, a speed, a destination, and/or a route of the second vehicle.The plurality of instructions further include: instructions that, when executed, cause the one or more processors to receive, using a third vehicle, the confirmation signal from the second vehicle; and instructions that, when executed, cause the one or more processors to rebroadcast, from the third vehicle, the confirmation signal based solely on the confirmation signal received by the third vehicle.The plurality of instructions further include at least one of: instructions that, when executed, cause the one or more processors to communicate a first alert regarding the emergency vehicle to a driver of the first vehicle based on the warning signal received by the first vehicle, the first alert including data relating to a location, a direction of travel, a speed, a destination, and/or a route of the emergency vehicle; instructions that, when executed, cause the one or more processors to communicate a second alert regarding the emergency vehicle to a driver of the second vehicle based on the warning signal received by the second vehicle, the second alert including data relating to the location, the direction of travel, the speed, the destination, and/or the route of the emergency vehicle; and instructions that, when executed, cause the one or more processors to communicate a third alert regarding the emergency vehicle to a driver of the third vehicle based on the confirmation signal received by the third vehicle, the third alert including data relating to the location, the direction of travel, the speed, the destination, and/or the route of the emergency vehicle.The warning signal includes visible flashing lights and/or an audible siren; wherein the instructions that, when executed, cause the one or more processors to receive, using the first vehicle, the warning signal from the emergency vehicle includes instructions that, when executed, cause the one or more processors to detect the visual flashing lights and/or the audible siren using a camera and/or a microphone of the first vehicle; and wherein the instructions that, when executed, cause the one or more processors to receive, using the second vehicle, the warning signal from the emergency vehicle and the recognition signal from the first vehicle include: instructions that, when executed, cause the one or more processors to detect the visual flashing lights and/or the audible siren using a camera and/or a microphone of the second vehicle; and instructions that, when executed, cause the one or more processors to receive the recognition signal using a communication module of the second vehicle.The warning signal is an electromagnetic signal including data relating to a location, a direction of travel, a speed, a destination, and/or a route of the emergency vehicle; wherein the instructions that, when executed, cause the one or more processors to receive, using the first vehicle, the warning signal from the emergency vehicle include instructions that, when executed, cause the one or more processors to receive the electromagnetic signal using a communication module of the first vehicle; and wherein the instructions that, when executed, cause the one or more processors to receive, using the second vehicle, the warning signal from the emergency vehicle and the recognition signal from the first vehicle include: instructions that, when executed, cause the one or more processors to receive the electromagnetic signal using a communication module of the second vehicle; and instructions that, when executed, cause the one or more processors to receive the recognition signal using the communication module of the second vehicle.

It is understood that variations may be made in the foregoing without departing from the scope of the present disclosure.

In some embodiments, the elements and teachings of the various embodiments may be combined in whole or in part in some or all of the embodiments. In addition, one or more of the elements and teachings of the various embodiments may be omitted, at least in part, and/or combined, at least in part, with one or more of the other elements and teachings of the various embodiments.

Although some embodiments have been described in detail above, the embodiments described are illustrative only and are not limiting, and those skilled in the art will readily appreciate that many other modifications, changes and/or substitutions are possible in the embodiments without materially departing from the novel teachings and advantages of the present disclosure. Accordingly, all such modifications, changes, and/or substitutions are intended to be included within the scope of this disclosure as defined in the following claims.