Patent Description:
Officers responding to an incident may park their vehicles in a variety of positions, for instance, to establish a perimeter surrounding an incident area, or to focus their attention on activities such as writing an incident report. As mentioned above, when the officer is within or nearby his or her vehicle and has his or her attention focused on other activities, the officer may subject himself/herself to unsafe situation due to approaching threats. During such situations, vehicle-based sensor systems can be enabled to monitor an area surrounding the vehicle and further alert the officer about approaching threats. However, the likelihood of a threat originating from different areas surrounding the vehicle may not be the same and therefore some areas surrounding the vehicle may be of higher interest for monitoring and detecting threats. For example, an area with a protected space that provides a direct travel path toward the vehicle may have a higher likelihood of a threat originating from that area as compared to other areas surrounding the vehicle (e.g., see <FIG> and <FIG>). Existing range detection devices used on vehicles emit a beam in a general direction where the range detection device is facing such that all/most areas within the coverage area of the range detection device receive approximately the same amount of range detection waves from the emitted beam (e.g., see wide band beam patterns of <FIG> and <FIG>). In other words, low threat probability areas receive the same or a similar amount of range detection beam coverage as high threat probability areas. Thus, there is a technological problem with respect to how range detection devices used on vehicles with changing monitored areas output range detection beams to monitor for potential threats around the vehicle.

The invention is set out in the in the appended set of claims.

The embodiments will be discussed in more detail below, starting with example communication system and device architectures of the system in which the embodiments may be practiced, followed by an illustration of processing steps for achieving the method and system for enabling a threat detection sensor system to monitor an area surrounding a vehicle. Further advantages and features consistent with this disclosure will be set forth herein, with reference to the figures.

Referring to <FIG>, an example communication system diagram illustrates a system <NUM> including a vehicle <NUM> and an example wireless infrastructure radio access network (RAN) <NUM>. The vehicle <NUM> is illustrated with a vehicle occupant including an officer <NUM> having an associated personal radio communication device <NUM>. The vehicle <NUM> is equipped with a vehicular computing device <NUM>. For example, the vehicular computing device <NUM> may be mounted in the vehicle <NUM>. The vehicle <NUM> also includes an internal speaker <NUM>, and an antenna <NUM> communicatively coupled to a transceiver at the vehicular computing device <NUM> for communicating with other computing devices in an ad-hoc manner or in an infrastructure manner via RAN <NUM>, a <NUM>-degree (<NUM>°) threat detection sensor system <NUM> (also referred to as integrated vehicular appliance <NUM>) for capturing <NUM>° field-of-view of an area surrounding the vehicle <NUM> to detect potential threats, external lights <NUM> and <NUM>, and external speaker <NUM>.

The vehicle <NUM> may be a human-operable vehicle, or may be partially or fully self-driving vehicle operable under control of the vehicular computing device <NUM> perhaps in cooperation with the <NUM>-degree threat detection sensor system <NUM>. The <NUM>-degree threat detection sensor system <NUM> may include one or more visible-light camera(s), infrared light camera(s), time-of-flight depth camera(s), radio wave emission and detection (such as radio direction and distancing (RADAR) or sound navigation and ranging (SONAR) device(s)), and/or light detection and ranging (LiDAR) devices for self-driving purposes and/or for the other purposes as set forth herein. The vehicular computing device <NUM> may further contain an application (e.g., a mapping and routing application) that may provide an input interface (touch, keyboard, voice, wireless transceiver, etc.) for a user such as the officer <NUM> to enter an intended destination or assigned incident location, or to select a particular area of interest (e.g., a doorway, a window, or the like) that needs to be monitored via the <NUM>-degree threat detection sensor system <NUM> for detecting threats. In some embodiments, potential threats detected by the threat detection sensor system <NUM> include movement of an object (for example, a person, an animal, or the like) toward the vehicle <NUM>, any movement of an object within a predetermined distance of the vehicle <NUM>, recognition of a potentially dangerous object (for example, a gun, a fire, or the like) within a predetermined distance of the vehicle, and/or the like.

The officer <NUM> is illustrated in <FIG> as an officer (e.g., such as a police officer), but in other embodiments, may be any type of registered vehicle occupant, that may drive the vehicle <NUM> to a particular location (e.g., an incident location), or may enter an intended location. The officer <NUM> may be interested in receiving alert notifications (e.g., on officer's personal radio communication device <NUM>, or via internal speaker <NUM>) related to detected threats in one or more areas of interest surrounding the vehicle <NUM>. The officer <NUM> may, in other embodiments, work for other governmental and non-governmental agencies such as park districts, real estate offices, and other types of security details. The officer <NUM> is also equipped with an associated personal radio communication device <NUM>, which may be carried as a hip radio, as an integrated radio-speaker-microphone (RSM) device, or some other electronic device capable of communicating via short-range and/or long-range wireless communication links with the vehicular computing device <NUM>, with each other, and/or with controller <NUM> via RAN <NUM>, among other possibilities.

The personal radio communication device <NUM> may be any mobile computing device used for infrastructure RAN or direct-mode media (e.g., voice, audio, video, etc.) communication via a long-range wireless transmitter and/or transceiver that has a transmitter transmit range on the order of miles (e.g., <NUM>-<NUM> miles, or <NUM>-<NUM> miles and in comparison to a short-range transmitter such as a Bluetooth, Zigbee, or NFC transmitter) with other mobile computing devices and/or the infrastructure RAN <NUM>. The long-range transmitter may implement a direct-mode, conventional, or trunked land mobile radio (LMR) standard or protocol such as ETSI Digital Mobile Radio (DMR), a Project <NUM> (P25) standard defined by the Association of Public Safety Communications Officials International (APCO), Terrestrial Trunked Radio (TETRA), other LMR radio protocols or standards, or the like.

In addition to or as an alternative to the long-range transmitter or transceiver, the radio communication device <NUM> may further contain a short-range transmitter or transceiver that has a transmitter transmit range on the order of meters (e.g., such as a Bluetooth, Zigbee, or NFC connection having a transmit range on the order of <NUM>-<NUM> meters, or <NUM> - <NUM> meters) for communicating with each other or with other computing devices such as vehicular computing device <NUM>. The radio communication device <NUM> may further contain one or more physical electronic ports (such as a USB port, an Ethernet port, an audio jack, etc.) for direct electronic coupling with other computing devices such as vehicular computing device <NUM> or for coupling with other accessories such as a radio speaker microphone (RSM).

The radio communication device <NUM> may additionally include a push to talk (PTT) button that enables transmission of voice audio captured at a microphone of the radio communication device <NUM> to be transmitted via its short-range or long-range transceiver to other radio communication devices or to other computing devices such as dispatch console <NUM> via RAN <NUM>, and enables reception of voice audio (when not depressed) received at the radio communication device <NUM> via its long-range or short-range receiver and played back via a speaker of the radio communication device <NUM>. In those embodiments where the radio communication device is a full-duplex device, instead of a half-duplex device, depression of the PTT button may allow simultaneous transmission and reception of voice audio, instead of mere reception, among other communication media types such as video. The radio communication device <NUM> may further include a display screen for displaying images (e.g., a visual map identifying the obstructed areas surrounding the vehicle <NUM>), video, and/or text. Such a display screen may be, for example, a liquid crystal display (LCD) screen or an organic light emitting display (OLED) display screen. In some embodiments, a touch sensitive input interface may be incorporated into the display screen as well, allowing the officer <NUM> to interact with content (e.g., to select a particular area of interest for monitoring via the <NUM>-degree threat detection sensor system <NUM>) provided on the display screen. A soft PTT input may also be provided, for example, via such a touch interface. Furthermore, a video camera may be provided at the radio communication device <NUM>, integrating an ability to capture images and/or video and store the captured image data (for further analysis) or transmit the captured image data as an image or video stream to the vehicular computing device <NUM>, to other radio communication devices, and/or to other computing devices via RAN <NUM>. The radio communication device <NUM> may provide an alert notification when a threat is detected based on the data produced by the <NUM>-degree threat detection sensor system <NUM>.

Vehicular computing device <NUM> may be any computing device specifically adapted for operation within the vehicle <NUM>, and may include, for example, a vehicular console computing device, a tablet computing device, a laptop computing device, or some other computing device commensurate with the rest of this disclosure and may contain many or all of the same or similar features as set forth above with respect to the radio communication device <NUM>. In some embodiments, the vehicular computing device <NUM> may form a hub of communication connectivity for one or more of the associated radio communication device <NUM>, the <NUM>-degree threat detection sensor system <NUM>, the external lights <NUM>, <NUM>, and the speakers <NUM>, <NUM>, each of which may be communicatively coupled to the vehicular computing device <NUM> via one or both of a wired communication link and a short-range wireless communication link. The vehicular computing device <NUM> may further include or have access to a transceiver and may be coupled to antenna <NUM> and through which the vehicular computing device <NUM> itself and the above-mentioned other devices may further communicate with or be accessed by a long-range wireless communication link with RAN <NUM>, such as via LTE or LMR. The vehicular computing device <NUM> may similarly provide alert notification about detected threats.

Internal speaker <NUM> is an audio output-device communicatively coupled to the vehicular computing device <NUM> and perhaps indirectly paired to the radio communication device <NUM>, for playing back audio such as a public safety tone, series of tones, or spoken words (e.g., to alert the officer <NUM> about approaching threats. In some embodiments, speaker <NUM> may be replaced with a plurality of speakers displaced throughout the internal cabin of the vehicle <NUM> and selectively enabled in accordance with a detected approaching threat of a particular area surrounding the vehicle <NUM> such that a particular one of the plurality of speakers closest to the approaching threat is selected to playback the tone, spoken notification, or other type of speech output to indicate a relative direction of the approaching threat.

The <NUM>-degree threat detection sensor system <NUM> is a communicatively coupled set of one or more electronic ranging devices that may include one or more capture-only devices and/or one or more emit and capture devices. More specifically, the set of one or more electronic ranging devices may include one or more of visible-light capture camera(s), infrared capture camera(s), time-of-flight depth camera(s), radio wave distancing device(s), and/or light detection and ranging (LiDAR) device(s), among other possibilities. In some embodiments, the emit and capture devices include a detection array configured to emit a beam (for example, a pulsed or continuous beam of radio waves, sound waves, light, or the like) and receive a reflected beam from an object to determine a location and/or speed of the object. In some embodiments, the detection array of the one or more electronic ranging devices includes at least one of the group consisting of a radar array, a LiDAR array, and a sonar array. The <NUM>-degree threat detection sensor system <NUM> is physically coupled to the vehicle <NUM>, such as centrally positioned atop the vehicle <NUM> as illustrated in <FIG>, or in other embodiments, may be distributed amongst various satellite locations around the vehicle <NUM> and wiredly or wirelessly coupled to a centralized processing device such as an enclosure same or similar to that illustrated in <FIG> as the <NUM>-degree threat detection sensor system <NUM> or perhaps to the vehicular computing device <NUM>, among other possibilities. When disposed in a distributed fashion, portions of the <NUM>-degree threat detection sensor system <NUM> may be disposed in other parts of the vehicle <NUM>, such as in the external lights <NUM> and <NUM> (which in other embodiments not illustrated may take the form of an elongated light bar positioned atop the vehicle <NUM>), within one or more side or rear view mirrors, integrated into a rear-view camera, or other locations or devices distributed across the internal or external portions of the vehicle <NUM> and having a view surrounding the vehicle <NUM>.

The <NUM>-degree threat detection sensor system <NUM> is configured, by itself or in cooperation with vehicular computing device <NUM>, to monitor an area surrounding the vehicle <NUM> for detecting potential threats. The <NUM>-degree threat detection sensor system <NUM> may be continuously on and leveraging its electronic ranging devices to detect an approaching threat in an area surrounding the vehicle <NUM>, may only periodically be turned on at a regular or semi-regular cadence to detect whether there are any approaching threats in an area surrounding the vehicle <NUM>, or may be triggered to begin scanning for threats surrounding the vehicle <NUM> upon occurrence of some other trigger detected at the <NUM>-degree threat detection sensor system <NUM> or vehicular computing device <NUM>, or upon receipt of an instruction from, for example, the vehicular computing device <NUM> (for example, in response to a user input received from the officer <NUM> via the radio communication device <NUM> or the vehicular computing device <NUM>) or the RAN <NUM> (for example, in response to a user input received from a dispatcher via a dispatch console <NUM>), among other possibilities.

The one or more electronic ranging devices may comprise a single scanning device having a field-of-view of less than <NUM>° and that is then caused to rotate and scan at a particular frequency, such as rotating <NUM>-<NUM> times per second to create a <NUM>° field-of-view of the area surrounding the <NUM>-degree threat detection sensor system <NUM> and thus the vehicle <NUM> to which it is attached. In other embodiments, a plurality of range detection devices, each having a field-of-view less than <NUM>°, may be statically placed around the <NUM>-degree threat detection sensor system <NUM> or in a distributed manner around the vehicle <NUM> as set forth earlier, to altogether enable a <NUM>° field-of-view of the area surrounding the <NUM>-degree threat detection sensor system <NUM> and thus the vehicle <NUM> to which it is attached. In some embodiments, the plurality of range detection devices may also be configured to move to enable their field of view to be adjusted. For example, the range detection devices may include one or more motors configured to operate in response to instructions (for example, from the vehicular computing device <NUM>) to move the range detection device upward, downward, to the right, or to the left. In some embodiments, the electronic ranging devices of the <NUM>-degree threat detection sensor system <NUM> include one or more cameras that have a field of view that is similar to the coverage area of the one or more range detection devices (for example, cameras and range detection devices may be grouped together in pairs). In some embodiments, image data captured by a camera with a first field of view is used by the vehicular computing device <NUM> to control a range detection device with a first coverage area corresponding to the first field of view as explained in greater detail below. In some embodiments, the vehicular computing device <NUM> controls different range detection devices on the vehicle <NUM> differently based on the range detection devices facing different direction and based on their corresponding cameras providing different fields of view.

In still other embodiments, and for both visible or infrared light imaging systems and radio-wave imaging systems, complex optics and/or waveguides may be used to enable capture of a <NUM>° field-of-view of a single static light imaging or radio wave detection sensor, for example, after which image processing or radiometry processing algorithms may be used to de-warp or otherwise compensate for distortions introduced into the captured data by the optics and/or waveguides, as necessary. As just one example, and as illustrated in <FIG>, the <NUM>-degree threat detection sensor system <NUM> may include one or more static visible light imaging devices 120A-C each having an approximate <NUM>° field-of-view (and further including a fourth imaging device facing backwards and not illustrated in <FIG>) that may be combined optically or digitally at the <NUM>-degree threat detection sensor system <NUM> or the vehicular computing device <NUM> to provide visible-light imaging functionality across a <NUM>° field-of-view, and may further include an active scanning RADAR emitter and detector 120D positioned above the visible light imaging devices 120A-C to provide both light-imaging and radio wave reflection range detection capabilities. Other arrangements and combinations are possible as well.

In accordance with some embodiments, data produced by the electronic ranging devices may then be used at the <NUM>-degree threat detection sensor system <NUM> and/or the vehicular computing device <NUM> to detect one or more objects (e.g., physical features such as building structures, persons, vehicles, trees, and the like). Similarly, the data can also be used to monitor an area of interest surrounding the vehicle <NUM> for detecting an object approaching the vehicle <NUM> and for further classifying the object as a threat based on the characteristics of the detected object. For instance, the data produced by electronic ranging devices can be used to determine a range (relative to the vehicle <NUM>) of one or more objects approaching the vehicle <NUM>, perhaps in addition to other characteristics of the approaching object including but not limited to, a cross-sectional shape, an initial position, a current position, a velocity, an acceleration, a bearing, and/or a size (length, width, and/or height) of the object. The <NUM>-degree threat detection sensor system <NUM> and/or the vehicular computing device <NUM> may also then use the characteristics to predict a future location, path, trajectory, or status of the object. Such characteristics may additionally or alternatively be used to classify the object as a person (including type of person such as adult or child), vehicle <NUM> (including type of vehicle <NUM> such as car, motorcycle, or airborne drone), animal (including type of animal such as cat or dog), or other type of object. Such characteristics, predictions, and classifications may be stored in a memory at the <NUM>-degree threat detection sensor system <NUM> and/or the vehicular computing device <NUM> accompanying or separate from an image, point cloud, or echo map illustrative of the object or objects detected by the electronic ranging devices. The characteristics, predictions, and classifications and/or the image, point cloud, or echo maps may be stored at the <NUM>-degree threat detection sensor system <NUM> and/or the vehicular computing device <NUM>, and/or may be transmitted to a separate storage or processing device (such as controller <NUM>, dispatch console <NUM>, or cloud computing cluster <NUM>) via infrastructure RAN <NUM>, among other possibilities.

Each of the electronic ranging devices may have an associated ranging function associated with it for determining an approximate range of a detected object or threat from the <NUM>-degree threat detection sensor system <NUM> and thus the vehicle <NUM>. For example, for visible light or infrared light imaging devices incorporated into the <NUM>-degree threat detection sensor system <NUM>, pre-configured portions of the captured image frames may be associated with particular distances. For example, a lower quarter of the frame, perhaps identified via pixel count, may be associated with a distance of <NUM>-<NUM> (or <NUM>) from the vehicle <NUM>, while a second quarter of the frame may be associated with a distance of <NUM>-<NUM> (or <NUM>) from the vehicle <NUM>, and a remainder of the frame associated with indeterminate distances or above-horizon distances. Such mappings between frame portions and distances may be varied based on parameters such as pan, tilt, zoom settings (if any) of the imaging cameras, a detected orientation of the vehicle <NUM> and/or the <NUM>-degree threat detection sensor system <NUM> beyond level, or other detected variations. In still other embodiments, direct mappings may not be used, but instead, analytics applied to capture images that use known or learned sizes of known or learned objects detected in the frame to calculate relative distances from the vehicle <NUM> or the <NUM>-degree threat detection sensor system <NUM> to detected objects. For example, other vehicles or other people captured in the frame may be compared to known or average sizes of such objects to then infer a distance in the image to a particular detected object. Other methods of determining a distance to an object in a captured image could be used as well. On the other hand, for emission and detection systems such as LiDAR and RADAR, time of flight information measured from the time of emission to the time of detection, and knowledge/pre-configuration of the speed of such emissions through air, may be used to directly calculate an estimated distance from the vehicle <NUM> or the <NUM>-degree threat detection sensor system <NUM> to detected objects.

External lights <NUM>, <NUM> may be any type of externally-perceivable visible lights and may include an underlying LED, incandescent, and/or halogen lamp whose light output is constant and unidirectional or which may be modulated into a strobe, directional rotating, blinking, or otherwise non-static and/or focused output, and may comprise a white or colored (e.g., red, blue, etc.) light. While external lights <NUM>, <NUM> are depicted in <FIG> as separately placed individual lights, in other embodiments, light bars that span substantially the entire width of the roof of the vehicle <NUM> with a number of same or different sized and/or colored lights in various matrix arrays may be included as well.

External speaker <NUM> is a speaker, such as a horn or siren, including an amplifier that broadcasts an externally-perceivable audio output such as a public safety tone, series of tones, or spoken words that may be perceived by other officers, civilians, or suspects nearby while outside of the vehicle <NUM>. In some embodiments, and similar to the internal speaker <NUM>, the external speaker <NUM> may be replaced with a plurality of speakers displaced throughout the external body of the vehicle <NUM> and selectively enabled in accordance with a detected approaching threat surrounding the vehicle <NUM> such that a particular one of the plurality of speakers closest to the detected approaching threat is selected to playback a tone, spoken notification, or other type of speech output to indicate a relative direction of the approaching threat. In still other embodiments, a physical pan, tilt mechanism may be used to effect directionality of sound emitting from directional external speaker <NUM>, while in other embodiments, a plurality of speakers in a matrix configuration may be used to beam steer audio output from the external speaker <NUM> to a particular location commensurate with the location of the approaching threat or the location of the officer <NUM>. Other possibilities exist as well.

Infrastructure RAN <NUM> may implement, over wireless link(s) <NUM>, a narrowband wireless system such as a conventional or trunked LMR standard or protocol, which may include an ETSI DMR, a P25 standard defined by the APCO, TETRA, or other LMR radio protocols or standards. In other embodiments, infrastructure RAN <NUM> may additionally or alternatively implement over wireless link(s) <NUM> a broadband wireless system such as an LTE protocol including MBMS, an OMA-PoC standard, a VoIP standard, or a PoIP standard. In still further embodiments, infrastructure RAN <NUM> may additionally or alternatively implement over wireless link(s) <NUM> a Wi-Fi protocol perhaps in accordance with an IEEE <NUM> standard (e.g., <NUM>. 11a, <NUM>1b, <NUM>) or a WiMAX protocol perhaps operating in accordance with an IEEE <NUM> standard. Other types of wireless protocols could be implemented as well.

The infrastructure RAN <NUM> is illustrated in <FIG> as providing communication coverage for the vehicle <NUM> and its occupants via a single fixed terminal <NUM> coupled to a controller <NUM> (e.g., radio controller, call controller, PTT server, zone controller, MME, BSC, MSC, site controller, Push-to-Talk controller, or other network device) and including a dispatch console <NUM> operated by a dispatcher. In other embodiments, more or different types of fixed terminals may provide RAN services to the vehicle <NUM> and vehicle occupants and may or may not contain a separate controller <NUM> and/or dispatch console <NUM>.

Communications in accordance with any one or more of these protocols or standards, or other protocols or standards, may take place over physical channels in accordance with one or more of a TDMA (time division multiple access), FDMA (frequency divisional multiple access), OFDMA (orthogonal frequency division multiplexing access), or CDMA (code division multiple access) technique.

The controller <NUM> illustrated in <FIG>, or some other backend electronic computing device existing on-premises or in the remote cloud computing cluster <NUM> accessible via an IP network (such as the Internet), may additionally or alternatively operate as a back-end electronic digital assistant, a back-end audio and/or video processing electronic computing device, and/or a remote cloud-based storage device consistent with the remainder of this disclosure.

<FIG> is a block diagram of devices included in or on the vehicle <NUM> according to one embodiment. In some embodiments, one or more devices of the vehicle <NUM> may be referred to as an integrated vehicle assistant (IVA). In the embodiment illustrated, the vehicle <NUM> includes the vehicular computing device <NUM> described previously herein. As shown in <FIG>, in some embodiments, the vehicular computing device <NUM> includes an electronic processor <NUM> (for example, a microprocessor or other electronic device). The electronic processor <NUM> includes input and output interfaces (not shown) and is electrically coupled to a memory <NUM>, a network interface <NUM>, a microphone <NUM>, the speaker <NUM>, and a display <NUM>. In some embodiments, the electronic processor <NUM> is communicatively coupled (for example, wirelessly and/or via wired connections) to other devices of the vehicle <NUM> including the threat detection sensor system <NUM>, the external lights <NUM>, <NUM>, and the external speaker <NUM> as shown in <FIG>. In some embodiments, the vehicle <NUM> and/or the vehicular computing device <NUM> include fewer or additional components in configurations different from that illustrated in <FIG>. For example, the vehicular computing device <NUM> includes a push-to-talk button or a global positioning system (GPS) receiver or a similar component that may determine the geographic coordinates of the location of the vehicle <NUM>. As another example, the vehicle <NUM> may include additional microphones external to the vehicular computing device <NUM> that are configured to be communicatively coupled to the electronic processor <NUM>. In some embodiments, the vehicular computing device <NUM> performs functionality other than the functionality described below.

The memory <NUM> may include read only memory (ROM), random access memory (RAM), other non-transitory computer-readable media, or a combination thereof. The electronic processor <NUM> is configured to receive instructions and data from the memory <NUM> and execute, among other things, the instructions. In particular, the electronic processor <NUM> executes instructions stored in the memory <NUM> to perform the methods described herein.

The network interface <NUM> sends and receives data to and from the other devices within the system <NUM> (for example, via long-range communication links and the infrastructure RAN <NUM> and/or directly to other devices via short-range communication links). For example, the network interface <NUM> may include a transceiver for wirelessly communicating with the infrastructure RAN <NUM>. Alternatively or in addition, the network interface <NUM> may include a connector or port for receiving a wired connection to the infrastructure RAN <NUM>, such as an Ethernet cable. In some embodiments, the transceiver may be configured to perform short-range communication as well. In other embodiments, the network interface <NUM> includes a separate transceiver configured to perform short-range communication. In some embodiments, the network interface <NUM> includes one or more antennas (for example, the antenna <NUM>) coupled to the one or more transceivers. The electronic processor <NUM> may communicate data to and from other devices in the system <NUM> via the network interface <NUM> (for example, voice data, data captured by the threat detection sensor system <NUM> such as image/video captured by a camera, or the like). The electronic processor <NUM> receives electrical signals representing sound from the microphone <NUM> and may communicate information relating to the electrical signals via the network interface <NUM> to other devices, for example, to the radio communication device <NUM> or another communication device. Similarly, the electronic processor <NUM> may output data received from other devices via the network interface <NUM>, for example from the dispatch console <NUM>, through the speaker <NUM>, the display <NUM>, the external speaker <NUM>, or a combination thereof.

The display <NUM> displays images, video, and/or text to the officer <NUM>. The display <NUM> may be a liquid crystal display (LCD) screen or an organic light emitting display (OLED) display screen. In some embodiments, a touch sensitive input interface may be incorporated into the display <NUM> as well, allowing the user to interact with content provided on the display <NUM>. In some embodiments, the electronic processor <NUM> displays a live or stored image of a field of view of a camera of the threat detection sensor system <NUM> on the display <NUM> to allow the officer <NUM> to view a field of view of the camera. In some embodiments, the display <NUM> is configured to receive a user input from the officer <NUM> that indicates an area of interest included in the field of view. For example, the display <NUM> may receive a user input that circles or otherwise outlines an area of interest included in the field of view (for example, a doorway, a window, or the like).

In some embodiments, the radio communication device <NUM>, the threat detection sensor system <NUM>, the controller <NUM>, the dispatch console <NUM>, and one or more computing devices that comprise the cloud computing cluster <NUM> include similar components that perform similar functionality as those shown in <FIG> with respect to the vehicular computing device <NUM>. For example, the controller <NUM> includes an electronic processor, a memory, and a network interface similar to the like-named components described above with respect to the vehicular computing device <NUM> but may not include the other components shown in <FIG>. As another example, the radio communication device <NUM> may include all of the components described above with respect to the vehicular computing device <NUM> of <FIG>. As another example, the threat detection sensor system <NUM> may include an electronic processor, a memory, one or more microphones, and one or more of the range detection devices described previously herein such as cameras, radar devices, sonar devices, LiDAR devices, and/or the like. In some embodiments, the threat detection sensor system <NUM> includes its own network interface to communicate with other devices of the system <NUM>. In other embodiments, the threat detection sensor system <NUM> communicates with other devices of the system <NUM> via the network interface <NUM> of the vehicular computing device <NUM>. In some embodiments, the electronic processor <NUM> of the vehicular computing device <NUM> also acts as the electronic processor for the threat detection sensor system <NUM> to control the components of threat detection sensor system <NUM>.

As explained above, vehicle-based sensor systems may be enabled to monitor an area surrounding the vehicle <NUM> and alert the officer <NUM> about potential threats. However, the likelihood of a threat originating from different areas surrounding the vehicle <NUM> may not be the same and therefore some areas surrounding the vehicle <NUM> may be of higher interest for monitoring and detecting threats than other areas. In other words, some areas within the coverage area of a beam from a range detection device may have a higher likelihood that a threat will emerge from the area than other areas within the coverage area of the beam. For example, it may be more likely that a threat will emerge from over the top of a fence rather than from through the fence (e.g., see <FIG>). However, existing range detection devices used on vehicles emit a beam in a general direction where the range detection device is facing such that all/most areas within the coverage area of the range detection device receive approximately the same amount of range detection beam coverage (e.g., see <FIG>, <FIG>, and <FIG> ). In other words, low threat probability areas receive the same or a similar amount of range detection beam coverage as high threat probability areas. Thus, there is a technological problem with respect to how range detection devices used on vehicles with changing monitored areas output range detection beams to monitor for potential threats around the vehicle.

To address the above-noted technological problem, one or more electronic processors of the system <NUM> (in other words, a detection system control device) perform, in one instance, a method <NUM> illustrated in <FIG>. The method <NUM> may be executed by the vehicular computing device <NUM> to provide intelligent range detection beam forming for a range detection device of the vehicle <NUM>. In some embodiments, the method <NUM> addresses the above-noted technological problem by extending a measurable range of a range detection device of the threat detection sensor system <NUM> in a direction of a high threat probability area and/or reducing the measurable range of the range detection device in a second direction different from the direction of the high threat probability area. Accordingly, the threat detection sensor system <NUM> may be able to detect potential threats more quickly (e.g., due to extending the measurable range of the range detection device) and/or may be able to more accurately detect potential threats (e.g., by reducing false positives of detected objects in crowded areas or areas less likely to produce threats). Additional technological improvements are explained below with respect to the example use cases of <FIG>.

In some embodiments, the devices of the system <NUM> that are involved in the performance of the method <NUM> are referred to as a detection system control device. In some embodiments, the one or more electronic processors that perform the method <NUM> are located within an individual component and/or a combination of individual components of the system <NUM>. In some embodiments, the method <NUM> is performed by a single electronic processor (for example, the electronic processor <NUM> of the vehicular computing device <NUM> as described below). However, in other embodiments, the method <NUM> is performed by multiple electronic processors distributed in different devices of the system <NUM>. For example, the method <NUM> is implemented on a combination of at least two of the electronic processors in the group consisting of the electronic processor <NUM> of the vehicular computing device <NUM>, the electronic processor of the threat detection sensor system <NUM>, the electronic processor of the controller <NUM>, and the electronic processor of a back-end device in the cloud computing cluster <NUM>.

<FIG> illustrates a flow chart diagram of the method <NUM> performed by one or more electronic processors of devices of the system <NUM> for providing intelligent range detection beam forming. While a particular order of processing steps, message receptions, and/or message transmissions is indicated in <FIG> as an example, timing and ordering of such steps, receptions, and transmissions may vary where appropriate without negating the purpose and advantages of the examples set forth in detail throughout the remainder of this disclosure.

At block <NUM>, the electronic processor <NUM> of the vehicular computing device <NUM> receives data from a camera (for example, a camera included in the threat detection sensor system <NUM>). The camera includes a field of view, and the data received from the camera includes at least one of an image and a video. As an example, the vehicle <NUM> may be parked at an incident location, and the camera captures an image or video of a field of view in the direction which the camera is facing (for example, see <FIG>, <FIG>, <FIG>).

At block <NUM>, the electronic processor <NUM> identifies an area in the field of view of the camera that is included in the image or the video. For example, the identified area is a point of interest in the image or the video such as a doorway, a window, another type of opening from which a threat may emerge, an obstruction from which a threat is not likely to emerge (for example, a wall, a fence, or the like), a heavily trafficked area with many people or other moving objects, or the like (for example, see <FIG>, <FIG>, <FIG>, and <FIG>). The electronic processor <NUM> identifies the area in the field of view by performing image analysis of the image or video data received from the camera. Performing image analysis allows the electronic processor <NUM> to identify types of areas included in the image or video (doorways, windows, and the like as listed in the above example).

In some embodiments, the electronic processor <NUM> identifies multiple areas within the image or video (for example, see <FIG>, <FIG>, and <FIG>). In response to identifying one or more areas within the image or video at block <NUM>, the electronic processor <NUM> generates metadata indicating information about the one or more identified areas including a type of area (as indicated by above examples). For example, the electronic processor <NUM> uses image analytics to identify objects such as a person, a gun, or the like in an identified area such as a window. The electronic processor <NUM> may determine the distance between the identified area and the camera/vehicle <NUM> using image analytics and/or a range detection device of the threat detection sensor system <NUM>.

Although the above explanation indicates that the electronic processor <NUM> of the vehicular computing device <NUM> performs blocks <NUM> and <NUM> to identify the area in the field of view, in some embodiments, another electronic processor (for example, another electronic processor of the vehicular computing device <NUM> or an electronic processor of the threat detection sensor system <NUM>) performs blocks <NUM> and <NUM>. The electronic processor of the threat detection sensor system <NUM> receives the data from the camera and performs image analysis, distance calculations, and the like to identify one or more areas in the field of view of the camera. The electronic processor of the threat detection sensor system <NUM> may also generate the metadata about the identified area as described above based on the image analysis. The electronic processor of the threat detection sensor system <NUM> may also transmit the metadata to the electronic processor <NUM> of the vehicular computing device <NUM>. The electronic processor <NUM> may be configured to receive the metadata from the electronic processor of the threat detection sensor system <NUM> and continue to execute the method <NUM> using the metadata as described below.

At block <NUM>, the electronic processor <NUM> determines a first threat probability of the identified area based on an area type of the first identified area. In some embodiments, the electronic processor <NUM> determines the first threat probability based on the metadata corresponding to the identified area as generated by the electronic processor <NUM> or another electronic processor. In some embodiments, the electronic processor <NUM> determines the first threat probability further based on at least one of a distance between the camera/vehicle <NUM> and the identified area, an object located in the identified area, and an incident type of an incident during which the vehicular computing device <NUM> is being used. The memory <NUM> of the vehicular computing device <NUM> stores a look-up table of threat probability scores for different characteristics of identified areas. For example, the electronic processor <NUM> may establish an initial threat probability score when the type of the identified area is a doorway, hallway, alley, or other egress point as fifty points based on the stored score in the look-up table. On the other hand, the electronic processor <NUM> may establish an initial threat probability score when the type of the identified area is an obstacle, such as a fence or wall, as five points because a threat is significantly less likely to emerge from an obstacle than from an egress point. As another example, the electronic processor <NUM> may establish an initial threat probability score when the type of the identified area is a window as thirty-five points because a threat is less likely to emerge from the window than from an egress point but more likely to emerge from the window than from an obstacle.

In some embodiments, after the electronic processor <NUM> establishes an initial threat probability score for the identified area based on the type of the identified area using the look-up table, the electronic processor <NUM> modifies the initial threat probability score based on other characteristics of the identified area to determine the first threat probability. For example, the electronic processor <NUM> adds twenty points to the initial threat probability score when the identified area is an egress point or a window and is within ca. <NUM> (twenty feet) of the camera/vehicle <NUM>. As another example, the electronic processor <NUM> may add ten points to the initial threat probability score when the identified area is an egress point or a window and is within ca. <NUM> (forty feet) of the camera/vehicle <NUM>. As another example, the electronic processor <NUM> may not add points to the initial threat probability based on the distance between the identified area and the camera/vehicle <NUM> when the identified area is an obstacle or when the identified area is further than a predetermined distance from the camera/vehicle <NUM> (for example, further than ca. <NUM> (forty feet) from the cameralvehicle <NUM>).

As another example of modifying the initial threat probability score, the electronic processor <NUM> adds thirty points to the initial threat probability score when the identified area includes a person and adds fifty points to the initial threat probability score when the identified area includes a gun. For example, the electronic processor <NUM> may use image analytic techniques to recognize objects in the captured image or video to determine that a person or a person with a gun is located in the identified area such as a doorway or window.

The initial threat probability scores and the adjustments to the initial threat probability scores in the above examples are merely examples and other values may be used. In some embodiments, these values are configurable such that different public safety agencies may input different values into the look-up table in the memory <NUM> for different characteristics of identified areas. In some embodiments, a maximum threat probability is one hundred. In other embodiments, there is not a maximum threat probability, and the electronic processor <NUM> may continue to increase the threat probability score above one hundred based on at least the above-noted characteristics of the identified area.

In some embodiments, other rules and/or other characteristics of the identified area besides those described above may be determined and used by the electronic processor <NUM> to determine the first threat probability of the identified area. For example, the electronic processor <NUM> determines that an identified heavily trafficked area with many people or other moving objects has a lower threat probability than a less trafficked area that includes an egress point (see <FIG> and <FIG> and corresponding explanation below). As another example, the initial threat probability scores and the adjustments to the initial threat probability scores may be different depending on an incident type of an incident during which the vehicular computing device <NUM> is being used. For example, the memory <NUM> may store multiple look-up tables with different values as each other for the same characteristics of the identified area. The electronic processor <NUM> may determine which look-up table to use to determine the first threat probability of the identified area based on the incident type of the incident. For example, when the incident is a traffic stop by a police officer (for example, for a vehicle exceeding the speed limit), the initial threat probability score for identified areas that include nearby windows may be lower (for example, twenty-five points) than when the incident is a burglary or a hostage situation (for example, thirty-five points) during which a threat may be more likely to emerge from a window than during a traffic stop. In some embodiments, the electronic processor <NUM> may use different look-up tables to determine the first threat probability based on a severity level of the incident (as illustrated by the above example) or based on a location of the incident. In some embodiments, the electronic processor <NUM> determines the incident type and/or severity level of the incident by performing voice analytics on voice communications of the officer <NUM> (for example, when the officer <NUM> calls a dispatcher to report an incident). In some embodiments, the electronic processor <NUM> determines the location of the incident based on a current location of the vehicle <NUM> as determined by a global positioning system received included in the vehicle <NUM>.

At block <NUM>, the electronic processor <NUM> determines whether the first threat probability of the identified area is greater than a threat level threshold. In some embodiments, the threat level threshold is a predetermined value such as sixty points that may be stored in the memory <NUM>. In some embodiments, the predetermined value of the threat level threshold is configurable such that different public safety agencies may input different values into the memory <NUM>. In some embodiments, the memory <NUM> stores numerous threat level thresholds that are different. The electronic processor <NUM> may determine to use one of the stored values for the threat level threshold additionally depending on, for example, an incident type of the incident during which the vehicular computing device <NUM> is being used, a severity level of the incident, and/or a location of the incident (similar to the different stored look-up tables explained above).

When the electronic processor <NUM> determines that the first threat probability is not greater than the threat level threshold (at block <NUM>), the method <NUM> proceeds back to block <NUM> to allow the electronic processor <NUM> to continue monitoring image and/or video data received from the camera. By repeating blocks <NUM> through <NUM> of the method <NUM>, the electronic processor <NUM> dynamically evaluates the threat probabilities of areas as the field of view of the camera changes and as the objects within the field of the camera move or change position.

On the other hand, when the electronic processor <NUM> determines that the first threat probability is greater than the threat level threshold (at block <NUM>), the method <NUM> proceeds to block <NUM>.

In some embodiments, the electronic processor <NUM> is configured to determine that the first threat probability is greater than the threat level threshold (at block <NUM>) by comparing threat probabilities of two different identified areas in the field of view of the camera (for example, see <FIG>, <FIG>, and <FIG>). For example, the electronic processor <NUM> identifies a second area in the field of view and determines a second threat probability of the second identified area. The electronic processor <NUM> may then compare the second threat probability of the second identified area to the first threat probability of the first identified area to determine whether the first threat probability is greater than the second threat probability by a predetermined amount (for example, twenty points, thirty points, or the like). In some embodiments, the predetermined amount is configured to indicate a significant discrepancy between a threat probability of the two identified areas. In other words, when the threat probabilities of two different areas are only two points apart, it may not be worth distinguishing between the two areas because both areas have a similar threat probability. In some embodiments, the predetermined amount is configurable such that different public safety agencies may input different values into the memory <NUM> to indicate how much of a discrepancy in threat probability between the identified areas is needed before the electronic processor <NUM> determines that one of the threat probabilities exceeds the threat level threshold (at block <NUM>). In response to the electronic processor <NUM> determining that the first threat probability is greater than the second threat probability by the predetermined amount (at block <NUM>), the method <NUM> proceeds to block <NUM>.

In response to determining that the first threat probability is greater than the threat level threshold, at block <NUM>, the electronic processor <NUM> provides an instruction to the detection array of the range detection device associated with the camera to change a shape of a beam created by the detection array to focus the beam in a direction of the identified area. The range detection device receives the instruction and, in response to receiving the instruction, the detection array emits the beam with the changed shape to focus the beam in the direction of the identified area. In some embodiments, the detection array of the range detection device includes a plurality of antennas each configured to output a wave to create the beam. In some embodiments, the detection array is configured to emit the beam with the changed shape to focus the beam in the direction of the identified area by mechanically moving at least one antenna of the plurality of antennas toward the direction of the identified area. For example, the range detection device may include a motor configured to mechanically change a direction in which the detection array is facing (for example, up, down, left, and right). In some embodiments, the detection array is configured to emit the beam with the changed shape to focus the beam in the direction of the identified area by electronically controlling a phase of the wave emitted by at least one antenna of the plurality of antennas. In some embodiments, the detection array is configured to emit the beam with the changed shape to focus the beam in the direction of the identified area by electronically adjusting an intensity/power of the wave emitted by at least one antenna of the plurality of antennas. The detection array may be configured to emit the beam with the changed shape to focus the beam in the direction of the identified area and/or away from a direction of a low threat probability area in other manners as well. As indicated by the examples discussed herein, the detection array is configured to emit the beam with the changed shape to perform one or more of horizontal axis beam forming (see <FIG>), vertical axis beam forming (see <FIG>), beam forming to focus the beam toward an area such as a window, opening, or other object (see <FIG>), and the like.

As illustrated in <FIG>, after the electronic processor <NUM> executes block <NUM>, the method <NUM> proceeds back to block <NUM> to repeat the method <NUM>. By repeating the method <NUM>, the electronic processor <NUM> dynamically evaluates the threat probabilities of areas as the field of view of the camera changes and as objects within the field of the camera appear, move, or change position.

The vehicular computing device <NUM> executes the method <NUM> to improve monitoring of possible threats around the vehicle <NUM>. When a possible threat is detected by the electronic processor <NUM>, the electronic processor <NUM> may provide an alert to the officer <NUM>, for example, via the display <NUM>, the speaker <NUM>, the external speaker <NUM>, the lights <NUM>, <NUM>, a display and/or speaker of the radio communication device <NUM>, or a combination thereof. For example, when the electronic processor <NUM> determines that an object (for example, a person or animal) is moving toward the vehicle <NUM>, the electronic processor <NUM> may provide an alert to the officer <NUM>.

<FIG> illustrate example use cases of the vehicular computing device <NUM> executing the method <NUM> to perform threat detection monitoring compared to using existing threat detection monitoring. These example use cases illustrate technological advantages of the present disclosure over existing systems as described below.

<FIG> illustrates a field of view <NUM> of a camera of the threat detection sensor system <NUM> according to one example situation. The field of view <NUM> includes an alleyway <NUM>, a first obstruction <NUM> (a wall of a first building), and a second obstruction <NUM> (a wall of a second building). In existing threat detection sensor systems, a range detection device may emit a wide band beam pattern <NUM> from a location <NUM> of the range detection device as shown in <FIG>. This wide band beam pattern <NUM> may be emitted by existing systems regardless of the field of view of the camera, a location of the vehicle <NUM>, and/or an incident type of the incident during which the system is being used.

On the other hand, <FIG> illustrates an area <NUM> identified by the electronic processor <NUM> during execution of the method <NUM> that has a threat probability greater than the threat level threshold. As indicated in <FIG>, the electronic processor <NUM> sends an instruction to the range detection device associated with the camera to change a shape of the wide band beam pattern <NUM> created by the detection array to focus a beam pattern <NUM> in a direction of the identified area <NUM>. Beamforming the beam pattern <NUM> in this manner provides longer distance coverage for the range detection device as indicated by the difference in forward distance coverage areas between the beam patterns <NUM> and <NUM> shown in <FIG> and <FIG>, respectively. In other words, by using the focused beam pattern <NUM> of <FIG>, the range detection device is able to detect potential threats that are further away from the range detection device/vehicle <NUM> than when using the wide band beam pattern <NUM> of <FIG>.

In some embodiments, the detection array of the range detection device is controlled to emit weaker beams <NUM> toward the obstructed areas <NUM> and <NUM> to, for example, detect potential threats emerging from on a sidewalk next to the buildings. These weaker beams <NUM> do not need to have as long of a range/coverage area as the focused beam pattern <NUM> because the electronic processor <NUM> may determine that it is very unlikely (for example, a threat probability score of less than five) that a potential threat will approach the vehicle <NUM> by breaking through the obstructions <NUM> and <NUM>. Accordingly, only a short coverage area of the weaker beams <NUM> may be necessary to adequately monitor the directions facing the obstructed areas <NUM> and <NUM> for potential threats. As illustrated by <FIG> and the above corresponding explanation, the detection array of the range detection device may emit a beam with a changed shape to focus the beam in the direction of the identified area to at least one of (i) extend a measurable range of the detection array in the direction of the identified area (in other words, in the direction of an area with a threat probability above a threat level threshold) and (ii) reduce the measurable range of the detection array in a second direction different from the direction of the identified area (in other words, in the direction of an obstructed area). In some embodiments, reducing the measurable range of the detection array in the direction of an obstructed area reduces a processing load on the threat detection sensor system <NUM> and/or the electronic processor <NUM> by reducing the coverage area of the range detection device that provides range detection data to the threat detection sensor system <NUM> and/or the electronic processor <NUM> for analysis of a potential threat. Thus, the threat detection sensor system <NUM> and/or the electronic processor <NUM> may be able to detect threats more quickly by processing more relevant information more quickly.

<FIG> illustrates another field of view <NUM> of a camera of the threat detection sensor system <NUM> according to another example situation. The field of view <NUM> includes a hallway <NUM>, windows <NUM>, and obstructions <NUM> (portions of a wall of a building). Similar to the previously-explained example of <FIG>, in existing threat detection sensor systems, a range detection device may emit a wide band beam pattern <NUM> from a location <NUM> of the range detection device as shown in <FIG>.

On the other hand, <FIG> illustrates multiple areas <NUM> and <NUM> identified by the electronic processor <NUM> during execution of the method <NUM>. As shown in <FIG>, the identified area <NUM> includes the opening of the hallway <NUM>, and the identified areas <NUM> include the windows <NUM>. As indicated in <FIG>, the electronic processor <NUM> sends an instruction to the range detection device associated with the camera to change a shape of the wide band beam pattern <NUM> created by the detection array to focus a beam pattern <NUM> in a direction of the identified area <NUM> including the opening to the hallway <NUM>. In some embodiments, the electronic processor <NUM> sends the instruction to the range detection device while executing the method <NUM> to determine that the threat probability exceeds the threat level threshold (for example, in response to determining that a first threat probability of the area <NUM> is greater than second threat probabilities of the areas <NUM> by a predetermined amount). Beamforming the beam pattern <NUM> in this manner provides longer distance coverage for the range detection device as indicated by the difference in distance coverage areas in the direction of the area <NUM> between the beam patterns <NUM> and <NUM> shown in <FIG> and <FIG>, respectively. In other words, by using the focused beam pattern <NUM> of <FIG>, the range detection device is able to detect potential threats that are further away from the range detection device/vehicle <NUM> than when using the wide band beam pattern <NUM> of <FIG>.

Similar to the above example shown in <FIG>, in some embodiments, the detection array of the range detection device is controlled to emit weaker beams <NUM> toward the obstructed areas <NUM> and/or toward other areas <NUM> that have a lower threat probability than the area <NUM>. In some embodiments, weaker beams emitted toward the areas <NUM> including the windows <NUM> may have a greater coverage area and/or sensitivity than the weaker beams emitted toward the obstructions <NUM>, for example, due to the electronic processor <NUM> determining that the threat probability of the areas <NUM> is greater than the threat probability of the obstructed areas <NUM> by a predetermined amount. As illustrated by <FIG> and the above corresponding explanation, the detection array of the range detection device may emit a beam with a changed shape to focus the beam in the direction of the identified area with a highest threat probability in the field of view to at least one of (i) extend a measurable range of the detection array in the direction of the identified area with the highest threat probability and (ii) reduce the measurable range of the detection array in a second direction different from the direction of the identified area with the highest threat probability (in other words, in the direction of an obstructed area and/or in the direction of other areas that have a lower threat probability than the identified area with the highest threat probability).

<FIG> illustrates another field of view <NUM> of a camera of the threat detection sensor system <NUM> according to another example situation. The field of view <NUM> includes an obstruction <NUM> (a fence or wall) and an open space <NUM> above the obstruction <NUM>. <FIG> illustrates another field of view of <NUM> of the camera according to another example situation. The field of view <NUM> includes a heavily-trafficked area <NUM> where people, vehicles, or other moving objects may frequently be moving. While the heavily-trafficked area <NUM> is shown as a store front with a parking lot in front of the store, the heavily-trafficked area may be any other highly-trafficked area such as a road, sidewalk, other travel path, or the like. The field of view <NUM> of <FIG> also includes a less-trafficked area <NUM> that is a second story of a building in the example shown in <FIG>. Similar to the previously-explained examples of <FIG> and <FIG>, in existing threat detection sensor systems, a range detection device may emit a wide band beam pattern <NUM> from a location <NUM> of the range detection device as shown in <FIG>.

On the other hand, <FIG> and <FIG> illustrate multiple areas <NUM>, <NUM>, <NUM>, and <NUM> identified by the electronic processor <NUM> during execution of the method <NUM>. As shown in <FIG>, the identified area <NUM> includes the open space <NUM> above the obstruction <NUM>, and the identified area <NUM> includes the obstruction <NUM>. As shown in <FIG>, the identified area <NUM> includes the less-trafficked area <NUM>, and the identified area <NUM> includes the heavily-trafficked area <NUM>. As indicated in <FIG>, in each of the situations shown in <FIG> and <FIG>, the electronic processor <NUM> sends an instruction to the range detection device associated with the camera that provided each field of view <NUM>, <NUM> to change a shape of the wide band beam pattern <NUM> created by the detection array to focus a beam pattern <NUM> in a direction of the identified areas <NUM> and <NUM>. In some embodiments, the electronic processor <NUM> sends the instruction to the range detection device while executing the method <NUM> to determine that the threat probability exceeds the threat level threshold (for example, in response to determining that a first threat probability of the areas <NUM> and <NUM> are greater than a second threat probability of the areas <NUM> and <NUM>, respectively, by a predetermined amount). Beamforming the beam pattern <NUM> in this manner provides longer distance coverage for the range detection device. In other words, by using the focused beam pattern <NUM> of <FIG>, the range detection device is able to detect potential threats that are further away from the range detection device/vehicle <NUM> than when using the wide band beam pattern <NUM> of <FIG>.

Similar to the above examples shown in <FIG> and <FIG>, in some embodiments, the detection array of the range detection device is controlled to emit weaker beams <NUM> toward the areas <NUM> and <NUM>. In some embodiments, the detection array may be controlled to prevent emission of any beams toward an area (for example, an identified area <NUM> that includes the heavily-trafficked area <NUM> of <FIG>). Reducing or eliminating the beams that are emitted toward the heavily-trafficked area <NUM> may improve system performance by preventing potential false positive indications of detected threats. For example, existing threat detection sensor systems may determine that many people are exiting the building shown in <FIG> and moving toward the vehicle <NUM>. Thus, these existing threat detection sensor systems may provide many alerts to the officer <NUM> regarding potential threats such that when an actual threat is detected (for example, a person on the roof of the building or a sniper in the second story of the building), the officer <NUM> may not notice the alert involving the actual threat. Thus, preventing false positive indications of detected threats improves system accuracy and improves user experience. Additionally, reducing or eliminating the beams that are emitted toward the heavily-trafficked area <NUM> may also improve system performance by reducing a processing load on the threat detection sensor system <NUM> and/or the electronic processor <NUM> by reducing the coverage area of the range detection device that provides range detection data to the threat detection sensor system <NUM> and/or the electronic processor <NUM> for analysis of a potential threat. Thus, the threat detection sensor system <NUM> and/or the electronic processor <NUM> may be able to detect potential threats more quickly by processing more relevant information more quickly.

In some embodiments, a range detection device of the threat detection sensor system <NUM> may emit a default beam pattern (for example, a wide band beam pattern <NUM> or <NUM> as shown in <FIG> and <FIG>) upon the vehicle <NUM> initially being parked. In some embodiments, through execution of the method <NUM>, the electronic processor <NUM> determines that an area in the field of view in a direction that the range detection device is facing is a point of interest (for example, a window, a doorway, or the like as explained previously herein with respect to block <NUM>). In some situations the area may be outside a current detection range of the range detection device. In other words, the area may be farther from the range detection device than the default beam pattern is configured to measure objects. In some embodiments, through execution of the method <NUM>, the electronic processor <NUM> determines that the area is outside the current detection range of the range detection device and, in response, adjusts a shape of the beam emitted by the range detection device such that the area is included within an adjusted detection range as defined by the adjusted shape of the beam (for example, see focused beam patterns <NUM> and <NUM> of <FIG> and <FIG> that have a longer detection range in the direction of an identified area than the respective wide band beam patterns <NUM> or <NUM> of <FIG> and <FIG>).

Although the above explanation of the method <NUM> and the corresponding example use cases include identifying areas within the field of view of the camera based on image analysis and providing an instruction to the detection array of a range detection device to perform beamforming based on image analysis, in some embodiments, the electronic processor <NUM> provides the instruction to the detection array to perform beamforming, additionally or alternatively, based on a detected sound from a microphone of the vehicle <NUM>. For example, the microphone is an external microphone configured to monitor sounds nearby the vehicle <NUM>. In some embodiments, the electronic processor <NUM> receives, from the microphone, a signal indicative of a sound. The electronic processor <NUM> may identify a type of sound of the sound by performing audio analytics of the signal (for example, in a similar manner as described above with respect to using image analytics, such as using a neural network and training sounds with pre-identified types). For example, the type of sound may be identified as a gunshot, a person screaming, another sound that exceeds a predetermined decibel level, or the like. The electronic processor <NUM> may determine a threat level of the sound based on the identified type of sound and may determine that the threat level of the sound is greater than a sound threat level threshold. In response to determining that the threat level is greater than the sound threat level threshold, the electronic processor <NUM> may provide an instruction to the detection array to change the shape of the beam created by the detection array to focus the beam in a direction from which the microphone received the sound. In response to receiving the second instruction, the detection array emits the beam with the changed shape to focus the beam in the direction from which the microphone received the sound.

However, one of ordinary skill in the art appreciates that various modifications and changes may be made without departing from the scope of the invention as set forth in the claims below.

Moreover in this document, relational terms such as first and second, top and bottom, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," "has," "having," "includes," "including," "contains," "containing" or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises, has, includes, contains a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises. a," "includes. a," or "contains. a" does not, without more constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises, has, includes, contains the element. The terms "a" and "an" are defined as one or more unless explicitly stated otherwise herein. The terms "substantially," "essentially," "approximately," "about" or any other version thereof, are defined as being close to as understood by one of ordinary skill in the art, and in one non-limiting embodiment the term is defined to be within <NUM>%, in another embodiment within <NUM>%, in another embodiment within <NUM>% and in another embodiment within <NUM>%. The term "coupled" as used herein is defined as connected, although not necessarily directly and not necessarily mechanically. A device or structure that is "configured" in a certain way is configured in at least that way, but may also be configured in ways that are not listed.

Moreover, an embodiment may be implemented as a computer-readable storage medium having computer readable code stored thereon for programming a computer (for example, comprising a processor) to perform a method as described and claimed herein. Examples of such computer-readable storage mediums include, but are not limited to, a hard disk, a CD-ROM, an optical storage device, a magnetic storage device, a ROM (Read Only Memory), a PROM (Programmable Read Only Memory), an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically Erasable Programmable Read Only Memory) and a Flash memory. Further, it is expected that one of ordinary skill, notwithstanding possibly significant effort and many design choices motivated by, for example, available time, current technology, and economic considerations, when guided by the concepts and principles disclosed herein will be readily capable of generating such software instructions and programs and ICs with minimal experimentation.

Claim 1:
A method of controlling a detection system of a vehicle, the method comprising:
receiving, with one or more electronic processors (<NUM>) coupled to a detection array of a range detection device, data from a camera, wherein the camera includes a field of view and the data includes at least one of an image and a video;
identifying, with the one or more electronic processors (<NUM>), a first area in the field of view of the camera by performing image analysis of the image or video received from the camera;
generating metadata indicating information about the first area
including a type of area based on the image analysis;
determining, with the one or more electronic processors (<NUM>), a first threat probability of the first identified area based on the area type of the first identified area by establishing an initial threat probability score for the identified first area based on initial threat probability scores stored in a look-up table according to the type of the identified area;
determining, with the one or more electronic processors (<NUM>), that the first threat probability is greater than a threat level threshold; and
in response to determining that the first threat probability is greater than the threat level threshold, providing, with the one or more electronic processors (<NUM>), an instruction to the detection array to change a shape of a beam created by the detection array to focus the beam in a direction of the first identified area;
wherein in response to receiving the instruction, the detection array emits the beam with the changed shape to focus the beam in the direction of the first identified area.