Abstract:
An obstacle advisory system for a vehicle and a method for operating the same are provided. The system, for example, may include, but is not limited to a display, and a processor communicatively coupled to the display, the processor configured to receive sensor data from at least one sensor configured to sense obstacles around a vehicle, generate obstacle display data based upon the sensor data, the obstacle display data comprising display data for each of a plurality of sectors and for each of a plurality of blocks within each of the plurality of sectors forming a grid surrounding the vehicle, and display the generated obstacle display data on the display.

Description:
TECHNICAL FIELD 
       [0001]    The present disclosure generally relates to vehicles, and more particularly relates to warning systems for vehicles. 
       BACKGROUND 
       [0002]    Helicopter landing, takeoff and near-ground maneuvering can be one of the more challenging aspects of piloting a helicopter. Accordingly, systems for aiding pilots during landing, takeoff and near-ground maneuvering are desirable. 
       BRIEF SUMMARY 
       [0003]    In one embodiment, for example, an obstacle advisory system is provided. The system may include, but is not limited to, a display, and a processor communicatively coupled to the display, the processor configured to receive sensor data from at least one sensor configured to sense obstacles around a vehicle, generate obstacle display data based upon the sensor data, the obstacle display data comprising display data for each of a plurality of sectors and for each of a plurality of blocks within each of the plurality of sectors forming a grid surrounding the vehicle, and display the generated obstacle display data on the display. 
         [0004]    In another embodiment, for example, a method of operating an obstacle advisory system is provided. The method may include, but is not limited to, receiving, by a processor, sensor data from at least one sensor configured to sense obstacles around a vehicle, generating, by the processor, obstacle display data based upon the sensor data, the obstacle display data comprising display data for each of a plurality of sectors and for each of a plurality of blocks within each of the plurality of sectors forming a grid surrounding the vehicle, and displaying the generated obstacle display data on a display. 
         [0005]    In another embodiment, for example, a vehicle is provided. The vehicle may include, but is not limited to a plurality of sensors configured to collect sensor data indicating when an obstacle is within a range of the vehicle, each of the plurality of sensors arranged to collect the sensor data in a different direction around the vehicle, a display, and a processor communicatively coupled to the plurality of sensors and the display, the processor configured to receive sensor data from the plurality of sensors, generate obstacle display data based upon the sensor data, the obstacle display data comprising display data for each of a plurality of sectors and for each of a plurality of blocks within each of the plurality of sectors forming a grid surrounding the vehicle, and display the generated obstacle display data on the display. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0006]    The detailed description will hereinafter be described in conjunction with the following drawing figures, wherein like numerals denote like elements, and wherein: 
           [0007]      FIG. 1  is a block diagram of a vehicle having an exemplary obstacle advisory system, in accordance with an embodiment; 
           [0008]      FIG. 2  is a block diagram of another exemplary obstacle advisory system  110 , in accordance with an embodiment; and 
           [0009]      FIG. 3  is a flow diagram illustrating a method for operating an obstacle advisory system, in accordance with an embodiment; 
           [0010]      FIG. 4  is a diagram illustrating an exemplary sensor range, in accordance with an embodiment; 
           [0011]      FIG. 5  illustrates an exemplary grid, in accordance with an embodiment; 
           [0012]      FIG. 6  illustrates an exemplary obstacle advisory system displaying obstacle display data generated in Step, in accordance with an embodiment; 
           [0013]      FIG. 7  illustrates another exemplary obstacle advisory system displaying obstacle display data generated in Step, in accordance with an embodiment; 
           [0014]      FIG. 8  illustrates yet another exemplary obstacle advisory system displaying obstacle display data generated in Step, in accordance with an embodiment; 
           [0015]      FIG. 9  illustrates another exemplary obstacle advisory system displaying obstacle display data generated in Step, in accordance with an embodiment; and 
           [0016]      FIG. 10  illustrates yet another exemplary obstacle advisory system displaying obstacle display data generated in Step, in accordance with an embodiment; and 
           [0017]      FIG. 11  illustrates another exemplary obstacle advisory system displaying obstacle display data generated in Step, in accordance with an embodiment. 
       
    
    
     DETAILED DESCRIPTION 
       [0018]    The following detailed description is merely exemplary in nature and is not intended to limit the invention or the application and uses of the invention. As used herein, the word “exemplary” means “serving as an example, instance, or illustration.” Thus, any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments. All of the embodiments described herein are exemplary embodiments provided to enable persons skilled in the art to make or use the invention and not to limit the scope of the invention which is defined by the claims. Furthermore, there is no intention to be bound by any expressed or implied theory presented in the preceding technical field, background, brief summary, or the following detailed description. 
         [0019]    An obstacle advisory system for a vehicle and a method for operating obstacle advisory system are discussed herein. The obstacle advisory system provides a simplified display to the operator of the vehicle warning the operator of possible obstacles the vehicle may encounter. 
         [0020]      FIG. 1  is a block diagram of a vehicle  100  having an exemplary obstacle advisory system  110 , in accordance with an embodiment. In one embodiment, for example, the vehicle  100  may be a helicopter. However, other vehicles  100  such as aircraft, spacecraft, watercraft, automobiles or any other type of moving vehicle could also utilize the obstacle advisory system  110 . 
         [0021]    The obstacle advisory system  110  includes a processor  120 . The processor  120  may be a central processing unit (CPU), a graphics processing unit (GPU), a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a microcontroller, or any other logic device or combination thereof. As discussed in further detail below, the processor  120  controls the operation of the obstacle advisory system  110 . In one embodiment, the processor  120  may be dedicated to the obstacle advisory system  110 . However, in other embodiments, for example, the processor  120  may be utilized by one or more other systems in the vehicle  100 . 
         [0022]    The obstacle advisory system  110  includes a memory  130 . The memory  130  may be any combination of volatile and non-volatile memories. The memory  130  may store non-transitory computer-readable instructions, which when executed by the processor  120 , implement the obstacle advisory system  110 , as discussed in further detail below. In the embodiment illustrated in  FIG. 1 , the memory  130  is located in the vehicle  100 . However, in other embodiments, the memory  130  may be located remotely from the vehicle  100 , such as a cloud based memory. In this embodiment, the processor  120  of the obstacle advisory system  110  may communicate with the memory  130  via a communication system (not illustrated in  FIG. 1 ). 
         [0023]    The obstacle advisory system  110  includes a display  140 . The display  140  may be a liquid crystal display (LCD), a cathode ray tube (CRT) display, an organic light emitting diode (OLED) display, a plasma display or any other type of display. As discussed in further detail below, the processor  120  of the obstacle advisory system  110  generates obstacle advisory display data and outputs the obstacle advisory display data to the display  140  to warn users of the vehicle  100  of obstacles. 
         [0024]    The obstacle advisory system  110  further includes one or more sensors  150 . Preferably, the obstacle advisory system  110  includes enough sensors to gather data in every direction around the vehicle  100 . However, if data from sensors  150  are not needed from every direction, fewer sensors  150  could be used. The sensors  150  maybe be any combination of radar, lidar, ladar, 3-D stereo optical or infrared cameras, ultrasonic sensors, Doppler sensors, or the like. In one embodiment, for example, multiple sensors  150  may be arranged on the vehicle  100  to collect data in the same area around the vehicle. The processor  120  may use data fusion to generate obstacle display data based upon data from multiple sensors for a sector, as discussed in further detail below, or actual sensor performance post-processing to determine which of the multiple sensors  150  arranged to collect data from the same sector to utilize when generating the obstacle display data. 
         [0025]    In the embodiment illustrated in  FIG. 1 , the obstacle advisory system  110  is integrated into the vehicle. However, the obstacle advisory system  110  could also be a stand-alone system brought into the vehicle  100  as illustrated in  FIG. 2 . 
         [0026]      FIG. 2  is a block diagram of another exemplary obstacle advisory system  110 , in accordance with an embodiment. In the embodiment illustrated in  FIG. 2 , the obstacle advisory system  110  may be a tablet, a cell phone, a laptop computer, or any other portable electronic device that could be carried into the vehicle  100 . The obstacle advisory system  110  includes the processor  120 , memory  130  and display  140  as discussed above. 
         [0027]    The obstacle advisory system  110  illustrated in  FIG. 2  further includes a communication system  200 . The communication system  200  may be any wired or wireless communication system, including, but not limited to, a cellular communication system, a Wi-Fi communication system, a Bluetooth communication system, a ZigBee communication system, a local area network (LAN) communication system, or the like, or any combination thereof. 
         [0028]    The processor  120  of the obstacle advisory system  110  communicates with a communication system  210  of the vehicle  100 . The communication system  210  of the vehicle could also include any wired or wireless communication system, or a combination thereof. In the embodiment illustrated in  FIG. 2 , the vehicle  100  includes a processor  220 . The processor  220  may be a central processing unit (CPU), a graphics processing unit (GPU), a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a microcontroller, or any other logic device or combination thereof. The processor  220  receives data from the sensor(s)  150  and transmits the sensor data to the obstacle advisory system  110  for display on the display  140  of the obstacle advisory system  110 , as discussed in further detail below. 
         [0029]      FIG. 3  is a flow diagram illustrating a method  300  for operating an obstacle advisory system  110 , in accordance with an embodiment. The method begins when the obstacle advisory system  110  is initiated. (Step  310 ). In one embodiment, for example, the obstacle advisory system  110  may be automatically initiated. For example, if a processor  220  of the vehicle  100 , such as one part of a flight management system (not illustrated), determines that the vehicle  100  is in a landing phase or that the vehicle is within a predetermined distance to the ground, the processor  220  may send a signal to the processor  120  of the obstacle advisory system  110  to initiate the obstacle advisory system  110 . In another embodiment, for example, the obstacle advisory system  110  may be initiated any time the vehicle  100  is in motion. However, the display  140  of the obstacle advisory system  110  may not display obstacle data unless the vehicle  100  is within a predetermined distance to the ground or the sensor data from the sensor(s)  150  indicate that an obstacle is within a predetermined distance of the vehicle. In yet another embodiment, for example, the obstacle advisory system  110  could be initiated manually by a user. When the obstacle advisory system is initiated, the processor  120  may begin receiving sensor data from sensors  150  if the processor was not already receiving the sensor data. 
         [0030]    The processor  120  of the obstacle advisory system  110  then begins analyzing data from the sensors to generate obstacle display data. (Step  320 ). As discussed above, the sensor(s)  150  of the obstacle advisory system  110  transmit sensor data to the processor  120  either directly or through a communication system  210 . The sensor(s)  150  collect data on any obstacle within the range of the respective sensor  150 .  FIG. 4  is a diagram illustrating an exemplary sensor range  400 , in accordance with an embodiment. As seen in  FIG. 4 , the sensor range  400  (not drawn to scale) extends a distance R from the vehicle  100  and includes data on obstacles within an angle A over the distance R. The distance R and angle A of the sensor range  400  may be selected by choosing sensor(s) with different capabilities. However, in one embodiment, for example, the sensor range may be selectable by a user. In other words, an operator of the obstacle advisory system  110  could select a distance R and/or angle A of the sensor range  400  and only analyze data within the user defined range. 
         [0031]    Returning to  FIG. 3 , the processor generates the obstacle display data based upon the sensor data. The obstacles could be buildings, trees, people, telephone/power poles, other vehicles or any other object which could pose a danger to the vehicle. In one embodiment, for example, the generated obstacle display data may be arranged in a grid pattern. 
         [0032]      FIG. 5  illustrates an exemplary grid  500 , in accordance with an embodiment. As seen in  FIG. 5 , the grid  500  is constructed from a series of concentric circles and radial lines radiating from the center of the circles. However, a wide variety of grids could be used to display the obstacle display data. For example, an elliptical shaped grid based upon a vehicle envelope could be utilized, triangular grids, or grids in any other two or three-dimensional shape could be utilized. As discussed in further detail below, display data may be generated by the processor  120  for each block  510  in the grid  500  and/or each sector  520  of the grid. In the embodiment illustrated in  FIG. 5 , each sector  520  is a group of grid blocks  510  radiating in the same direction. 
         [0033]      FIG. 6  illustrates an exemplary obstacle advisory system  110  displaying obstacle display data generated in Step  320 , in accordance with an embodiment. While the obstacle advisory system  110  is illustrated as a tablet in  FIG. 6 , the obstacle advisory system  110  could any portable electronic device or may be integrated into a vehicle  100 , as discussed above. As seen in  FIG. 6 , the obstacle display data  600  generated by the processor  120  is generates as a grid  500  having a variety of blocks  510  and sectors  520 . The vehicle  100 , a helicopter in this embodiment, is illustrated at the center of the grid  500  is drawn to scale relative to the grid  500 . In other words, the distance between each grid block  510  may be a fixed distance, illustrated as ten meters in  FIG. 6 , and the vehicle is drawn to scale relative to the grid marks. 
         [0034]    As seen in  FIG. 6 , any obstacle within the inner circle would be less than ten meters from the vehicle  100 , any obstacle between the inner circle and the middle circle is between ten and twenty meters of the vehicle  100 , any obstacle between the middle circle and the outer circle is between twenty and thirty meters of the vehicle  100 , and anything beyond the outer circle is at least thirty meters from the vehicle  100 . However, the distance each circle represents and the number of circles may vary depending upon a user desired granularity or an attribute of the vehicle  100 . In one embodiment, for example, the distance each circle represents may be dependent upon the size of the vehicle  100  or a component of a vehicle  110 , such as a main rotor size. In the embodiment illustrated in  FIG. 6 , the helicopter main rotor has a diameter of twenty meters. In this embodiment, the distance each circle represents is based upon a multiple of the rotor diameter, the multiple being 1.5, hence the outer circle having a distance of thirty meters. However, the multiple could be set at any desirable value. 
         [0035]    The other circles, here a ten and twenty meter circle, are fractions of the outer circle, here two-thirds and one-third the distance of the outer circle. In other words, the distance represented by any inner circles is dependent upon the number of circles used. If four circles were selected, for example, each circle would represent one quarter of the distance of the outer circle. 
         [0036]    The number of radial lines could also vary. In the embodiment illustrated in  FIG. 6 , twelve radial lines are used to create twelve sectors  520  and thirty-six grid blocks  510 . However, any number of radials lines may be used dependent upon a desired granularity. 
         [0037]    Returning to  FIG. 3 , the obstacle display data generated in step  320  may indicate an obstacle is within each block  510  of the grid  500  in one or more of the following ways. In one embodiment for example, processor  120  may indicate that an obstacle is within a sector  520  and block  510  of a grid  500  without indicating where the obstacle is, thus providing the necessary warning without cluttering the display  140 . 
         [0038]      FIG. 7  illustrates an exemplary obstacle advisory system  110  displaying obstacle display data generated in Step  320 , in accordance with an embodiment. In this embodiment, one or more obstacles have been identified by the processor  120  in three sectors,  700 ,  710  and  720 . The sector  700  has one grid block  510  indicated, indicating an obstacle is between twenty and thirty meters of the vehicle in the direction of the respective sector. The sector  710  has two grid blocks  510  indicated, indicating an obstacle is between ten and twenty meters of the vehicle in the direction of the respective sector. The sector  720  has three grid blocks  510  indicated, indicating an obstacle is less than ten meters from the vehicle  100  in the direction of the respective sector. As such, a vehicle operator can quickly look at the display  140  to see where the obstacles are relative to the vehicle. In operation, the processor during Step  320 , would determine the appropriate obstacle display data for each grid block  510  and sector  520  of the grid  100  based upon the data from the sensor(s)  150 . As illustrated in  FIG. 7 , the processor  120  determines the obstacle display data for each sector  520  based upon which grid blocks  510  within the sector includes obstacle data. In other words, the processor  120  generates identical obstacle display data for all outer grid blocks  510  when the inner grid block  510  of a sector  520  relative to the outer grid blocks  510  includes an obstacle. Accordingly, as seen in  FIG. 7 , the grid block  510  in each sector  520  having the closest obstacle to the vehicle dictates the obstacle display data generated for the outer grid blocks  510  relative to the closest grid block in which an obstacle is located. 
         [0039]    As seen in  FIG. 7 , sectors  700 ,  710  and  720  are illuminated in different shades of gray. This can aid a vehicle operator in quickly determining in which sector  520  the closest obstacle is present. While not illustrated in  FIG. 7 , the processor  120  could also vary a color of the sectors. For example, sectors which have an obstacle in the closest grid block  510  to the vehicle could be presented in a bold color, such as red, while other sectors having obstacles further away may be presented in more muted colors. In another embodiment, for example, different patterns or opacities could be used to indicate the objects in different sectors. 
         [0040]    Returning to  FIG. 3 , the processor  120  may provide additional details of where obstacles are located in obstacle display data generated in step  320 . For example, the processor  120  may indicate where a closest edge of the obstacle is within a grid block  510 . 
         [0041]      FIG. 8  illustrates an exemplary obstacle advisory system  110  displaying obstacle display data generated in Step  320 , in accordance with an embodiment. As seen in  FIG. 8 , the sectors,  700 ,  710  and  720  are visually indicated in a similar fashion as discussed in  FIG. 7 . Additionally, in each visually indicated sector, at least one obstacle edge  800  is identified. This provides the vehicle operator with additional granularity with respect to the obstacle(s) within each grid block  510 . As discussed above, obstacles can include buildings, power poles, trees and any other obstacle that could pose a threat to the vehicle  100  or be damaged by the vehicle  100 . Accordingly, the embodiment illustrated in  FIG. 8  provides more granularity with respects to an objects closest edge within each grid block  510  without over cluttering the display  140  and distracting the operator. As illustrated in  FIG. 8 , one of the obstacle edges  800  may be indicated as a most hazardous obstacle  810  at a given time. In this embodiment, the most hazardous obstacle  810  is indicated with a larger dot than the other obstacle edges  800 . However, the most hazardous obstacle  810  could be indicated in a variety of ways, including, but not limited to, a unique marker (i.e., marker shape), a marker of a unique color, or a combination thereof. The processor  120  may determine the most hazardous obstacle  810  based upon a distance between the object and the vehicle  100 , a bearing of the vehicle  100 , a height of the object relative to the vehicle  100 , a closing rate between the object and the vehicle  100 , an object type, or the like, or any combination thereof. Accordingly, while the edge of the object closest to the vehicle  100  is indicated as being the most hazardous object  810  in  FIG. 8 , if an object is moving, such as when the object is another vehicle, the processor  120  could indicate that objects further away from the vehicle are more hazardous based upon the factors indicated above. 
         [0042]    Returning to  FIG. 3 , the processor  120  may provide additional details of where obstacles are located in obstacle display data generated in step  320 . For example, the processor  120  may indicate where borders of an object are within a grid block  510 . 
         [0043]      FIG. 9  illustrates an exemplary obstacle advisory system  110  displaying obstacle display data generated in Step  320 , in accordance with an embodiment. As seen in  FIG. 9 , the sectors,  700 ,  710  and  720  are visually indicated in a similar fashion as discussed in  FIG. 7 , providing a baseline for indicating where obstacles are relative to the vehicle  100 . Additionally, in sectors  700  and  710  borders  900  of obstacles are provided. In this embodiment, for example, the processor  120 , when generating the obstacle display data in Step  320 , identifies when an obstacle or multiple obstacles near each other, extend over a predetermined length. The predetermined length can vary, depending upon a desired sensitivity. Accordingly, in the embodiment illustrated in  FIG. 9 , the processor  120  has identified at least one obstacle in sector  700  and at least one obstacle which extends into both sectors  700  and  720  which has an border over the predetermined length. Generally buildings may be identified as obstacles with borders over the predetermined length. However, if multiple trees, for example, or other obstacles are within a predetermined distance of each other, the processor may also identify multiple individual obstacles as having a common border. The predetermined distance can vary depending upon a desired granularity of the obstacle display data. 
         [0044]    The processor  120  may display any combination of the obstacle indicators when generating the obstacle data in Step  320 .  FIG. 10  illustrates an exemplary obstacle advisory system  110  displaying obstacle display data generated in Step  320 , in accordance with an embodiment. As seen in  FIG. 10 , the processor  120  in this embodiment has generated identical obstacle display data for sectors  520  based upon which grid block  510  within the sector  520  an obstacle is present, as well as borders  900  of obstacles and indications of the closest edge  800  of obstacles. As seen in  FIG. 10 , as well as numerous other figures, the processor  120  may generate obstacle display data option interfaces  1000  and  1010 . As illustrated in  FIG. 10 , an operator could interact with interface  1000  to turn on or off the closest edge data and could interact with interface  1010  to turn on or off the border data. In this embodiment, the identical obstacle display data for sectors  520 , as discussed above, is a default display method that cannot be turned on or off. However, in other embodiments the borders  900  or closest edge  800  could be the default display option. In yet another embodiment, an operator may be able to turn on and off any of the obstacle display data indictors discussed herein. 
         [0045]    Returning to  FIG. 3 , if the processor  120 , when analyzing the sensor data in Step  320  determines that one or more sensors are malfunctioning, the processor may generate display data indicating the fault.  FIG. 11  illustrates an exemplary obstacle advisory system  110  displaying obstacle display data generated in Step  320 , in accordance with an embodiment. As seen in  FIG. 11 , the processor  120  generated display data  1100  (i.e., the crossed out sectors) indicating that one or more sensors  150  on the front of the vehicle is malfunctioning, preventing the respective sectors from having valid obstacle display data. While the embodiment illustrated in  FIG. 11  illustrates the sectors without valid data by crossing out the respective sectors, the invalid sectors could be displayed in a variety of ways. The processor  120  may determine that the sensor(s)  150  are malfunctioning if the processor  120  is receiving no data from the respective sensor  150 . Alternatively, if there are multiple sensors arranged to collect data for one or more sectors, the processor  120  may compare the sensor data from the respective sensors. If the sensor data does not match, the processor  120  may indicate that a fault is present, as illustrated in  FIG. 11 . 
         [0046]    Returning to  FIG. 3 , once the display data is generated, the processor  120  outputs the display data to the display  140 . (Step  330 ). The display protocol may vary depending upon the type of the display and the communication interface between the processor  120  and the display  140 . The processor  120  then returns to Step  320  to update the display data based upon subsequent sensor data to provide real time obstacle advisory information to the operator of the vehicle. 
         [0047]    While at least one exemplary embodiment has been presented in the foregoing detailed description of the invention, it should be appreciated that a vast number of variations exist. It should also be appreciated that the exemplary embodiment or exemplary embodiments are only examples, and are not intended to limit the scope, applicability, or configuration of the invention in any way. Rather, the foregoing detailed description will provide those skilled in the art with a convenient road map for implementing an exemplary embodiment of the invention. It being understood that various changes may be made in the function and arrangement of elements described in an exemplary embodiment without departing from the scope of the invention as set forth in the appended claims.