CN104620298B - Coordinate the system and method for the sensor operations for collision detection - Google Patents

Abstract

A collision detection system of a land vehicle may be configured to coordinate operation of sensors with one or more other sensing systems of one or more other land vehicles. Coordination may include deploying other sensing systems. In some embodiments, said coordinating includes forming a multistatic sensor comprising one or more transmitters and/or one or more receivers. The collision detection system may be configured to receive detection signals emitted by one or more other sensing systems. Coordinating may further include directing detection signals of said multistatic sensors. The collision detection system may use sensor data acquired by utilizing the coordinated sensing system to generate a collision detection model.

Description

System and method for coordinating sensor operation for collision detection

Cross references to related patent applications

This application relates to and/or claims the benefit of the earliest available effective filing date of the applications listed below, if any ("priority applications") (e.g., claiming the earliest available priority date for an application other than a provisional patent application , or asserted under 35 USC § 119(e) for a provisional patent application, for any and all patents of a priority application, parent application, parent application of a parent, etc.). Furthermore, this application also relates to related applications.

priority application

To satisfy the extrajudicial requirements of the United States Patent and Trademark Office, this application constitutes an application entitled "System and Method for Collaborative Collision Detection," named after Jeffrey A. Powers, Jeffrey F. Dean, Roderick A. Hyde, Nathan Kontez, Nathan P. Milford, David R. Smith, Clarence T. Turgreen, and Lowell L. Wood Jr. as inventors Continuation-in-Part of U.S. Patent Application No. 13/544,757, filed July 9, 2012, Attorney Docket No. 0510-035-001-000000, which is currently co-pending or has been co-pending An application that is eligible for that filing date.

To satisfy the extrajudicial requirements of the United States Patent and Trademark Office, this application constitutes an application entitled "System and Method for Vehicle Monitoring," named after Jeffrey A. Powers, Jeffrey F. Derek A. Hyde, Nathan Kontez, Nathan P. Milford, David R. Smith, Clarence T. Turgreen, and Lowell L. Wood Jr. as inventors , Attorney Docket No. 0510-035-003-000000, Continuation-in-Part of U.S. Patent Application No. 13/544,799, filed July 9, 2012, which is currently co-pending or has been co-pending An application to qualify for the filing date.

The United States Patent Office (USPTO) has issued notices to the effect that the USPTO's computer programs require patent applicants to reference serial numbers and indicate whether the application is a continuation of a patent application, a continuation-in-part, or a divisional application. Stephen G. Kooning, "Benefits of Previously Filed Applications," Official Journal of the USPTO, March 18, 2003. The USPTO also provides the "Application Data Sheet" form, which allows automatic loading of bibliographic data, but needs to determine whether each application is a continuation of the parent application, a continuation-in-part, or a divisional application. The applicant entity (hereinafter "Applicant") has provided above specific references to the applications from which priority is claimed by law. Applicant understands that the law, in its specific citation language, is clear that no serial number, nor any features such as "continuation" or "continuation-in-part," are required to claim priority to a US patent application. Notwithstanding the foregoing, Applicant understands that the USPTO computer programs have certain data entry requirements and, therefore, Applicant has provided information regarding the designation of a relationship set forth in any ADS of , but expressly states that such designation is not to be construed in any way as a commentary and/or acknowledgment of any kind as to whether this application contains any new content in addition to that of its parent application.

Subject matter of the priority application and related applications and any and all parent patent applications, ancestor patent applications, great-grandfather patent applications, etc. of the priority application and related applications, including any priority claims, to the extent such subject matter is not inconsistent with this application to the extent they are also incorporated by reference.

technical field

The present disclosure relates to systems and methods for coordinating sensor operation for collision detection.

Contents of the invention

A vehicle may include a collision detection system configured to detect a potential collision involving the vehicle and/or other objects in the vicinity of the vehicle. Objects may include, but are not limited to, pedestrians, animals, vehicles, road obstacles, road features (eg, barriers, bridge supports), and the like. The collision detection system may be configured to acquire sensor data using the vehicle's sensing system and/or the sensing systems of one or more other vehicles. A collision detection system can use the acquired sensor data to detect a potential collision. Detecting a potential collision may include accessing a collision detection model generated using the acquired sensor data. As used herein, "collision detection model" refers to a moving object model of objects near the vehicle. The collision detection model can also include the position, orientation, size, etc. of the objects. In some embodiments, the collision detection model further includes object weight estimates, maneuverability estimates, and the like. The collision detection model may include the kinematics of the object with respect to a particular frame of reference, such as relative position, velocity, acceleration, closing rate, orientation, and the like. The collision detection model can be translated between frames of reference used in different vehicle collision detection systems. The collision detection model may be generated in part by the vehicle collision detection system. Alternatively, the collision detection model (and/or parts thereof) may be generated by other vehicles.

The collision detection system may be configured to obtain sensor data from one or more sources including, but not limited to, a sensing system of the collision detection system, sensing systems of other vehicles, and/or other external sources. In some implementations, a collision detection system uses sensor data obtained from one or more sources to determine the kinematic properties of an object. Collision detection systems combine sensor data to improve object motion, determine object position, orientation, size, and more. The collision detection system can use the acquired sensor data to generate a collision detection model. The collision detection system can cooperate with other vehicles to share collision detection data (such as sensor data), share collision detection models, and so on.

The collision detection system may be further configured to obtain auxiliary data from one or more other vehicles. Auxiliary data may include "self-knowledge" such as vehicle size, direction, position, speed, etc. Auxiliary data may include processed sensor data, such as speedometer readings, positioning system information, time information, and the like. In some implementations, the collision detection system may use the auxiliary data to combine sensor data and/or generate a collision detection model.

In some embodiments, a collision detection system may not use a sensing system and may rely on sensor data acquired by other vehicles to detect a potential collision. Alternatively, or in addition, the collision detection system may fuse sensor data obtained using the internal sensing system with sensor data obtained from one or more external sources (eg, other vehicles). Fusing sensor data may include: transforming sensor data into an appropriate coordinate system and/or frame of reference; correcting sensor data; weighting sensor data, and the like. Fusing sensor data may include weighting sensor data, as described above.

The collision detection system may be further configured to coordinate the operation of the sensors. In some implementations, the collision detection system may coordinate sensor operation with other sensing systems to form a composite sensing system. A composite sensing system may include sensors from two or more vehicles. A composite sensing system may include one or more of: multistatic sensors, bistatic sensors, monostatic sensors, and the like. The collision detection system may configure the sensing system to operate as a passive sensor (e.g., receiving detection signals originating from other vehicles), an active sensor (e.g., transmitting detection signals received at other vehicles), and/or a combination of active sensors. and passive operation.

The collision detection system may be configured to store monitoring data on a persistent storage device. Alternatively, or in addition, the collision detection system may send monitoring data to one or more network-accessible servers. Monitoring data may include data related to vehicle motion (and/or vehicle operation) before, during, and after a collision. Monitoring data may include sensor data, collision detection modeling data, and the like. Monitoring data may include time and/or location referenced assistance data, vehicle identification information, and the like. Monitoring data can be fixed such that the authenticity and/or origin of the monitoring data can be verified.

The network-accessible server can be configured to aggregate monitoring data from multiple vehicles. The web-accessible server can index and/or arrange monitoring data by time, location, vehicle identity, and the like. The network-accessible server can make the monitoring data accessible to one or more requestors via the network. Access to monitoring data may be judged based on consideration such as payment, bid, interaction data access (requester's monitoring data), or the like.

Description of drawings

Figure 1 depicts one embodiment of a collision detection system;

Figure 2A depicts another embodiment of a cooperative collision detection system;

Figure 2B depicts another embodiment of a cooperative collision detection system;

Figure 2C depicts another embodiment of a cooperative collision detection system;

Figure 3 is a flowchart of one embodiment of a method for coordinating collision detection;

4 is a flowchart of another embodiment of a method for coordinating collision detection;

Figure 5A depicts one embodiment of a collision detection system configured to coordinate sensor operation;

Figure 5B depicts another embodiment of a collision detection system configured to coordinate sensor operation;

FIG. 6 depicts one embodiment of a collision detection system configured to coordinate sensor operations and/or share sensor data;

FIG. 7 depicts another embodiment of a collision detection system configured to coordinate sensor operations and/or share sensor data;

Figure 8 is a flowchart of one embodiment of a method for coordinating the operation of a sensing system;

Figure 9 is a flowchart of another embodiment of a method for coordinating the operation of a sensing system;

Figure 10 is a block diagram of one embodiment of a monitoring service;

Figure 11 is a flowchart of one embodiment of a method for providing monitoring services; and

Figure 12 is a flowchart of another embodiment of a method for providing monitoring services.

Detailed ways

Some of the infrastructure that can be used with the embodiments disclosed herein is readily available, such as: general purpose computers, RF tags, radio frequency antennas and associated readers, cameras and associated image processing components, microphones and associated Audio processing components, computer programming tools and techniques, digital storage media, and communication networks. A computing device may include a processor, such as a microprocessor, microcontroller, logic circuit, or the like. The processor may comprise a special purpose processing device such as an Application Specific Integrated Circuit (ASIC), Programmable Array Logic (PAL), Programmable Logic Array (PLA), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA) , or other customizable and/or programmable devices. The computing device may also include machine-readable storage devices such as non-volatile memory, static RAM, dynamic RAM, ROM, CD-ROM, magnetic disks, tape, magnetic storage, optical storage, flash memory, or other machine-readable storage medium.

Aspects of certain embodiments may be implemented using hardware, software, firmware, or a combination thereof. A software module or component as used herein may comprise any type of computer instructions or computer-executable code located in or on a machine-readable storage medium. A software module may, for example, comprise one or more physical or logical blocks of computer instructions, which may be organized as routines, programs, objects, components, data structures, etc., to perform one or more tasks or implement particular abstract data types.

In some implementations, a particular software module may include disparate instructions stored in different locations on the machine-readable storage medium, which together implement the described functions of the module. Indeed, a module may comprise a single instruction, or many instructions, and may be distributed over several different code segments, among different programs, and across multiple machine-readable storage media. Some embodiments may be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network.

In the exemplary embodiments depicted in the figures, the size, shape, orientation, location, configuration, and/or other features of tags, computing devices, advertisements, cameras, antennas, microphones, and other aspects of mobile devices are illustrative only of. In particular, mobile devices, computing devices, tags, and associated electronic components may be manufactured to be very small in size and may not necessarily be as prominent as depicted in the figures. Additionally, image, audio and RF tags, which may be significantly smaller than illustrated, may be placed less intrusively and/or configured differently than those depicted in the figures.

Embodiments of the present disclosure will be best understood by reference to the drawings, wherein like parts are designated by like numerals throughout. The components of the disclosed embodiments as generally described and illustrated in the drawings of the present invention may be arranged and designed in many different configurations. Furthermore, features, structures, and operations associated with one embodiment may be applicable to or combined with features, structures, or operations described in connection with other embodiments. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of the present disclosure.

Accordingly, the following detailed description of embodiments of the disclosed systems and methods is not intended to limit the scope of the disclosure as claimed, but is merely representative of possible implementations. Additionally, the steps of a method do not necessarily need to be performed in any particular order, or even sequentially, nor do the steps necessarily need to be performed only once.

A vehicle may include a collision detection system configured to detect a potential collision involving the vehicle and/or other objects in the vicinity of the vehicle. Objects may include, but are not limited to: pedestrians, animals, vehicles, road obstacles, road features, and the like. The collision detection system may be configured to acquire sensor data using the vehicle's sensing system and/or the sensing systems of one or more other vehicles. A collision detection system can use the acquired sensor data to detect a potential collision. Detecting a potential collision may include accessing a collision detection model generated using the acquired sensor data. As used herein, "collision detection model" refers to a moving object model of objects near the vehicle. The collision detection model can also include the position, orientation, size, etc. of the objects. In some embodiments, the collision detection model further includes object weight estimates, maneuverability estimates, and the like. A collision detection model can include kinematic properties of objects with respect to a specific frame of reference, such as relative position, velocity, acceleration, closing rate, orientation, etc. The collision detection model can be transformed between the frames of reference used in different vehicle collision detection systems. The collision detection model may be generated in part by the vehicle collision detection system. Alternatively, the collision detection model (and/or parts thereof) may be generated by other vehicles.

The collision detection system may be configured to obtain sensor data from one or more sources including, but not limited to, a sensing system of the collision detection system, sensing systems of other vehicles, and/or other external sources. In some implementations, a collision detection system uses sensor data obtained from one or more sources to determine the kinematic properties of an object. A collision detection system may combine sensor data to optimize and/or determine motion information about an object, such as the object's acceleration, velocity, position, orientation, size, and the like. The collision detection system can use the acquired sensor data to generate a collision detection model. The collision detection system can cooperate with other vehicles to share collision detection data (such as sensor data), share collision detection models, and so on.

The collision detection system may be further configured to obtain auxiliary data from one or more other vehicles. Auxiliary data may include "own profile" such as vehicle dimensions, orientation, position, speed, etc. Auxiliary data may include processed sensor data, such as speedometer readings, positioning system information, time information, and the like. In some implementations, the collision detection system may use the auxiliary data to combine sensor data and/or generate a collision detection model.

In some embodiments, a collision detection system may not use a sensing system and may rely on sensor data acquired by other vehicles to detect a potential collision. Alternatively, or in addition, the collision detection system may fuse sensor data acquired using the internal sensing system with sensor data acquired from one or more external sources (eg, other vehicles). Fusing sensor data may include: transforming sensor data into an appropriate coordinate system and/or frame of reference; correcting sensor data; weighting sensor data, and the like. Fusing sensor data may include weighting sensor data, as described above.

The collision detection system may be further configured to coordinate the operation of the sensors. In some implementations, the collision detection system may coordinate sensor operation with other sensing systems to form a composite sensing system. A composite sensing system may include sensors from two or more vehicles. A composite sensing system may include one or more of: multistatic sensors, bistatic sensors, monostatic sensors, and the like. The collision detection system may configure the sensing system to operate as a passive sensor (e.g., receiving detection signals originating from other vehicles), an active sensor (e.g., transmitting detection signals received at other vehicles), and/or a combination of active sensors. and passive operation.

The collision detection system may be configured to store monitoring data on a persistent storage device. Alternatively, or in addition, the collision detection system may send monitoring data to one or more network-accessible servers. Monitoring data may include data related to vehicle motion (and/or vehicle operation) before, during, and after a collision. Monitoring data may include sensor data, collision detection modeling data, and the like. Monitoring data may include time and/or location referenced assistance data, vehicle identification information, and the like. Monitoring data can be fixed such that the authenticity and/or origin of the monitoring data can be verified.

The network-accessible server can be configured to aggregate monitoring data from multiple vehicles. The web-accessible server can index and/or arrange monitoring data by time, location, vehicle identity, and the like. The network-accessible server can make the monitoring data accessible to one or more requestors via the network. Access to monitoring data may be judged based on consideration such as payment, bid, interactive access (requester's monitoring data), or the like.

FIG. 1 is a block diagram 100 depicting one embodiment of a collision detection system 101 . The collision detection system 101 may be deployed within a ground vehicle 102, such as a car, truck, bus, or the like. The collision detection system 101 may include a sensing system 110 , a processing module 120 , a communication module 130 , a vehicle interface module 140 , a storage module 150 , and a coordination module 160 . The sensing system 110 may be configured to acquire information related to objects within a detection range 112 of the vehicle 102 . Processing module 120 may use information acquired by sensing system 110 (and/or other sensor data sources) to detect potential collisions. Detecting a potential collision may include identifying objects involved in the potential collision, determining a time frame of the collision (eg, the time of the collision), and the like. Communications module 130 may be used to communicate with other vehicles (eg, vehicle 103 and/or vehicle 104 ), emergency services entities, network 132 , network-accessible server 154 , and the like. The storage module 150 may be used to store the configuration of the collision detection system 101 , the operating conditions of the vehicle 102 and/or information around the collision, and the like. The coordination module 160 may be configured to coordinate the operation of the collision detection system 101 and/or the sensing system 110 with other vehicles 103 , 104 .

The sensing system 110 may be configured to obtain information related to objects that may present a collision hazard to the vehicle 102 (and/or other vehicles 103, 104). The sensing system 110 may be further configured to acquire information about the operation of the vehicle 102 , such as orientation, position, velocity, acceleration, and the like. In some implementations, sensing system 110 is configured to acquire motion information. As used herein, kinematics characteristics refer to the motion characteristics of an object; motion information may include but not limited to: speed, acceleration, direction, and the like. Motion information may be represented using any suitable coordinate system and/or frame of reference. Accordingly, motion information may be represented as component values, vectors, or the like in a Cartesian coordinate system, polar coordinate system, or the like. Additionally, motion information may be relative to a particular frame of reference; for example; motion information may include the direction, position, velocity, and/or acceleration of an object corresponding to the orientation, position, velocity, and/or acceleration of a particular vehicle , acceleration (eg, closing rate), etc.

Sensing system 110 may include one or more active sensors and/or passive sensors, which may include, but are not limited to: one or more electromagnetic sensing systems (e.g., radar sensing systems, capacitive sensing systems, etc.) , photoelectric sensing systems (eg, laser sensing systems, light detection and ranging (LIDAR) systems, etc.), acoustic sensing systems, ultrasonic sensing systems, magnetic sensing systems, imaging systems (eg, cameras, image processing systems , stereo cameras, etc.), and the like. The collision detection system 101 may also include sensors for determining kinematic characteristics (eg, "self profile") of the vehicle 102 . Accordingly, sensing system 110 may include one or more speedometers, accelerometers, gyroscopes, information receiving systems (eg, global positioning system (GPS) receivers), wireless network interfaces, etc.), and the like. Alternatively, or in addition, the collision detection system 101 may include (or be communicatively coupled to) a control system 105 of the vehicle 102 . As used herein, a vehicle "control system" refers to a system for providing control inputs to a vehicle, such as steering, braking, acceleration, and the like. The collision detection system 101 may include parts of the vehicle control system 105, such as sensors for determining speed, acceleration, braking performance (eg, anti-lock braking system), and the like. The collision detection system 101 may be further configured to monitor the control system input 105 to predict changes in vehicle kinematics (eg, predict changes in acceleration based on operator-controlled accelerator and/or brake inputs). Although specific examples of sensing systems are provided herein, the invention is not limited in this respect and may include any sensing system 110 that includes any type and/or number of sensors.

The sensing system 110 may be configured to provide sensor data to and/or receive sensor data from the other vehicles 103 , 104 . In some embodiments, sensing system 110 may coordinate sensor operations with other vehicles; for example, sensing system 110 may act as a transmitter for one or more other sensing systems (not shown), and/or vice versa. Of course.

The sensing system 110 may acquire information about objects within a detection range 112 of the vehicle 102 . As used herein, the "detection range" of the sensing system 110 refers to the range over which the sensing system 110 is capable of acquiring (and/or configured to acquire) information about an object. As used herein, the detection range 112 of the sensing system 110 may refer to the detection envelope of the sensing system 110 . In some implementations, the detection range 112 may be more limited than the maximum detection range of the sensing system 110 (the maximum range in which the sensing system 110 can stably acquire object information). The detection range 112 may be set by user configuration and/or may be automatically determined based on operating conditions of the vehicle 102, such as vehicle speed and/or direction, speed of other objects, weather conditions, and the like. For example, detection range 112 may decrease in response to vehicle 102 traveling at a lower speed and may increase in response to vehicle 102 traveling at a higher speed. Similarly, detection range 112 may be based on other object kinematics in the vicinity of vehicle 102 . For example, the detection range 112 may be expanded in response to detecting another vehicle 103 traveling at a higher speed relative to the vehicle 102 even though the vehicle 102 is traveling at a lower speed.

In some implementations, the sensing system 110 may include directional sensors (eg, beamforming radar, phased array, etc.). The collision detection system 101 may shape and/or control the detection range 112 of the sensing system 110 in response to operating conditions. For example, when the vehicle 102 is traveling forward at a high speed, the detection range 112 may be oriented toward the front of the vehicle 102; when the vehicle 102 is turning, the detection range 112 may be adjusted in the direction of the turn; and so on.

The collision detection system 101 can utilize the communication module 130 to cooperate with other vehicles. Communications module 130 may include, but is not limited to, one or more of: a wireless network interface, a cellular data interface, a satellite communication interface, an electro-optical network interface (eg, an infrared communication interface), and the like. Communications module 130 may be configured to communicate point-to-point with an "ad hoc" network and/or infrastructure network 132, such as with an Internet Protocol network (eg, the Internet, a local area network, a wide area network, etc.).

In some implementations, the collision detection system 101 may be configured to coordinate with other vehicles (eg, other sensing systems and/or other collision detection systems). Coordination may include acquiring sensor data from other entities (eg, other vehicles 103 , 104 ) and/or providing sensor data acquired by sensing system 110 to other entities. Coordination may further include sharing collision detection data, such as portions of the collision detection model 122, collision detection data and/or alerts, and the like.

The coordination may enable the collision detection system 101 to acquire sensor data related to areas outside the detection range 112 of the sensing system 110 (eg, expanding the detection range 112 of the collision detection system). Similarly, the collision detection system 101 may acquire sensor data related to areas inaccessible to the sensing system 110 (eg, areas obscured by other objects). For example, as depicted in FIG. 1 , the location of vehicle 103 may prevent sensing system 110 from reliably acquiring sensor data related to area 125 . Collision detection system 101 may obtain sensor data about area 125 from another source, such as sensing system 113 of vehicle 103 and/or sensing system 114 of vehicle 104 . As described below, sensor data coordination may further include determining and/or optimizing motion information (e.g., vector components), and determining and/or optimizing object position (e.g., by triangulating sensor data), size, angular extent, angular dependence range, direction, etc.

The collision detection system 101 may also be configured to provide sensor data acquired by the sensing system 110 to other entities such as the vehicles 103 , 104 . The collision detection system 101 may make sensor data available via the communication module 130 (eg, the sensor data may be propagated). Alternatively, or in addition, the collision detection system 101 may provide sensor data (and/or other information related to the collision detection system 101 ) in response to requests from other entities (eg, through peer-to-peer communication mechanisms).

In some implementations, the collision detection system may be configured to operate in coordination with other entities using, inter alia, the coordination module 160 . For example, sensing system 110 may be capable of acquiring reliable, accurate information about objects within a particular area 127, but may not be able to reliably acquire information about objects in other areas (e.g., area 125) . The collision detection system 101 may coordinate with other sensing systems 113 and/or 114 to provide these sensing systems 113 , 114 with sensor data related to objects within the area 127 . In exchange, the other sensing systems 113 , 114 may provide the collision detection system 101 with sensor data relating to objects within other areas, such as area 125 . Such coordination may include configuring the detection range 112 of the sensing system 110 (e.g., by beamforming, steering, or the like) by the collision detection system 101 to acquire information about the area 127 (but not other areas), which would be determined by Sensing systems 113, 114 are provided.

In some implementations, the collision detection system 101 may coordinate sensor operation and/or configuration with other sensing systems 113 , 114 . As described in more detail below, the coordination module 160 may configure the sensing system 110 to: act as a transmitter for other sensing systems 113, 114 (e.g., in bistatic and/or multistatic sensor configurations); act as a receiver to detect sensor signals sent by one or more other sensing systems 113, 114; combined with other sensing systems 113, 114 acting as a combined transmitter/receiver; etc.

The collision detection system 101 may further include a processing module 120 that may use information obtained by the sensing system 110 (and/or obtained from other sources) to detect potential collisions. The processing module 120 may include one or more processors, including but not limited to: general-purpose microprocessors, microcontrollers, logic circuits, ASICs, FPGAs, PALs, PLDs, PLAs, and the like. The processing module 120 may also include a volatile memory, a persistent machine-readable storage medium 152, and the like. The persistent machine-readable storage medium 152 may include a machine-readable storage medium configured to enable the processing module 120 to: operate and/or configure the sensing system 110, coordinate with other collision detection systems (e.g., Through communication and/or coordination modules 130, 160), detecting potential collisions, etc., as described herein.

The processing module 120 may be configured to detect a potential collision. Processing module 120 may detect a potential collision using information obtained from any number of sources, including but not limited to: sensor data obtained from sensing system 110; And/or sensor data obtained in coordination with other sensing systems (e.g., sensing systems 113, 114); collision detection data obtained from other collision detection systems; through communication module 130 (e.g., from public safety entities, weather service stations , or similar institutions); etc.

The processing module 120 may detect potential collisions using any suitable detection technique. In some implementations, the processing module 120 detects potential collisions using a collision detection model 122 . As used herein, "collision detection model" refers to a model of the kinematic properties of an object. A collision detection model may include, but is not limited to: object size, position, orientation, velocity, acceleration (eg, closing rate), angular extent, angular dependence extent, and the like. The kinematics of the collision detection model may be relative to the vehicle 102 (eg, relative velocity, acceleration, etc.). Alternatively, the collision detection model may be incorporated into the kinematics of the vehicle 102 and/or may be defined in another frame of reference (eg, GPS position, frame of reference of another vehicle 103 , 104 , etc.). Processing module 120 may use collision detection model 112 to infer and/or predict object kinematics that may indicate potential collisions of objects (e.g., object intersections within the collision detection model), timing of potential collisions, , the impact velocity of the potential collision, the forces involved in the potential collision, the possible outcomes of the collision, etc.

The collision detection model 122 may also include information related to current operating conditions such as road conditions, visibility, and the like. For example, the collision detection model 122 may include information related to the condition of the operating surface (eg, a road), such as whether the road is muddy, wet, icy, snow-covered, or the like. The processing module 120 may use the current operating condition information to estimate the probability (and/or capacity) of maneuvering the object to avoid, inter alia, a potential collision (eg, turn, decelerate, etc.).

In some implementations, the collision detection model 122 may also include predicted information. For example, the collision detection model 122 may include estimates of the size, weight, etc. of the objects. The predicted information may be used to determine object momentum and other characteristics that may be used to determine potential outcomes of a collision (eg, potential post-collision object kinematics that have occurred). For example, in the example of FIG. 1 , collision detection system 101 may determine potential outcomes of a collision between vehicles 103 and 104 , which may include estimated kinematics of vehicles 103 , 104 after a potential collision has occurred.

The collision detection model 122 may also include collision avoidance information, which may include instructions on how to avoid potential collisions detected by the processing module 120 . The collision avoidance information may relate to vehicle 102 and/or other vehicles 103 , 104 . For example, collision avoidance information may include information for avoiding a potential collision between vehicles 103 and 104 . The collision avoidance information may also include information that enables the vehicle 102 to avoid being involved in a collision (eg, to avoid a potential outcome of the collision).

The collision detection system 101 may be configured to take one or more actions in response to detecting a potential collision. Such actions may include, but are not limited to: alerting the operator of the vehicle 102 of a potential collision; determining collision avoidance actions; determining potential outcomes of a collision (e.g., estimating object kinematics after a collision); Action on result; automatically take one or more collision avoidance actions; send collision detection model 122 to other vehicles (and/or parts thereof); coordinate response to potential collision with other vehicles; contact emergency services entities, etc.

The coordination module 160 may enable other vehicles 103 , 104 (via the communication module 130 ) to use portions of the collision detection model 122 . Alternatively, or in addition, the coordination module 160 may be configured to receive collision detection data from other vehicles 103 , 104 . Collision detection data may include sensor data, collision detection models (and/or portions thereof), vehicle kinematics, collision detection results, avoidance information, and the like.

The collision detection system 101 may include and/or may be communicatively coupled to a human-machine interface component 107 of the vehicle 102 . Human-machine interface components 107 may include, but are not limited to: visual display components (e.g., display screen, head-up display, or the like), audio components (e.g., vehicle audio system, speakers, or the like), tactile components (e.g., power steering control, force feedback system, or the like) and the like.

The collision detection system 101 may use the human interface component 107 to alert the operator of the vehicle 102 of a potential collision. The alert may include one or more of the following: an audible alert (eg, an alarm), a visual alert, a tactile alert, or the like. In some implementations, the alert may include collision avoidance instructions to assist the operator in avoiding a potential collision (and/or the outcome of a potential collision involving other vehicles). Avoidance instructions may be provided as one or more audible instructions, visual cues (eg, displayed on a heads-up display), tactile stimuli, or the like. For example, collision avoidance commands may be audibly communicated through the vehicle's speaker system (e.g., a "turn left" command) and may be communicated via icons on the display interface (e.g., turn icon, brake icon, release brake icon, etc.) Visually, and/or via haptic feedback (eg, vibrating surfaces, actuation control inputs, etc.). Although a specific example of an alarm is described herein, the invention is not limited in this respect, but may be adapted for incorporation into any suitable human-machine interface component 107 .

As discussed above, the collision detection system 101 may be configured to take one or more automatic collision avoidance actions in response to detecting a potential collision. Collision avoidance actions may include, but are not limited to: accelerating, decelerating, cornering, actuating vehicle systems (eg, lighting systems, horn, etc.), and the like. Accordingly, the collision detection system 101 may be communicatively coupled to the control system 105 of the vehicle 102 and capable of providing control inputs thereto. Automatic collision avoidance actions may be configured to prevent potential collisions, avoid potential collision outcomes (eg, collisions involving other vehicles), and/or the like. Automatic collision avoidance actions can be determined in cooperation with other vehicles. For example, collision detection system 101 may cooperate with vehicle 103 to determine collision avoidance actions (or commands) so that both vehicles 102, 103 can avoid potential collisions while also avoiding potential collisions with each other.

The collision detection system 101 may be configured to perform automatic collision avoidance actions without the permission and/or intervention of the vehicle operator. Alternatively, or in addition, the collision detection system 101 may request the operator's permission before taking automatic collision avoidance action. The human interface module 107 may include one or more inputs configured to enable a vehicle operator to indicate permission, such as buttons on a control surface (eg, a steering wheel), audio inputs, visual inputs, or the like. Permission may be requested upon detection of a potential collision and/or may be requested in advance prior to detection of a potential collision. Permission may terminate after a predetermined time and/or in response to certain predetermined conditions (eg, after a potential collision has been avoided, after the vehicle 102 has been shut down, etc.). Accordingly, the collision detection system 101 may be configured to periodically re-request the vehicle operator's permission. For example, the collision detection system 101 may request permission to perform automatic collision avoidance actions each time the vehicle 102 is started.

The collision detection system 101 may be configured such that automatic collision avoidance actions cannot be overridden by a vehicle operator. Accordingly, the collision detection system 101 may be configured to “disconnect” the vehicle operator from portions of the control system 105 . Access to the vehicle control system 105 may resume after the automatic collision avoidance actions are complete and/or the collision detection system 101 determines that a potential collision has been avoided. The collision detection system 101 may be configured to "isolate" the vehicle operator from all vehicle control operations. Alternatively, the vehicle operator may be granted limited access to the control system 105 . For example, the control system 105 may accept operator input that does not interfere with and/or conflict with the automatic collision avoidance maneuver (eg, may allow the vehicle operator to provide limited steering input, but not accelerate/decelerate).

Alternatively, the collision detection system 101 may be configured to enable a vehicle operator to override one or more of the automatic collision avoidance actions. In response to the override, the collision detection system 101 may cease performing automatic collision avoidance actions and may return control to the vehicle operator. Overriding may include a vehicle operator providing input to the control system 105 (or other human-machine interface component 107 ). In another example, the collision detection system 101 may perform an automatic collision avoidance action by actuating a control of the vehicle 102 (eg, turning a steering wheel), and the override may include a vehicle operator resisting or counteracting the automatic control actuation.

In some implementations, the collision detection system 101 is capable of preemptive deployment and/or can be configured to preemptively deploy safety systems of the vehicle 102 . For example, crash detection system 101 may be configured to deploy one or more airbags prior to the impact of a crash. The collision detection system 101 may also be configured to adapt the deployment of safety systems to an impending collision (safety system deployment based on where on the vehicle 102 the impact of the collision will occur).

The collision detection system 101 may continue to monitor the kinematics of the objects after detecting a potential collision and taking any of the actions described above. The collision detection system 101 may continue to modify and/or update the actions described above in response to changing kinematics (eg, the outcome of one or more collisions, actions of other vehicles 103, 104, etc.).

The collision detection system 101 may further include a storage module 150 configured to store information related to the functionality, configuration, and/or operational status of the collision detection system 101 (and/or the vehicle 102). The storage module 150 may include a persistent machine-readable storage medium 152, such as a hard disk, solid-state memory, optical storage medium, or the like. Alternatively, or in addition, storage module 150 may be configured to store data (via communication module 130) at a network-accessible server 154, such as a cloud storage server or the like.

Storage module 150 may be configured to store any information about vehicle 102, which may include, but is not limited to: kinematics of vehicle 102, operator control inputs (e.g., steering, braking, etc.), collision detection model 122 (e.g., , kinematics of other vehicles, collision detection, etc.), actions taken in response to detection of a potential collision, operator override of automatic collision avoidance actions, communication with other vehicles, etc. Thus, the memory module 150 may act as a "black box" detailing the operating conditions of the vehicle 102 and/or other circumstances surrounding the crash.

Storage module 150 may be configured to prevent unauthorized access and/or modification of stored information. Accordingly, the storage module 150 may be configured to encrypt information for storage. The storage module 150 may also be configured to verify the authenticity of the stored information; for example, the storage module 150 may be configured to cryptographically sign the stored information.

The coordination module 160 may be configured to coordinate collision detection operations with other entities, such as the vehicles 103 , 104 . Coordination may include collaborative sensor configurations, sharing sensor data, sharing processed information, and the like. Coordination may be established on an ad hoc basis (e.g., one or more vehicles 102, 103, and/or 104 may broadcast portions of the collision detection model 122 and/or other collision detection data), and may be in response to a request (e.g., a vehicle with Vehicle coordination) establishment, or similar situations. In some embodiments, coordination of collision detection systems may be based on payment, interactive sharing, or other exchange decisions.

FIG. 2A is a block diagram 200 depicting another implementation of the collision detection system 101 . Sensing system 110 of collision detection system 101 may not have access to area 225 . In the example of FIG. 2A , area 225 is inaccessible due to the location of vehicles 103 and 144 . Accordingly, the coordination module 160 may be configured to send a request 223 (via the communication module 130 ) for sensor data about the area 225 .

In some implementations, request 223 may be sent in response to other conditions. For example, collision detection system 101 may not include sensing system 110 and/or sensing system 110 may be inactive (eg, may not be operational). Accordingly, the collision detection system 101 may rely on sensor data from other sources, such as the vehicle 103, to detect potential collisions. Alternatively, the collision detection system 101 may request sensor data from all available sources, including sensor data about an area from which the sensing system 110 is able to acquire sensor data. Collision detection system 101 may use redundant sensor data to validate and/or improve sensor data acquired by sensing system 110 .

Request 223 may include requesting sensor data related to a particular area 225 and/or may include requesting all available sensor data. Request 223 may be directed to a specific entity (eg, vehicle 103 ) and/or may be broadcast to any source capable of fulfilling request 223 . Accordingly, in some implementations, the request 223 may include establishing a communication link with the vehicle 103 (eg, discovering the vehicle 103 via one or more network discovery broadcast messages, executing a handshake protocol, etc.).

Request 223 may include a compensation offer in exchange for access to the requested sensor data. Accordingly, request 223 may include negotiations to establish an acceptable exchange (eg, acceptable payment, interactive data sharing, or the like). Negotiation may be performed automatically according to predetermined policies, rules, and/or thresholds stored on persistent machine-readable storage medium 152 . Alternatively, negotiating may include interacting with occupants of the vehicles 102, 103 and/or other entities (eg, via the network 130). For example, a vehicle 102, 103 may be associated with an organization (eg, an automobile association, an insurance company, or the like) that has agreed to share collision detection data. In some implementations, the sensing system 113 of the vehicle 103 may be configured to automatically broadcast sensor data such that an explicit request 233 for sensor data is not required.

The vehicle 103 may provide sensor data 227 which may be received via the communication module 130 . Sensor data 227 may include sensor data acquired by the vehicle's sensing system 113 (or acquired by one or more other vehicles or sources (not shown)). Collision detection system 101 may use sensor data 227 to detect potential collisions, as described above. For example, processing module 120 may generate a collision detection module that includes sensor data 227 . In some implementations, the vehicle 103 may provide auxiliary data 229 in addition to (and/or in place of) the sensor data 227 . Auxiliary data 229 may include processed sensor data, such as "self-profile" about the vehicle 103, which may include, but is not limited to: identification, vehicle dimensions, vehicle orientation, vehicle weight, location (absolute or relative position on the vehicle 102), speed (eg, speedometer reading), acceleration (eg, accelerometer reading), time reference (eg, time synchronization signal), and the like. The processing module 120 may use the auxiliary data 229 to transform the sensor data 227 into the frame of reference of the vehicle 102 or other suitable frame of reference, as described above. Transforming sensor data 227 may also include correcting sensor data (eg, aligning sensor data acquired by sensing system 110 with sensor data 227 ). Correcting may include correcting sensor data 227 relative to other sensor data samples and/or time-shifted and/or time-corrected. As such, corrected sensor data 227 may include corrected time-stamped sensor data, inferred sensor data (eg, inferring position from velocity and/or direction, inferring velocity from acceleration, etc.), time-shifted sensor data, and the like.

In some implementations, the coordination module 160 may be configured to provide collision detection data 222 to the vehicle 103 . Collision detection data 222 may include, but is not limited to: collision detection model 122 (and/or portions thereof), sensor data acquired by sensing system 110 , information related to potential collisions detected by collision detection system 101 , and Auxiliary data related to the vehicle 102 and the like.

Accordingly, in some implementations, collision detection system 101 may be configured to aggregate sensor data from multiple sources (e.g., sensing system 110, vehicle 103, etc.), using the sensor data (and/or auxiliary data, if available) ) generate a collision detection model 122 and provide the collision detection model 122 to other vehicles 103, 144 (via sending collision detection data 222). Accordingly, vehicles within the communication range of the vehicle 102 (communication range of the communication module 130 ) may utilize the collision detection model 122 . In some implementations, one or more vehicles may be configured to resend and/or rebroadcast collision detection data 222 to other vehicles, which may extend the effective communication range of collision detection system 101 (eg, as in an ad hoc the same as in the wireless network configuration).

In some embodiments, collision detection system 101 may be configured to provide and/or store monitoring data 272 to one or more persistent storage systems, such as network-accessible server 154, persistent machine-readable storage medium 152 , or similar. Monitoring data 272 may include, but is not limited to: collision detection data 222, sensor data used by collision detection system 101 (sensor information acquired using sensing system 110, sensor information acquired from other sources such as vehicle 103, etc.), collision Detection models 122, information about potential collisions detected by the collision detection system 101, collision alerts generated by the collision detection system 101, diagnostic information about the vehicle 102 and/or other vehicles 103, 144, operating conditions, locations (e.g. GPS coordinates), time information, etc. Diagnostic information may include, but is not limited to, indications as to whether the other vehicle 103, 144 includes a collision detection system and/or is configured to coordinate collision detection with the collision detection system 101, whether the other vehicle 103, 144 is capable of communicating with the collision detection system 103 ( For example, indications can be communicated that data from collision detections can be received, actions taken in response to detection of a potential collision and/or alerting other vehicles of a potential collision, and the like.

Monitoring data 272 may be used to reconstruct conditions surrounding the collision, such as the kinematics of vehicles 102, 103, and/or 144 before, during, and/or after the collision. Monitoring data 272 may also include information related to actions, if any, taken by vehicles 102, 103, and/or 144 in response to detection of a potential collision (eg, operator control inputs, automated collision avoidance actions, etc.) ,and many more. In some implementations, monitoring data 272 may include time stamps and/or other ancillary data such that the location and/or time of monitoring data 272 can be determined.

Monitoring data 272 may also include vehicle identification information (eg, information identifying vehicles 102 , 103 , and/or 144 ), such as a vehicle identification number (VIN), license plate information, registration information, vehicle model, model, and color designation, among others. Vehicle identifiers may be derived from sensor data acquired by sensing system 110 (or other vehicles 103) and/or may be received as auxiliary data from one or more other vehicles; for example, vehicles 102, 103, and/or 144 may be configured to Provide identification information to other vehicles (e.g., via network, near field communication, and other broadcast identification information). In other examples, one or more of vehicles 102 , 103 , and/or 144 may include a radio frequency identifier (RFID), which may be interrogated by an RFID reader of sensing system 110 . Other objects may include identifying information such as pedestrians, buildings, road features (eg, street signs, traffic lights, etc.), and the like. These objects may be configured to provide identification information to one or more of vehicles 102, 103, and/or 144, which may incorporate identification information into collision detection model 122 and/or monitoring data 272 middle. For example, a person may carry an item configured to broadcast (eg, via RFID) and/or provide identifying information (such as the person's name, address, allergies, emergency contact information, underwriter, driver's license number, etc.). Similarly, road features can be configured to provide identifying information. For example, a communication signal may be configured to broadcast location information (eg, the location of the signal), status information (eg, red light, green light, etc.), and the like.

As noted above, in some implementations, the monitoring data 272 may be protected to prevent the monitoring data 272 from being modified; for example, the collision detection data 272 may include a digital signature, may be encrypted, or the like. Monitoring data 272 may be secured such that the authenticity and/or origin of monitoring data 272 may be verified.

In some implementations, the network-accessible server 154 may be configured to store monitoring data 272 from a plurality of different vehicles. The crash structure data 272 may be received over the network 132 and/or retrieved from the vehicle's persistent machine-readable storage medium 152 (eg, the vehicle 102 ). The web-accessible server can index and/or arrange monitoring data 272 by time, location, vehicle identity, and the like. The web-accessible server 154 may provide the monitoring data 272 to the requestor based on selected criteria (eg, time, location, identity, etc.). In some implementations, the network-accessible server 154 may provide a consideration (eg, payment, interactive access, etc.) for the monitoring data 272 .

In some embodiments, collision detection data 222 may be provided to an emergency services entity in response to detecting a collision. The crash detection data 222 can be used to determine and/or estimate crash kinematics (e.g., impact velocity, impact vector, etc.), which can be used to estimate the forces involved in the crash, possible damage conditions, the Where the vehicle last stopped (or vehicle occupants), etc.

Collision detection system 101 may be further configured to respond to requests for collision detection data 222 . In some implementations, as described above, the collision detection system 101 may provide sensor data acquired through the sensing system to one or more other vehicles (eg, the vehicle 103 ) in response to a request. In another example, collision detection system 101 may provide collision detection model 122 (and/or portions thereof) to other vehicles and/or entities. Collision detection system 101 may be configured to store collision detection data (eg, collision detection model 122 and/or acquired sensor data) via network 132 to network-accessible server 154 , an emergency services entity, a traffic control entity, or the like.

FIG. 2B is a block diagram 201 depicting another implementation of the collision detection system 101 . In some implementations, collision detection system 101 may be configured to combine sensor data to determine different components of an object's kinematic properties (eg, different components of velocity, acceleration, etc.). As noted above, motion information may be represented as vectors in a particular coordinate system and/or frame of reference (eg, Cartesian, polar, or similar). The vector may be relative to a particular frame of reference (eg, vehicle 102, 103, etc.). A vector can be deconstructed into one or more components; in a Cartesian coordinate system, a vector can include x, y, and/or z components; in a polar coordinate system, a vector can include r, θ (range and angle), and/or or z-component; etc. In some embodiments, the ability of a sensing system to determine a particular component of an object's kinematic properties may depend, inter alia, on the position and/or orientation of the sensing system relative to the object. For example, Doppler radar is capable of acquiring data about some components of an object's kinematic properties, but not others, depending on the orientation and/or position of the Doppler radar relative to the object.

As shown in FIG. 2B , sensing system 110 of collision detection system 101 may be positioned and/or oriented relative to vehicle 204 such that sensing system 110 may be capable of acquiring information about component 260 (e.g., an "x-axis" component corresponding to "Side-to-Side" range, velocity, etc.) of the object kinematics. However, sensing system 110 may not be capable of determining component 261 (eg, a "y-axis" component, which corresponds to "forward" range, speed, etc.). For example, sensing system 110 may include a Doppler radar that is active in decision component 260 but not active in decision component 261 . Another sensing system 213 of vehicle 203 may be capable of acquiring object kinematics with respect to component 261 , but may not be capable of acquiring object kinematics with respect to component 260 .

Coordination module 160 of collision detection system 101 may be configured to share sensor data 221 with vehicle 203 , which may include providing sensor data (of component 260 ) acquired by sensing system 110 and/or receiving 213 acquired sensor data (of component 261). The coordination module 160 may be configured to request access to sensor data acquired by the vehicle 203, as described above. Coordination module 160 may be further configured to provide access to sensor data acquired by sensing system 110 as described above (eg, in exchange for access to sensor data acquired by vehicle 203 , payment, etc.). Sensor data 221 may be shared via communication module 130, as described above.

The processing module 120 of the collision detection system 101 may "fuse" the sensor data obtained by the sensing system 110 (and related to the component 260 ) with the sensor data obtained from the vehicle 203 (and related to the component 261 ) to form the vehicle 204 A more complete and accurate model of kinematic properties. Fusing sensor data may include transforming sensor data into a common coordinate system and/or frame of reference, weighting sensor data, and the like. Using component analysis or other suitable processing techniques, the sensor data may be combined to determine the kinematics of the object and/or may be used to optimize other sensor data. In the example of FIG. 2B , fusing sensor data may include using sensor data acquired by sensing system 110 to determine components of object kinematics (e.g., edge-to-edge motion characteristics) (component 260 ), and using sensor data acquired by the vehicle 203 acquires sensor data to determine object kinematics in component 261 (eg, forward motion characteristics). Fusion may further include combining range and/or angle information from the sensor data 221 to determine and/or optimize the position of the vehicle 204 relative to the vehicles 102 and/or 203, which may include performing the range and/or angle information on the sensor data. Triangulation. Similarly, fusing sensor data may include determining an object's size, orientation, angular range, angle-dependent range, and the like. For example, range information from various sensors may be used to determine position and/or angular orientation (eg, by using cross range radius analysis).

Combining sensor data may also include weighting sensor data. Sensor data may be weighted according to the accuracy of the data (eg, signal-to-noise ratio), the orientation and/or position of the sensor data relative to a particular object, and the like.

The combination of sensor data may be determined based on the relative position and/or orientation of the sensing system 110 and/or the vehicle 203, among other things, as described above. Those skilled in the art will understand that other sensor orientations may result in combinations of different types of sensor data. 2C is a block diagram of another embodiment of a collision detection system. In the example of FIG. 2C , sensing system 110 and vehicle 203 are in different orientations relative to vehicle 204 . As a result, sensor data can be fused in different ways. For example, component 260 may be determined by combining sensor data acquired by sensing system 110 and sensor data acquired by vehicle 203 (as opposed to sensor data acquired primarily by sensing system 110 as in the example of FIG. 2B ). The relative contributions of different sensor data may depend, inter alia, on the relative orientation (eg, angles 262 , 263 ) of vehicles 102 and 203 . The combination may be dynamically updated in response to changes in the relative position and/or orientation of vehicles 102, 203, and/or 204 (eg, changes in angles 262 and/or 263).

In some implementations, fusing sensor data may also include weighting sensor data. The relative weight of the sensor data may correspond to the signal-to-noise ratio of the sensor data, the position and/or orientation of the sensor data to a particular object, and/or the like. Thus, weights can be applied on a per-object basis. Referring back to the example of FIG. 2B , for component 260, the weighting of sensor data acquired by sensing system 110 may be relatively high (due to sensing system 110 being ideally positioned to measure component 260), while for component 261, the sensor data The weighting of the data may be low (due to the unfavorable location of the sensing system 110 for the measurement component 261).

FIG. 3 is a flowchart of one embodiment of a method 300 for coordinated collision detection. Method 300 may be implemented by a collision detection system, as described herein. In some implementations, method 300 may be embodied as instructions stored on a persistent machine-readable storage medium (eg, persistent machine-readable storage medium 152 ). The instructions may be configured to cause a processor to perform one or more of the steps of method 300 .

In step 310, the method 300 begins and initializes, which may include loading instructions from a persistent machine-readable storage medium and accessing and/or initializing resources, such as the sensing system 110, the processing module 120, the communication module 130, the coordination module 160 and so on.

Step 320 may include acquiring sensor data at the vehicle 102 . The sensor data of step 320 may be obtained from a source external to the vehicle 102 , such as another vehicle (eg, sensor data obtained by the sensing system 113 of the vehicle 103 ). Sensor data may be obtained in response to a request and/or negotiation, as described above. Alternatively, sensor data may be acquired without request (eg, sensor data acquired at step 320 may be broadcast from a source, as described above). In some implementations, step 320 may further include receiving assistance data from a source of sensor data. Auxiliary data may include "own profile" data about the sensor data source, such as size, weight, orientation, position, kinematics, and the like.

In some implementations, step 320 may include fusing the sensor data acquired at step 320 with other sensor data acquired from other sources (eg, sensing system 110 of collision detection system 101 ). Accordingly, step 330 may include transforming the sensor data into an appropriate coordinate system and/or frame of reference (eg, using auxiliary data from the vehicle 102 and/or the source of the sensor data). Fusing sensor data may also include weighting and/or correcting sensor data, which may include time-shifting sensor data, extrapolating sensor data, etc., as described above.

Step 330 may include generating a collision detection model using the sensor data acquired in step 320 . Generating the collision detection model may include using sensor data to determine kinematic properties of the object, such as the object's position, velocity, acceleration, orientation, and the like. Generating the collision detection model may further include determining and/or estimating the size, weight, etc. of the object. Step 330 may include combining sensor data to determine and/or optimize quantities of one or more components. For example, step 330 may include triangulating range and/or angle information within the sensor data to determine the position of the object, applying intersection range radius analysis to determine the angular orientation, fusing the sensor data to determine the different components of the kinematic properties of the object ,and many more.

Step 330 may also include transforming the collision detection model into an appropriate coordinate system and/or frame of reference. For example, step 330 may include generating a collision detection model in a particular frame of reference (eg, relative to vehicle 102 ). Step 330 may also include transforming the collision detection model into other coordinate systems and/or frames of reference. For example, step 330 may include transforming the collision detection model into the frame of reference of another vehicle (eg, vehicle 103 ). Transformation step 330 (and/or step 320) may be based on the position, velocity, acceleration and/or orientation of the source of sensor data acquired at step 320, and/or the position, velocity, acceleration and/or orientation of a particular frame of reference.

In some implementations, step 330 may also include detecting a potential collision using a collision detection model and/or taking one or more actions in response to detecting a potential collision, as described above. Method 300 ends at step 340 until additional sensor data is acquired at step 320 .

FIG. 4 is a flowchart of another embodiment of a method 400 for coordinated collision detection. At step 410, method 400 begins and initializes, as described above.

Step 412 may include acquiring sensor data using the vehicle sensing system 110, as described above. The sensor data of step 412 may be acquired using one or more different types of sensing systems including any number of different sensors.

Step 414 may include requesting sensor data from an external entity (eg, other vehicles 103 ). The request of step 414 may be in response to the sensor data of decision step 412 failing to capture a particular region (e.g., regions 125, 225), failing to capture certain motion components of an object (e.g., a particular component of the object's kinematics 261 ) and so on. Alternatively, the request of step 414 may be made without regard to the nature of the sensor data acquired at step 412 . The requested sensor data may be used to enhance and/or optimize the sensor data acquired at step 412 and/or sensor data acquired from other sources.

In some implementations, the request of step 414 may be sent to a specific entity (eg, a specific vehicle 103 ). Accordingly, step 414 may include establishing communication with the entity, which may include discovering the entity (eg, via one or more broadcast messages); establishing a communication link with the entity; and the like. Alternatively, the request of step 414 may not be directed to any particular entity, but may be broadcast to any entity capable of providing sensor data.

The request may identify the particular region in question (eg, region 125, 225). The area in question may be specified relative to the vehicle 102 (requester) and/or another frame of reference. Accordingly, step 414 may include transforming information related to the request into another coordinate system and/or frame of reference, as described above. Alternatively, or in addition, the request may identify the object in question and/or request data about the object taken at a particular orientation and/or location. The requested data may be used to determine and/or optimize motion components not available to the sensing system 110 of the vehicle 102 , as described above.

The request may include an offer in exchange for access to sensor data. The offer may include payment, bid, interactive access, collision detection data, or other consideration. Accordingly, in some implementations, step 414 may include negotiating an acceptable exchange using one or more of: predetermined policies, rules, thresholds, and the like. Step 414 may also include accepting an acceptance from the requester, the source of the sensor data, and/or another entity (eg, an association, insurance company, or the like), as described above.

Step 422 may include obtaining the requested sensor data using the communications module 130, as described above. Although method 400 depicts requesting step 414, in some implementations, requesting step 414 may not be required. For example, in some implementations, sensor data may be freely provided (eg, broadcast) such that sensor data may be obtained at step 422 without an explicit request. Step 422 may include transforming the acquired sensor data, as described above.

Step 432 may include generating a collision detection model using sensor data acquired by utilizing the vehicle sensing system 110 and/or using sensor data acquired at step 422 from other vehicles. Generating the collision detection model may include fusing sensor data (eg, combining sensor data), using the fused sensor data to determine object kinematics, and the like. Generating the collision detection model may further include transforming the collision detection model into one or more suitable coordinate systems and/or frames of reference. Step 432 may also include detecting a potential collision using a collision detection model, which may include: identifying objects involved in the potential collision, determining the time of the potential collision, determining collision avoidance actions and/or instructions, issuing one or more alarms, and /or notifications etc.

Step 434 may include providing access to the collision detection data to one or more other entities (eg, sources of the sensor data acquired at step 422 ). Step 434 may include providing a portion of the collision detection model generated in step 432 to one or more other vehicles, providing one or more collision detection alerts to the other vehicles, providing sensor data to the one or more other vehicles, and/or the like. Step 434 may include sending collision detection data to a particular vehicle and/or broadcasting collision detection data. The collision detection data may include auxiliary information, such as the position and/or kinematics of the vehicle 102, temporal information, etc., which may enable the recipient to transform the collision detection data into other coordinate systems and/or frames of reference. In some implementations, step 434 may include providing the monitored data 272 to the network-accessible server 154, storing the monitored data 272 on the persistent machine-readable storage medium 152, and the like.

Method 400 ends at step 440 until additional sensor data is acquired.

Although FIG. 4 depicts a particular sequence of steps, the invention is not limited in this respect; for example, vehicle 102 may simultaneously receive sensor data from another entity at step 422, generate the collision detection model at step 432, and and/or acquire sensor data using the sensing system 110 while accessing the collision detection data at step 434 .

In some implementations, the collision detection system 101 may be further configured to operate the sensing system 110 in cooperation with sensing systems of other vehicles. Cooperating may include forming a multistatic sensor comprising sensing system 110 and one or more sensing systems of other land vehicles. As used herein, "multistatic sensor" refers to a sensor that includes two or more spatially distinct sensing systems that may be configured to operate in concert. For example, one or more of the sensing systems may be configured to transmit respective detection signals, which may be received by one or more receivers in the sensing systems. Sensor cooperation may include coordinating one or more detection signals emitted by one or more sensing systems (eg, beamforming, forming a phased array, etc.).

FIG. 5A depicts one embodiment 500 of a collision detection system 101 configured to coordinate the operation of sensors with other sensing systems. In example 500 , sensing system 110 includes detection signal transmitter 512 and receiver 514 . Transmitter 512 may include a radar transmitter, EO transmitter, acoustic transmitter, ultrasonic transmitter, or the like. Receiver 514 may be configured to detect one or more returned detection signals. Accordingly, receiver 514 may include one or more antennas, EO detectors, acoustic receivers, ultrasonic receivers, or the like.

Collision detection system 101 may be configured to coordinate operation of sensing system 110 with sensing systems of other vehicles (eg, sensing systems 570 and/or 580 ). Coordinating may include forming a multistatic sensor including sensing system 110 and one or more sensing systems 570 and/or 580 .

In some implementations, the collision detection system 101 may coordinate with another sensing system to obtain information about objects outside the detection range of the sensing system 110 and/or to extend the sensor data obtained by the sensing system 110 . As used herein, an object "outside the detection range of sensing system 110" refers to any object for which sensing system 110 cannot reliably acquire information about its surroundings, which may include, but is not limited to: Objects within detection range of , objects that are obscured or blocked by other objects, that are in a position and/or orientation that prevent sensing system 110 from determining one or more motion characteristics of the object (e.g., as shown in FIG. 2B ) objects etc. Accordingly, objects whose sensor data is not sufficiently reliable and/or from which one or more motion signatures cannot be reliably inferred are considered to be outside the detection range of the sensing system 110 . As used herein, "sufficiently reliable" sensor data refers to sensor data that meets one or more reliability criteria, which may include, but is not limited to: signal-to-noise threshold, signal strength threshold, resolution (e.g., accuracy) threshold, or similar.

In the example of FIG. 5A a vehicle 522 is depicted that may be outside the detection range of the sensing system 110 ; In response to determining that vehicle 522 is outside the detection range of sensing system 110 , collision detection system 101 may be configured to request sensor data about vehicle 522 from one or more other vehicles (eg, vehicle 505 ), as described above. The request may be generated in response to a determination that vehicle 522 (or other area) is within detection range and/or envelope of one or more of the other vehicles' sensing systems. Alternatively, or in addition, the coordination module 160 of the collision detection system 101 may be configured to request access to the sensing system 580 of the vehicle 505 . Requesting access may include requesting that sensing system 580 operate in coordination with sensing system 110 . In the example of FIG. 5A , coordination module 160 may be configured to form a multistatic sensor including sensing system 110 of first land vehicle 102 and sensing system 580 of land vehicle 505 . The multistatic sensor may include detection signal transmitter 582 of sensing system 580 and detection signal receiver 514 of sensing system 110 . In response to a request, transmitter 582 may be configured to transmit a detection signal 587 configured to be received by receiver 514 of sensing system 110 . The detection signal 587 may be received instead of the detection signal transmitted by the transmitter 512 of the sensing system 110, or may be received in addition to the detection signal transmitted by the transmitter 512 of the sensing system 110 (by the transmitter 512). The emitted detection signal is not shown in Figure 5A to avoid obscuring details of the embodiment). Additionally, the collision detection system 101 may obtain auxiliary data from the vehicle 505, which may include, but is not limited to: the orientation, position, velocity, acceleration, etc. of the vehicle 505 relative to the vehicle 102; time synchronization signals; and the like. The processing module 120 may use the auxiliary data to interpret the received detection signal 587, which may include transforming the detection signal 587 to the frame of reference of the vehicle 102, etc., as described above.

As noted above, coordinating sensor operations may further include sensing system 110 generating one or more detection signals configured to be received by one or more other sensing systems 570 and/or 580 . For example, transmitter 512 may be configured to send a detection signal (not shown) toward vehicle 522 ; the detection signal may be received by receiver 584 of sensing system 580 and may provide information related to vehicle 522 . Sensing system 580 may fuse sensor data received in response to self-emitted detection signals with sensor data received in response to detection signals emitted by vehicle 102 , as described above. Thus, a multistatic sensor may include transmitters 512 , 582 and receivers 514 , 584 of both vehicles 102 and 505 .

As noted above, coordinating sensor operations may include forming a multistatic sensor and/or generating one or more detection signals configured to acquire signals that are outside the detection range of one or more sensing systems. Information about one or more objects. Accordingly, coordinating sensor operation may include directing one or more detection signals in a predetermined direction and/or coordinating two or more detection signals, which may include, but is not limited to, beamforming, forming, and/or configuring phasing Wait a minute.

The coordination module 160 may be configured to coordinate the operation of the sensors to enhance and/or improve data collection for one or more objects. For example, coordination module 160 may request sensing system 570 to generate detection signal 575, which may be used to obtain more accurate sensor data about vehicle 520; in the example of FIG. shown) will be partially obscured by another vehicle 521 . In response to a request, sensing system 570 may configure transmitter 572 to transmit a detection signal 575 , which may be configured to obtain information about vehicle 520 and may be detected by receiver 514 of sensing system 110 . As described above, the coordination may further include obtaining auxiliary data from the vehicle 504, which may enable the collision detection system 101 to process the detection signal 575, as described above.

Coordination module 160 may also be configured to adjust detection signals generated by transmitter 512 in cooperation with other sensing systems 570 and/or 580 . In some implementations, the coordination module 160 may configure the transmitter 512 to respond to requests from one or more other sensing systems (eg, requests to direct detection signals at particular objects and/or areas). FIG. 5B depicts another embodiment 501 of a collision detection system 101 configured to coordinate sensor operation with other sensing systems.

In the example of FIG. 5B , sensing system 101 may have a relatively unobstructed view of vehicles 530 and 531 . However, sensing system 580 may be blocked by vehicles 532 and/or 520 . The collision detection system 101 may receive a request to coordinate the operation of the sensors through the communication module 130 . Collision detection system 101 may configure sensing system 110 in accordance with the request, which may include transmitting one or more detection signals 515 and 517; signals 515 and 517 may be configured to obtain motion data about vehicles 530 and/or 531 and may be Configured to be detected by receiver 584 of sensing system 580 . Transmitting detection signals 515 and/or 517 may include transmitting multiple individual detection signals, one or more detection signals of beamforming transmitter 512, and/or the like. The coordination module 160 can be further configured to send auxiliary data to the sensing system 580 through the communication module 130, so that the sensing system 580 can transform the received detection signals 515 and/or 517 into the frame of reference of the sensing system 580 , as described above.

Although FIGS. 5A and 5B depict detection signals 575, 585, 587, 515, and 517 as "point sources," the invention is not limited in this respect. The detection signals disclosed herein may include multiple detection signals and/or detection signal coverages. Furthermore, although FIGS. 5A and 5B depict sensing system 110 including both detection signal transmitter 512 and receiver 514, the invention is not limited in this respect. In some implementations, for example, sensing system 110 may be passive, and thus, may include receiver 514 but not transmitter 512 (and/or detection system transmitter 512 may not be enabled). Accordingly, sensing system 110 may acquire sensor data passively and/or in response to detection signals sent by other sensing systems, such as sensing systems 570 and 580 described above. Alternatively, sensing system 110 may be active, and thus, may include detection signal transmitter 512 but not receiver 514 (and/or receiver 514 may not be enabled). Accordingly, sensing system 110 may acquire sensor data from other sensing systems (eg, sensing systems 570 and/or 580 ) in response to detection signals emitted by them.

FIG. 6 illustrates another embodiment 600 of a collision detection system 101 configured to coordinate sensor operations and/or share sensor data. As shown in FIG. 6 , sensing system 110 may acquire sensor data about vehicles 620, 630 and, to a limited extent, about vehicle 631; 110 is outside the detection range. Another vehicle 604 may include a sensing system 570 capable of acquiring sensor data about the vehicles 620 , 632 and, to a limited extent, about the vehicle 631 . Vehicle 630 may be out of detection range of sensing system 570 .

Coordination module 160 may be configured to coordinate the operation of sensing systems 110 and 570 . Coordination may include configuring sensing systems 110 and 570 to acquire sensor data pertaining to areas (and/or objects) within their respective detection ranges and relying on the other sensing system 110 or 570 to obtain sensor data outside of their respective detection ranges. Sensor data about objects and/or areas.

For example, in the example of FIG. 6 , coordination module 160 may configure sensing system 110 to acquire sensor data related to area 619, which may include configuring transmitter 512 to emit detections suitable for acquiring information about objects in area 619. Signal. This configuration may include beamforming, forming a phased array, directing and/or focusing one or more detection beams, etc., as described above. Accordingly, coordination may include configuring sensing system 110 to acquire sensor data related to areas and/or objects (eg, vehicle 630 ) outside the detection range of sensing system 570 . As a result, detection signals of sensing system 110 may be directed away from other regions and/or areas (eg, area 679).

The coordination module 160 may also be configured to request the sensing system 570 to acquire sensor data about the area 679 (eg, the vehicle 632 ). The request may identify an area 679 in the frame of reference of the vehicle 604, as described above. In response, sensing system 570 may configure transmitter 572 to acquire sensor data about region 679 as described above (eg, direct and/or focus detection signals to region 679 ).

Coordination module 160 may also be configured to provide sensor data about area 619 (and/or object 630) to vehicle 604 and/or receive sensor data about area 679 (and/or object 632) from vehicle 604 by using communication module 130 . Coordinating may further include communicating auxiliary data about vehicles 102 and 604, such as position, velocity, acceleration, orientation, etc., as described above.

In some embodiments, coordination may further include forming a multistatic sensor comprising sensing system 110 and sensing system 570 . Forming a multistatic sensor may include configuring transmitters 512 and/or 572 to direct detection signals to specific objects and/or areas of interest. In the example of FIG. 6 , a multistatic sensor may be configured to direct detection signals to a vehicle 631 . As noted above, neither sensing system 110 nor sensing system 570 may be able to acquire high quality data about vehicle 631 (eg, due to vehicle obstructions). Forming the multistatic sensor may enable sensing systems 570 and/or 110 to acquire higher quality data. For example, transmitters 572 and 512 may configure the phase and/or amplitude of the detection signals transmitted by them such that a detection signal transmitted by transmitter 572 about vehicle 631 is detected by receiver 514 , while a detection signal transmitted by transmitter 512 is detected by receiver 514 . The detection signal about the vehicle 631 is detected by the receiver 574 . The sensor data acquired by receivers 574 and 514 may be fused to determine a more accurate and/or more complete kinematics model of vehicle 631 . As noted above, fusing sensor data may include transforming sensor data between frames of reference of vehicles 102 and/or 604 . As such, coordination may include exchanging assistance data, as described above.

Coordination module 160 may be configured to request a configuration change in response to detecting sensing system 570 within communication range of communication module 130 . Once the communication relationship is established, the coordination module 160 may be configured to coordinate the operation of the sensing system 110 and the sensing system 570, as described above. Additionally, as additional vehicle sensing systems are discovered, they may be included in the coordination (eg, to form a multistatic sensor comprising three or more sensing systems). Alternatively, coordination module 160 may be configured to request coordinated operations as needed. For example, the coordination module 160 may be configured to coordinate the operation of the sensing system in response to determining that one or more areas and/or objects are outside the detection range of the sensing system 110 (eg, obscured by other objects).

In some implementations, the coordination module 160 may be configured to respond to requests to coordinate with other sensing systems (eg, requests from the sensing system 570). For example, sensing system 570 may initiate a request to coordinate sensor operations, and in response coordination module 160 may configure sensing system 110 in accordance with the request. As noted above, a request to coordinate sensor operation may include one or more offers, such as payments, bids, offers for access to interaction data, access to collision detection data, and the like.

FIG. 7 shows another example 700 in which the collision detection system 101 is configured to coordinate sensor operations and/or share sensor data. As noted above, the coordination module 160 may be configured to coordinate sensor operations in response to detecting other sensing systems within the communication range of the communication module 130 . In response to detecting one or more other sensing systems, the coordination module 160 may be configured to coordinate sensor operations, which may include forming multistatic sensors, configuring detection signals of other sensing systems, exchanging sensor data, exchanging assistance data, etc. .

FIG. 7 depicts one example of an ad hoc multistatic sensor including sensing systems 110 , 570 and 580 . When other vehicles containing other sensing systems (not shown) are detected, the coordination module 160 may coordinate with these sensing systems to augment the multistatic sensor. The multistatic sensor may include a plurality of transmitters 512 , 572 and/or 582 and/or a plurality of receivers 514 , 574 and/or 584 . Coordination module 160 may configure transmitters 512, 572, and/or 582 to direct detection signals emitted thereby to specific areas and/or objects of interest, as described above. Coordinating may include coordinating the phase, amplitude, and/or timing of detection signals transmitted by transmitters 512, 572, and/or 582 (eg, using beamforming and/or phased array techniques). Coordinating may further include coordinating receivers 514, 574, and/or 584 to detect a particular detection signal (eg, forming a phased array of receivers and/or antennas). Thus, a multistatic sensor formed by sensing systems 110, 570, and/or 580 may include any number of transmitters and any number of receivers (eg, N transmitters and M receivers).

The coordination module 160 may be configured to form a multistatic radar configured to acquire sensor data from a plurality of different viewing angles and/or directions relative to one or more objects. For example, each of sensing systems 110 , 570 , and 580 may be configured to acquire sensor data about vehicle 721 . Detection signals transmitted by transmitters 512 , 572 and/or 582 may be detected by one or more of receivers 514 , 574 and/or 584 . The collision detection system 101 may fuse sensor data acquired by the receiver 514 with sensor data acquired by the receivers 574 and/or 584 of the other sensing systems 570 and/or 580, as discussed above, to make the motion of the vehicle 721 Modeling of academic characteristics. Fusing sensor data obtained in response to different detection signals sent from different locations and/or orientations relative to vehicle 721 may enable collision detection system 101 to obtain a more complete and/or accurate model of vehicle 721 .

In some implementations, the communication module 130 may be configured to extend the communication range of the collision detection system 101 using an ad hoc networking mechanism (eg, an ad hoc routing mechanism). For example, sensing system 580 may be out of direct communication range of communication module 130 . As used herein, "direct communication range" refers to a range where the communication module 130 can directly communicate with another entity (eg, entity-to-entity communication). The communications module 130 may be configured to route communications through one or more entities located within direct communications range. For example, collision detection system 101 may be configured to route communications to/from sensing system 580 through sensing system 570 .

FIG. 8 is a flowchart of an embodiment of a method 800 for coordinating the operation of a sensing system. At step 810, method 800 can begin and initialize, as described above.

Step 820 may include generating a request to configure the sensing system of the second land vehicle. The request may be generated by and/or sent from the collision detection system 101 of the first land vehicle 102 (eg, the coordination module 160 of the collision detection system 101 ). The request may be in response to collision detection system 101 detecting that a second land vehicle (directly or indirectly, as described above) is within communication range, in response to collision detection system 101 determining that an area and/or object is within its sensing system 110 Out of detection range and/or determining that the object and/or area is within a detection range or envelope of a sensing system of the second land vehicle is generated and/or transmitted. Accordingly, a request to configure the sensing system of the second land vehicle may be made on an as-needed basis. The request may include a compensation offer in exchange for configuring the sensing system. The offers may include, but are not limited to: payments, bids, interactive data access, and the like. Step 820 may also include receiving an offer (or counter offer), accepting an offer, etc., as described above.

In some embodiments, configuring the sensing system at step 820 may include directing the sensing system to one or more designated areas and/or objects. Directing the sensing system at step 820 may include directing a detection signal of the sensing system to one or more areas and/or objects, which may include adjusting the phase, amplitude, timing, focus, or other features.

Step 820 may further include configuring the sensing system of the second land vehicle to cooperate with one or more other sensing systems, which may include forming a multistatic sensor comprising at least one of the sensing systems of the second land vehicle. A portion and at least a portion of one or more sensing systems of other land vehicles. Accordingly, the configuration of step 820 may include a multistatic sensor configuration, which may include, but is not limited to: beamforming, forming a phased array, and the like.

Step 820 may further include configuring the sensing system of the second land vehicle to send sensor data to one or more other sensing systems and/or collision detection systems, such as the collision detection system 101 of the first land vehicle 102 . Sending sensor data may include exchanging sensor data acquired through use of the sensing system of the second land vehicle, communicating auxiliary data about the second vehicle, communicating collision detection data (e.g., a portion of the collision detection model 122, collision detection alerts, etc.), etc. etc., as described above.

Step 830 may include generating a collision detection model (and configured as in step 820 ) using sensor data acquired using the sensing system of the second land vehicle. Step 830 may include receiving sensor data acquired by a receiver using the second sensing system and transmitted to the collision detection system 101 via the communication module 130 . Alternatively, or in addition, step 830 may include the receiver 514 of the sensing system 110 detecting sensor data in response to one or more detection signals emitted by the sensing system of the second land vehicle. Step 830 may also include receiving and/or determining assistance data regarding the second land vehicle. Step 830 may also include transforming sensor data into one or more other frames of reference and/or coordinate systems, providing collision detection data 222 to other sensing systems and/or vehicles, storing and/or transmitting monitoring data 272, etc., as above described in the text. Step 830 may also include detecting a potential collision using the collision detection model, generating and/or sending one or more alerts in response to detecting the potential collision, taking one or more collision avoidance actions, and/or the like. Step 830 may further include providing portions of the collision detection model to one or more other vehicles, as described above. Method 800 ends at step 840 .

FIG. 9 is a flowchart of one embodiment of a method 900 for coordinating the operation of a sensing system. In step 910, method 900 may begin and initialize, as described above.

Step 920 may include configuring sensing system 110 of collision detection system 101 in response to the request. The request may include a request to coordinate the operation of sensing system 110 with one or more sensing systems of other land vehicles, and may be received via communication module 130 . The request may include an offer as consideration in exchange for configuring the sensing system 110 . Step 920 may include accepting the offer, generating a counter offer, etc., as described above.

Step 920 may include configuring sensing system 110 to operate in coordination with other sensing systems, which may include, but is not limited to: directing sensing system 110 to specific areas and/or objects, providing sensor data acquired through use of sensing system 110 to one or more other vehicles, provide auxiliary data about the vehicle 102 to one or more other vehicles, form a multistatic sensor including the sensing system 110, and the like. Accordingly, step 920 may include configuring the detection signal generated by the transmitter 512 of the sensing system 110 in cooperation with other sensing systems, which may include, but is not limited to: adjusting the phase, amplitude, timing, focus, or other characteristics, as described above. Step 920 may also include configuring the receiver 514 of the sensing system 110 to receive detection signals generated by other sensing systems (eg, to form a phased antenna array).

Step 930 may include generating a collision detection model using sensor data acquired using the sensing system configured as in step 920 . Accordingly, step 930 may include generating a crash model using sensor data acquired using two or more sensing systems that operate in coordination per step 920 . Step 930 may include acquiring sensor data in response to one or more detection signals emitted by one or more other sensing systems, receiving sensor data acquired using one or more other sensing systems, receiving sensor data from one or more other sensing systems, The sensing system receives assistance data and the like. Step 930 may also include detecting a potential collision using the collision detection model, generating and/or sending one or more alerts in response to detecting the potential collision, taking one or more collision avoidance actions, and/or the like. Step 930 may also include transforming sensor data into one or more other frames of reference and/or coordinates, providing collision detection data 222 to other sensing systems and/or vehicles, storing and/or transmitting monitoring data 172, etc., as above described in the text. Method 900 ends at step 940 .

In some embodiments, the collision detection system 101 may be configured to store and/or transmit monitoring data 272 which, as described above, may include information for reconstructing the surrounding collision environment before, during and/or after a collision. /or modeled data. Monitoring data 272 may include, but is not limited to: collision detection model 122 and/or portions thereof (e.g., object motion information), sensor data acquired through use of sensing system 110, sensor data acquired from other sources (e.g., other sensory detection system), auxiliary data (e.g., orientation, position, velocity, acceleration, etc.) of vehicle 102 and/or other vehicles, potential collisions detected by collision detection system 101, evasive actions taken in response to detection of potential collisions (if required), collision kinematics, post-collision kinematics, etc.

FIG. 10 is a block diagram 1000 of one embodiment of a monitoring server 1040 . Monitoring server 1040 may operate on computing device 1030, which may include processor 1032, memory 1034, communication module 1036, and persistent storage 1038, as described above. Monitoring server 1040 may be implemented as one or more machine-readable storage media stored on a persistent storage medium (eg, persistent storage device 1038 ). Instructions comprising monitoring server 1040 may be configured to execute on computing device 1030 (eg, configured to execute on processor 1032 of computing device 1030). Alternatively, or in addition, portions of the monitoring server 1040 (and other modules and systems disclosed herein) may use machines such as special purpose processors, ASICs, FPGAs, PALs, programmable logic devices, PLAs, or the like components to implement.

Entry module 1042 may be configured to request and/or receive vehicle monitoring data 272 from collision detection systems 101A-N of land vehicles 102A-N. As noted above, monitoring data 272 may include, but is not limited to: collision detection data 222, sensor data used by collision detection systems 101A-N (sensor data acquired by collision detection systems 101A-N, sensor data obtained from other sources, etc. ), collision detection model 122 (and/or portions thereof), information about potential collisions detected by collision detection systems 101A-N, collision alerts generated by collision detection systems 101A-N, information about vehicles 102A-N Diagnostic information, crash reconstruction data, object kinematics, vehicle operating conditions, auxiliary data (eg, location time information, etc.), etc.

In some implementations, monitoring data 272 may be received via network 132 (via communication module 1036 of computing device 1030). For example, and as noted above, one or more of collision detection systems 101A-N (eg, collision detection systems 101A-C) may be configured to maintain and/or Send monitoring data 272. Alternatively, one or more of collision detection systems 101A-N may be configured to transmit monitoring data 272 periodically, intermittently, and/or in response to detection of a particular event or operating condition. For example, collision detection systems 101A-N may be configured to respond to detection of a vehicle operating in a particular manner (eg, speeding, erratic driving, or the like), detection of a particular vehicle, detection of a potential collision, detection of an actual The monitoring data 272 is sent for collisions, or the like. Alternatively, or in addition, one or more collision detection systems 101A-N may be configured to transmit monitoring data 272 in response to a request from monitoring server 1040 . Accordingly, collision detection systems 101A-N may be configured to "push" monitoring data 272 to monitoring server 1040 and/or monitoring server 1040 may be configured to "pull" monitoring data from one or more of collision detection systems 101A-N. Data 272.

As noted above, collision detection systems 101A-N may be configured to transmit monitoring data 272 intermittently. For example, the collision detection system 101N may be configured to store monitoring data 272 on the storage module 150N, and the monitoring data 272 may be intermittently uploaded to the monitoring server 1040 . For example, monitoring data 272 may be uploaded when communication module 130N is activated, when communication module 130N is in communication with network 132 (eg, is within communication range of a wireless access point), or under similar circumstances. In another example, the stored monitoring data 272 can be accessed from the storage service 150N by the computing device 1037 , which can be configured to send the monitoring data 272 to the monitoring server 1040 . Stored monitoring data 272 may be accessed when vehicle 102N is undergoing service, is within communication range of computing device 1037 , may be accessed as part of post-crash diagnostics, or in similar circumstances. In some implementations, the computing device 1037 can include a mobile communication device (eg, a cellular phone), which can communicate via a wireless communication interface (eg, near field communication (NFC), etc.) to access the stored monitoring data 272.

Monitoring server 1040 may be configured to offer consideration for providing monitoring data 272 . The consideration may include one or more of payment, bid, interactive data access (eg, access to stored monitoring data 1072A-N, described below), and the like. The consideration may also include access to features of the monitoring server 1040, such as access to collision alerts 1047 (described below), and the like.

Monitoring data 272 received at monitoring server 1040 may be processed by entry module 1042 . Entry module 1042 may be configured to process and/or store monitoring data entries 1072A-N in a persistent store 1054 . Entry module 1042 may be further configured to index monitoring data 1072A-N by one or more indexing criteria, which may include, but is not limited to: time, location, vehicle identifier, detected collision, and/or other suitable standard. Index criteria may be stored in respective index entries 1073A-N. Alternatively, indexing criteria may be stored with monitoring data entries 1072A-N.

Entry module 1042 may be configured to extract and/or derive indexing criteria from received monitoring data 272 . For example, monitoring data 272 may include time synchronization signals, time stamps, or other time series data from which time index criteria may be determined. Likewise, monitoring data 272 may include assistance data (eg, GPS coordinates) from which location index information may be determined. Accordingly, extracting indexing criteria may include extracting one or more data streams and/or data fields from monitoring data 272 (eg, extracting time-stamped and/or time-synchronized signals, extracting location coordinates, etc.).

Monitoring data 272 may further include information from which indexing criteria may be derived. Deriving indexing criteria may include using monitoring data 272 to determine indexing criteria. For example, a vehicle identifier may be derived from received surveillance data 272 such as a VIN number, license plate information, the vehicle's RFID, image data (eg, an image of a license plate, etc.), and the like. Deriving indexing criteria may include determining a vehicle identifier from sensor data (eg, an image in surveillance data 272 ), determining a vehicle's location from vehicle kinematics, and the like.

In some implementations, the entry module 1042 can be configured to transform and/or normalize the monitoring data 272 (and/or extract and/or derive index data therefrom). For example, the entry module 1042 may be configured to convert timing information to an appropriate time zone, convert and/or transform location information (e.g., from GPS coordinates to another reference location and/or coordinate system), transform collision detection data (e.g., collision detection model 122 and/or vehicle motion information) to a different frame of reference and/or coordinate system, etc., as described above.

In some implementations, the entry module 1042 can be configured to augment the monitoring data 272 . For example, entry module 1042 may be configured to combine monitoring data 272 pertaining to the same time and/or location (eg, overlapping times and/or locations). Entry module 1042 may be configured to aggregate “overlapping” monitoring data 272 , which may include portions of modified and/or optimized monitoring data 272 .

The entry module 1042 may also be configured to authenticate the monitoring data 272 , which may include, but not limited to: verifying the credentials of the monitoring data 272 , verifying the signature of the monitoring data 272 , decrypting the monitoring data 272 and so on. In some implementations, monitoring data 272 that cannot be authenticated may be rejected (eg, not included in persistent storage 1054 and/or not indexed as described above).

As noted above, the entry module 1042 may be configured to request monitoring data from one or more vehicles 101A-N via the network 132 . The request may specify a time, location, and/or identifier of interest. For example, the entry module 1042 may issue a request to monitor data related to a collision of one or more vehicles 101A-N. The request may specify the time and/or location of the collision, and may identify the vehicles involved in the collision. A time and/or location may be specified as a range, such as a range of time before, during, and after a collision, locations within a proximity threshold of a collision location, and the like. The request may also include identifying information about the vehicles involved in the collision. In response to the request, the collision detection systems 101A-N may determine whether any stored monitoring data satisfies the request, and if so, may send the monitoring data 272 to the monitoring server 1040, as described above. Alternatively, or in addition, collision detection systems 101A-N may be configured to store the request, and may be configured to send monitoring data 272 in response to obtaining monitoring data 272 that satisfies the request.

In some implementations, the monitoring server 1040 may include a notification module 1044 configured to determine whether the received monitoring data 272 indicates that a collision has occurred (or is predicted to occur). Notification module 1044 may be configured to send one or more collision notifications 1045 and/or collision alerts 1047 . Notification module 1044 may be configured to coordinate with emergency response entity 1060 in response to receiving monitoring data 272 indicative of a collision; monitoring server 1040 may send collision notification 1045 to emergency response entity 1060 or other entities (e.g., public safety entities, traffic control entities or similar entity). Sending collision notification 1045 may include extracting collision information from monitoring data 272, which, as described above, may include, but is not limited to: collision detection models, sensor data, motion information about the collision (e.g., determining impact velocity, estimating forces involved, etc.), the estimated stopping locations of the vehicles (and/or vehicle occupants) involved in the collision, the location of the collision, the time of the collision, the number of vehicles involved in the collision, the estimated severity of the collision, etc. Wait. Sending the collision notification 1045 may include determining to identify the emergency response entity 1060 based on the location of the collision, transforming and/or converting the monitoring data 272 into a suitable format for the emergency response entity 1060 , and the like.

The notification module 1044 may also be configured to provide a collision alert 1047 to one or more of the collision detection systems 101A-N. A collision alert 1047 may be sent to vehicles 102A-N in the vicinity of the collision and/or vehicles 102A-N that may be traveling toward the collision. The collision alert 1047 may include information regarding the location and/or time associated with the collision, the estimated severity of the collision, etc., as described above. The collision detection systems 101A-N may alert the vehicle operator of the collision and/or recommend an alternate route to the navigation system of the vehicle 102A-N in response to receiving the collision alert 1047 .

The notification module 1044 may be further configured to send collision notifications 1045 and/or collision alerts 1047 to other objects and/or entities, such as pedestrians, mobile communication devices, and the like. For example, in some implementations, notification module 1044 may be configured to broadcast collision alert 1047 via one or more wireless transmitters (eg, cellular data transceivers) in network 132 to (one or more pedestrians and/or or vehicle operator's) mobile communication device. The collision alert 1047 may indicate that a collision has occurred and/or is predicted to occur, as described above.

In another example, monitoring server 1040 may respond to requests from emergency services entity 1060 . For example, the emergency services entity 1060 may request data related to a particular vehicle, such as an AMBERALERT( ^TM )-encountered vehicle. Monitoring server 1040 may request vehicle-related data from vehicles 101A-N. In response to receiving relevant monitoring data 272 , monitoring server 1040 may send monitoring data 272 to emergency services entity 1060 . Sending monitoring data 272 to emergency services entity 1060 may include transforming and/or converting monitoring data 272 into a suitable format, as described above. Monitoring server 1040 may provide monitoring data 272 as it is received (eg, in “real time”) and/or may provide monitoring data stored on persistent storage 1054 .

As noted above, entry module 1042 may be configured to store and/or index monitoring data 1072A-N in persistent storage 1054 . Monitoring data 1072A-N may be retained on persistent storage 1054 for a predetermined period of time. In some implementations, monitoring data 1072A-N related to collisions (and/or potential collisions) may be retained, while other monitoring data 1072A-N may be removed after a predetermined period of time (and/or moved to long-term storage, such as moving to tape backup, etc.).

Monitoring server 1040 may also be configured to respond to requests 1081 for monitoring data from one or more requesting entities 1080A-N. Requesting entities 1080A-N may include, but are not limited to: individuals, businesses (such as insurance companies), investigative entities (such as public security departments), adjudication entities (such as courts, mediators, etc.), and the like. The request 1081 for monitoring data may be generated by a computing device, such as a notebook, laptop, tablet, smartphone, etc., and may include one or more request criteria, such as time, location, vehicle identifier, etc. .

Monitoring server 1040 may include query module 1046 configured to respond to request 1081 for monitoring data. Query module 1046 can extract requested criteria from the request and can determine whether persistent storage includes monitoring data 1072A-N corresponding to the request (eg, monitoring data related to the time and/or location specified in request 1081 ). This determination may be made by comparing the criteria of request 1081 with entries 1072A-N and/or index entries 1073A-N. Query module 1046 may generate response 1083, which may include portions consistent with monitoring data 1072A-N. Generating response 1083 may include transforming and/or transforming monitoring data 1072A-N (and/or portions thereof), as described above. For example, requesting entity 1080A-N may be the owner of a vehicle involved in the collision, and request 1081 may include a request for monitoring data 1072A-N related to the time and/or location of the collision. Surveillance data 1072A-N may be used to reconstruct the environment surrounding the crash in order to specifically determine fault and/or insurance coverage of the crash.

In some implementations, monitoring server 1040 may provide access to monitoring entries 1072A-N in exchange for a consideration, such as a payment, an offer, access to interaction data (e.g., monitoring data 272 for one or more vehicles of requesting entities 1080A-N access) and so on. Accordingly, request 1081 may include a quote and/or payment. Query module 1046 can determine whether the offer requested 1081 is sufficient (eg, complies with one or more policy rules). The query module 1046 may deny the request, which may include sending an indication that the request was not satisfied, sending a counter-offer to the requesting entity 1080A-N, or the like. Accepting the request may include transferring the payment (or other exchange) and sending a response 1083 to the requesting entity 1080A-N, as described above. Alternatively, or in addition, query module 1046 may be configured to generate a bill and/or invoice in response to providing access to one or more of monitored items 1072A-N. Bills and/or invoices may be generated based on a predetermined tariff, which may be provided to requesting entities 1080A-N. Bills and/or invoices may be sent over network 132 to requesting entities 1080A-N.

In some embodiments, query module 1046 is configured to determine whether requesting entity 1080A-N is authorized to access stored monitoring data (monitoring entries 1072A-N), which may include authenticating requesting entity by, inter alia, authenticating said request 1081 1080A-N, authenticating credentials provided by requesting entities 1080A-N, and so on. Authorizing access to stored monitoring entries 1072A-N may be based on one or more access control data structures 1074 maintained by monitoring server 1040 . Access control data structures 1074 may include any suitable data structures for determining access rights, such as access control lists (ACLs), role-based access, group rights, and the like. For example, requesting entity 1080A may subscribe to monitoring server 1040 and thus may be identified as an “authorized entity” in one or more access control data structures 1074 . Monitoring server 1040 may allow requesting entity 1080A to access monitoring entries 1072A-N in response to authenticating the identity of requesting entity 1080A and/or verifying that requesting entity 1080A is included in one or more of access control data structures 1074 .

Figure 11 is a flowchart of one embodiment of a method 1100 for providing monitoring services. At step 1110, method 1100 begins and initializes, as described above.

Step 1120 may include receiving monitoring data 272 from one or more collision detection systems 101A-N. may be in response to a request from monitoring server 1040, in response to collision detection systems 101A-N during operation and/or at particular time intervals, and/or in response to particular events (e.g., collisions, collision detection systems 101A-N and network 132 establishing a communication relationship, etc.) sending monitoring data 272, and/or receiving monitoring data 272 in response to computing device 1037 accessing stored monitoring data 272, as described above.

Step 1120 may further include offering and/or providing consideration in exchange for monitoring data 272 . The exchange may include providing payment for monitoring data 272, offering an offer for access to monitoring data 272, providing interactive access, etc., as described above.

Step 1130 may include storing the monitoring data in persistent storage 1054 . Step 1130 may further include indexing the monitoring data by one or more indexing criteria, which may include, but is not limited to: time, location, vehicle identifier, and the like. Accordingly, step 1130 may include extracting and/or deriving indexing criteria 1130 from the monitoring data 272 received in step 1120, as described above. In some implementations, step 1130 also includes transforming and/or converting the monitoring data 272 (eg, transforming the monitoring data 272 from a frame of reference of a particular vehicle 102A-N to an absolute frame of reference, etc.).

The monitoring data 272 received at step 1120 may indicate that a collision has occurred and/or is predicted to occur. Accordingly, step 1130 may further include generating and/or sending a collision notification 1045 to an emergency services entity 1060 . As noted above, the collision notification 1045 may identify the location and/or time of the collision, may include estimated collision forces (and resulting collision impact forces and/or vehicle kinematics), and the like. Step 1130 may further include generating and/or sending one or more collision alerts to one or more vehicles 102A-N, mobile communication devices, pedestrians, emergency service entities, etc., as described above. Method 1100 ends at step 1140 .

Figure 12 is a flowchart of another embodiment of a method 1200 for providing monitoring services. At step 1210, method 1200 begins and initializes, as described above.

Step 1220 may include receiving a request for monitoring data (eg, data for one or more monitoring entries 1072A-N). The request of step 1220 may be received over network 132 from requesting entities 1080A-N. The request may include request criteria such as time, location, vehicle identifier, etc., as described above. A request may also contain an offer of consideration in exchange for fulfilling the request. The offers may include, but are not limited to: payments, bids, interactive data access, and the like. Step 1220 may include determining whether an offer is acceptable, and if not, rejecting the offer and/or generating and/or sending an offer (or counter-offer) to the requesting entity 1080A-N. Step 1220 may further include authenticating the requesting entity and/or determining whether the requesting entity is authorized to access stored monitoring entries 1072A-N, as described above (eg, based on one or more access control data structures 1074).

Step 1230 may include identifying monitoring data that meets the request (eg, monitoring data associated with the time, location, and/or vehicle identifier specified in the request). Accordingly, step 1230 may include identifying one or more monitoring entries 1072A-N that meet the requested criteria, which may include comparing the requested criteria with entries 1072A-N and/or indexed entries 1073A-N, as described above. For example, step 1230 may include identifying monitoring entries 1072A-N associated with a time specified in the request, associated with a location specified in the request, associated with a vehicle identifier specified in the request, or the like.

Step 1240 may include generating and/or sending a response 1083 to requesting entities 1080A-N. Step 1240 may include transforming and/or converting the data of the monitoring entries 1072A-N identified at step 1230, as described above. Method 1200 ends at step 1250 .

The disclosure has been described with reference to various exemplary embodiments. However, those skilled in the art will recognize that changes and modifications may be made to the exemplary embodiments without departing from the scope of the present disclosure. For example, various operational steps and components for performing the operational steps may be implemented in alternative ways depending on the particular application or in consideration of any number of running costs associated with system operation (e.g., one or more of the steps may be deleted, modified, or combined with other steps). Accordingly, the disclosure is to be regarded as illustrative rather than restrictive, and all such modifications are intended to be included within its scope. Likewise, benefits, other advantages, and solutions to problems have been described above in terms of various embodiments. However, benefits, advantages, solutions to problems, and any element that would cause any benefit, advantage, or solution to occur or become more prominent should not be construed as being a critical, required, or necessary feature or element. As used herein, the terms "comprising", "including" and any other variations thereof are intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a list of elements does not include only those elements, Instead, other elements not explicitly listed or inherent to the process, method, article, or apparatus may be included. Furthermore, as used herein, the terms "coupled," "coupled," and any other variations thereof are intended to cover physical, electrical, magnetic, optical, communicative, functional, and/or any other connections .

Furthermore, as will be understood by those of ordinary skill in the art, the principles of the present disclosure may be embodied in a computer program product on a machine-readable storage medium having a machine-readable format embodied in the storage medium. program code device. Any tangible, non-transitory computer-readable storage medium may be utilized, including magnetic storage devices (hard disks, floppy disks, etc.), optical storage devices (CD-ROMs, DVD discs, Bli-Ray discs, etc.), flash memory and/or or similar. These computer program instructions can be loaded into a general purpose computer, special purpose computer, or other programmable data processing apparatus to generate a machine, such that the instructions executed on the computer or other programmable data processing apparatus create means for performing specified functions. These computer program instructions can also be stored in a machine-readable memory, so as to be able to instruct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory generate an article of manufacture, including implementing the specified Functional measures. The computer program instructions can also be loaded into a computer or other programmable data processing device to cause a series of operation steps to be executed on the computer or other programmable device, thereby generating a computer-implemented process, so that the process executed on the computer or other programmable device Instructions provide the steps for implementing a specified function.

While the principles of the present disclosure have been shown in various embodiments, structures, arrangements, proportions, elements, materials particularly suited to particular circumstances and operational requirements may be employed without departing from the principles and scope of the present disclosure. and many modifications of components. These and other changes or modifications are intended to be included within the scope of this disclosure.

Several aspects of the presently described subject matter are set forth in the following numbered clauses:

1. A method comprising:

generating a request at the first land vehicle to configure the sensing system of the second land vehicle; and

A collision detection model is generated using sensor data acquired using a sensing system of the second land vehicle.

2. The method of clause 1, further comprising sending the request to the second land vehicle.

3. The method of clause 1, further comprising receiving sensor data acquired using a sensing system of the second land vehicle in response to the request.

4. The method of clause 1, further comprising:

acquiring sensor data by using a sensing system of the first land vehicle; and

A collision detection model is generated using sensor data acquired using the sensing system of the second land vehicle and sensor data acquired using the sensing system of the first land vehicle.

5. The method of clause 1, further comprising:

selecting the second land vehicle based at least in part on at least one of the following: a location of the second land vehicle, an orientation of the second land vehicle, a sensor capacity of the second land vehicle, The position of the second land vehicle relative to a designated area, the position of the second land vehicle relative to a designated object, the direction of the second land vehicle relative to a designated area, and the direction of the second land vehicle relative to a designated object .

6. The method of clause 1, wherein the sensor data acquired by using the sensing system of the second land vehicle includes range, velocity, angle, angle-dependent range, At least one of the angular bounds.

7. The method of clause 1, wherein the request identifies an area, and wherein the sensing system of the second land vehicle directs a detection signal to the identified area in response to the request.

8. The method of clause 7, wherein the detection signal is configured to be detected by a receiver of a sensing system of the first land vehicle.

9. The method of clause 1, wherein the request identifies an object, and wherein the sensing system of the second land vehicle directs a detection signal to the identified object in response to the request.

10. The method of clause 9, wherein the detection signal is configured to be detected by a receiver of a sensing system of the first land vehicle.

11. The method of clause 1, further comprising providing sensor data acquired using a sensing system of the first land vehicle to another land vehicle.

12. The method of clause 1, further comprising forming a multistatic sensor comprising at least a portion of the sensing system of the first land vehicle and at least a portion of the sensing system of the second land vehicle .

13. The method of clause 12, wherein the multistatic sensor includes one or more detection signal transmitters, the one or more detection signal transmitters including a detection signal transmitter of the first land vehicle.

14. The method of clause 12, wherein the multistatic sensor comprises one or more receivers including a receiver of a first land vehicle.

15. The method of clause 12, wherein forming the multistatic sensor includes configuring a sensing system of the first land vehicle to receive a detection signal emitted by a sensing system of the second land vehicle.

16. The method of clause 12, wherein forming the multistatic sensor includes configuring a sensing system of the first land vehicle to transmit a sensed sensor configured to be detected by a receiver of the second land vehicle Signal.

17. The method of clause 16, further comprising using a sensor acquired by using a sensing system of the second land vehicle in response to the sensing signal emitted by the sensing system of the first land vehicle data to generate the collision detection model.

18. The method of clause 12, wherein forming the multistatic sensor comprises steering a sensing signal to a predetermined area.

19. The method of clause 12, wherein forming the multistatic sensor comprises beamforming the sensing system of the first land vehicle and the sensing system of the second land vehicle.

20. The method of clause 19, wherein beamforming includes directing detection signals of the multistatic radar in predetermined directions.

21. The method of clause 19, wherein beamforming includes altering the phase of a detection signal emitted by one of the sensing system of the first land vehicle and the sensing system of the second land vehicle.

22. The method of clause 19, wherein beamforming includes varying an amplitude of a detection signal emitted by one of the sensing system of the first land vehicle and the sensing system of the second land vehicle.

23. The method of clause 12, wherein forming the multistatic sensor comprises forming a multistatic radar comprising at least a portion of the radar sensing system of the first land vehicle and the second At least a portion of a radar sensing system of a land vehicle.

24. The method of clause 12, wherein forming the multistatic sensor comprises forming a multistatic radar including a plurality of radar receivers, including a radar receiver of the first land vehicle.

25. The method of clause 12, wherein forming the multistatic sensor comprises forming a multistatic radar including a plurality of radar transmitters, including a transmitter receiver of a first land vehicle.

26. The method of clause 12, wherein forming the multistatic sensor comprises forming a bistatic radar comprising a radar transmitter of the first land vehicle and a radar receiver of the second land vehicle .

27. The method of clause 12, wherein forming the multistatic sensor comprises forming a bistatic radar comprising a radar receiver of the first land vehicle and a radar transmitter of the second land vehicle .

28. The method of clause 12, wherein forming the multistatic sensor comprises forming a phased array including at least a portion of the sensing system of the first land vehicle and the second land vehicle at least a portion of the sensing system.

29. The method of clause 27, further comprising steering the phased array in a predetermined direction.

30. The method of clause 12, further comprising:

obtaining auxiliary data about said second land vehicle; and

The multistatic sensor is formed using the acquired assistance data.

31. The method of clause 30, wherein the acquired assistance data includes one of acceleration, velocity, position and orientation of the second land vehicle.

32. The method of clause 30, further comprising requesting assistance data from the second land vehicle.

33. The method of clause 1, wherein the sensing system of the second land vehicle comprises electro-optic sensors, stereo sensors, LIDAR, acoustic sensors, ultrasonic sensors, imaging sensors, radar, electromagnetic sensors, One of magnetic sensor and capacitive sensor.

34. The method of clause 1, wherein the sensing system of the first land vehicle comprises electro-optical sensors, stereo sensors, LIDAR, acoustic sensors, ultrasonic sensors, imaging sensors, radar, electromagnetic sensors, One of magnetic sensor and capacitive sensor.

35. The method of clause 1, further comprising generating the request to configure a sensing system of the second land vehicle in response to determining that motion information related to an object does not satisfy a threshold.

36. The method of clause 35, further comprising determining that a signal-to-noise ratio of sensor data related to the object does not satisfy the threshold.

37. The method of clause 35, further comprising determining an orientation of a sensing system of the first land vehicle prevents determining one or more motion characteristics of the object.

38. The method of clause 1, further comprising generating the request in response to determining that an object is outside a detection envelope of a sensing system of the first land vehicle.

39. The method of clause 1, further comprising generating the request in response to determining that an object is inside a detection envelope of a sensing system of the second land vehicle.

40. The method of clause 38, further comprising determining that the object is occluded by another object.

41. The method of clause 38, further comprising determining that the rectified position of the object is outside a detection range of a sensing system of the first land vehicle.

42. The method of clause 1, wherein the request includes a payment offer.

43. The method of clause 1, wherein the request includes an offer.

44. The method of clause 1, wherein the request includes an offer to access the collision detection model.

45. The method of clause 1, wherein the request includes an offer to access sensor data acquired using a sensing system of the first land vehicle.

46. The method of clause 1, wherein the request includes an offer to access the stored monitoring data.

47. The method of clause 1, wherein the collision detection model is generated at least in part at the first land vehicle.

48. The method of clause 1, further comprising sending at least a portion of the collision detection model to the second land vehicle.

49. The method of clause 1, wherein the collision detection model is generated at least in part at the second land vehicle.

50. The method of clause 1, wherein the sensing system of the second land vehicle is configured to acquire sensor data related to an object.

51. The method of clause 50, wherein the object is one of a vehicle, a pedestrian, a road block, and an animal.

52. The method of clause 50, wherein the collision detection model includes an orientation of the object.

53. The method of clause 50, wherein the collision detection model includes a size of the object.

54. The method of clause 50, wherein the collision detection model includes a position of the object.

55. The method of clause 50, wherein the collision detection model includes a velocity of the object.

56. The method of clause 50, wherein the collision detection model includes an acceleration of the object.

57. The method of clause 50, wherein the collision detection model includes an identity of the object.

58. The method of clause 1, further comprising transforming sensor data acquired using a sensing system of the second land vehicle into a frame of reference of the first land vehicle.

59. The method of clause 1, further comprising transforming the collision detection model into an absolute frame of reference.

60. The method of clause 1, further comprising transforming the collision detection model to a frame of reference of the first land vehicle.

61. The method of clause 1, wherein the collision detection model includes a position of an object relative to the first land vehicle.

62. The method of clause 1, wherein the collision detection model includes an orientation of an object relative to the first land vehicle.

63. The method of clause 1, wherein the collision detection model includes a velocity of an object relative to the first land vehicle.

64. The method of clause 1, wherein the collision detection model includes an acceleration of a phase object relative to the first land vehicle.

65. The method of clause 1, further comprising transforming sensor data acquired using a sensing system of the first land vehicle into a frame of reference of the second land vehicle.

66. The method of clause 1, further comprising transforming the collision detection model to a frame of reference of the second land vehicle.

67. The method of clause 1, wherein the collision detection model includes a position of an object relative to the second land vehicle.

68. The method of clause 1, wherein the collision detection model includes an orientation of an object relative to the second land vehicle.

69. The method of clause 1, wherein the collision detection model includes a velocity of an object relative to the second land vehicle.

70. The method of clause 1, wherein the collision detection model includes an acceleration of an object relative to the second land vehicle.

71. The method of clause 1, further comprising transforming the sensor data acquired using a sensing system of the second land vehicle into a frame of reference of a third land vehicle.

72. The method of clause 1, further comprising transforming the collision detection model to a frame of reference of the third land vehicle.

73. The method of clause 1, wherein the collision detection model includes a position of an object relative to a third land vehicle.

74. The method of clause 1, wherein the collision detection model includes an orientation of the object relative to the third land vehicle.

75. The method of clause 1, wherein the collision detection model includes a velocity of an object relative to a third land vehicle.

76. The method of clause 1, wherein the collision detection model includes an acceleration of an object relative to a third land vehicle.

77. The method of clause 1, further comprising detecting potential collisions between objects within the collision detection model.

78. The method of clause 1, further comprising detecting a potential collision between an object and the first land vehicle by using the collision detection model.

79. The method of clause 1, further comprising detecting a potential collision between an object and the second land vehicle by using the collision detection model.

80. The method of clause 1, further comprising detecting a potential collision between an object and a third land vehicle by using the collision detection model.

81. The method of clause 77, further comprising determining when the potential collision occurred.

82. The method of clause 77, further comprising determining a location of the potential collision.

83. The method of clause 77, further comprising determining an impact velocity of the potential collision.

84. The method of clause 77, further comprising estimating one or more impact forces of the potential collision.

85. The method of clause 77, further comprising estimating post-collision kinematics of one or more of the potentially colliding objects.

86. The method of clause 77, further comprising generating an alert in response to detecting the potential collision.

87. The method of clause 77, further comprising providing the alert to objects predicted to be involved in the potential collision.

88. The method of clause 77, further comprising activating a collision avoidance system of the first land vehicle in response to detecting the potential collision.

89. The method of clause 77, further comprising activating a collision warning system of the first land vehicle in response to detecting the potential collision.

90. The method of clause 89, wherein activating the collision warning system includes activating an acoustic warning system of the first land vehicle.

91. The method of clause 89, wherein activating the collision warning system includes activating an electro-optical transmitter of the first land vehicle.

92. The method of clause 77, further comprising displaying an alert in response to detecting the potential collision.

93. The method of clause 77, further comprising generating an audio alert within the first land vehicle in response to detecting the potential collision.

94. The method of clause 77, further comprising displaying a visual indication of the potential collision on a user display screen of the first land vehicle.

95. The method of clause 77, further comprising displaying a visual indication of the potential collision on a head-up display of the first land vehicle.

96. The method of clause 95, further comprising identifying the potentially colliding object that will occur in the head-up display of the first land vehicle.

97. The method of clause 77, further comprising generating a collision avoidance instruction based on the collision detection model in response to detecting the potential collision.

98. The method of clause 97, wherein the collision avoidance command includes one of a command to decelerate, accelerate and steer.

99. The method of clause 97, further comprising generating an alert including a collision avoidance instruction.

100. The method of clause 77, further comprising:

predicting the outcome of the potential collision by using the collision detection model; and

A collision avoidance instruction is generated by using the predicted result.

101. The method of clause 77, further comprising sending an alert to the second land vehicle in response to detecting the potential collision.

102. The method of clause 101, wherein the alert includes a location of the potential collision object relative to the second land vehicle.

103. The method of clause 101, wherein the alert includes a velocity of the potential collision object relative to the second land vehicle.

104. The method of clause 101, further comprising generating a collision avoidance instruction for the second land vehicle.

105. The method of clause 101, further comprising:

predicting the outcome of the potential collision using the collision detection model; and

A collision avoidance instruction for the second land vehicle is generated by using the predicted outcome.

106. The method of clause 77, further comprising sending an alert to a third land vehicle in response to detecting the potential collision.

107. The method of clause 106, wherein sending the alert comprises broadcasting the alert.

108. The method of clause 106, wherein the third land vehicle is involved in the potential collision.

109. The method of clause 106, wherein the alert includes a location of the potential collision object relative to the third land vehicle.

110. The method of clause 106, wherein the alert includes a velocity of the potential collision object relative to the third land vehicle.

111. The method of clause 106, further comprising:

predicting the outcome of the potential collision using the collision detection model; and

An avoidance instruction for the third land vehicle is generated based on the predicted outcome.

112. The method of clause 111, further comprising generating a collision avoidance instruction for the third land vehicle based on the predicted outcome.

113. The method of clause 1, further comprising requesting assistance data from the second land vehicle.

114. The method of clause 1, further comprising receiving assistance data from the second land vehicle.

115. The method of clause 114, further comprising using the assistance data to transform the collision detection model into a frame of reference of the second land vehicle.

116. The method of clause 114, further comprising using the assistance data to transform sensor data acquired using a sensing system of the second land vehicle into a frame of reference of the first land vehicle.

117. The method of clause 114, further comprising using the assistance data to transform a signal received at the sensing system of the first land vehicle in response to a detection signal emitted by the sensing system of the second land vehicle. sensor data.

118. The method of clause 114, wherein the assistance data includes one of acceleration, velocity, position and orientation of the second land vehicle.

119. The method of clause 114, wherein the assistance data includes information relating to the capacity of a sensing system of the second land vehicle.

120. The method of clause 114, wherein the assistance data comprises Global Positioning System coordinates.

121. The method of clause 114, wherein the assistance data comprises measurements of a speedometer.

122. The method of clause 114, wherein the assistance data comprises a time synchronization signal.

123. The method of clause 114, further comprising receiving assistance data from the third land vehicle.

124. The method of clause 1, further comprising:

generating the collision detection model on the first land vehicle; and

At least a portion of the collision detection model is provided to another land vehicle.

125. The method of clause 1, further comprising receiving at least a portion of the second collision detection model from another land vehicle.

126. The method of clause 125, further comprising combining the collision detection model and the second collision detection model.

127. The method of clause 125, further comprising optimizing the collision detection model using the second collision detection model.

128. The method of clause 1, further comprising receiving a request to access sensor data acquired using a sensing system of the second land vehicle and a sensing system of the first land vehicle.

129. The method of clause 128, wherein the request to access the sensor data includes a payment offer, the method further comprising providing a request for the requested sensor data in response to the payment offer meeting a predetermined payment threshold. access.

130. The method of clause 128, wherein the request to access the sensor data includes an offer, the method further comprising providing access to the requested sensor data in response to the offer meeting a predetermined offer threshold.

131. The method of clause 128, wherein the request to access the sensor data comprises an offer to provide access to collision detection data for a specified vehicle.

132. The method of clause 131, further comprising:

Access to the requested sensor data is provided in response to determining that the collision detection data for the specified vehicle can be used to generate the collision detection model.

133. The method of clause 1, further comprising:

request access to the collision detection model generated by the specified vehicle; and

The collision detection model is generated using a collision detection model of the designated vehicle.

134. The method of clause 133, wherein requesting the collision detection model comprises offering payment in exchange for access to the requested collision detection model.

135. The method of clause 133, wherein requesting the collision detection model comprises bidding for access to the requested collision detection model.

136. The method of clause 133, wherein requesting the collision detection model comprises offering access to sensor data in exchange for access to the requested collision detection model.

137. The method of clause 1, further comprising receiving a request to access the collision detection model.

138. The method of clause 137, wherein the request to access the collision detection model includes payment, the method further comprising providing access to the collision detection model in response to the payment satisfying a predetermined payment threshold .

139. The method of clause 137, wherein the request to access the collision detection model comprises a bid, the method further comprising providing access to the collision detection model in response to the bid meeting a predetermined bid threshold .

140. The method of clause 137, wherein the request to access the collision detection model includes an offer to provide access to collision detection data for a specified vehicle.

141. The method of clause 140, further comprising providing access to the collision detection model in response to determining that the collision detection data for the specified vehicle can be used to generate the collision detection model.

142. The method of clause 1, further comprising establishing a communication link between the first land vehicle and the second land vehicle.

143. The method of clause 142, wherein the communication link comprises one of a peer-to-peer network, an ad hoc network, an infrastructure network, a wireless network, a cellular data network, and an electro-optical network.

144. The method of clause 142, further comprising establishing the communication link in response to detecting one of the first land vehicle and the second land vehicle within a communication range.

145. The method of clause 142, further comprising establishing the communication link in response to detecting proximity of the first land vehicle to the second land vehicle.

146. The method of clause 145, wherein detecting the approach of the first land vehicle to the second land vehicle comprises one of broadcasting a communication discovery signal and detecting a communication discovery signal broadcast.

147. The method of clause 145, wherein detecting the first land vehicle approaching the second land vehicle comprises determining a location of one of the first land vehicle and the second land vehicle.

148. The method of clause 147, further comprising registering a location of one of the first land vehicle and the second land vehicle.

149. The method of clause 1, further comprising sending monitoring data comprising at least a portion of the collision detection model via a network.

150. The method of clause 149, further comprising sending the monitoring data to one of a traffic management system, a web-accessible service station, an insurance company, and a public safety agency.

151. The method of clause 149, further comprising securing the monitoring data transmitted over the network.

152. The method of clause 151, wherein securing the monitoring data comprises signing the monitoring data.

153. The method of clause 151, wherein securing the monitoring data comprises encrypting the monitoring data.

154. The method of clause 149, further comprising time stamping the monitoring data.

155. The method of clause 149, further comprising including a location identifier within the monitoring data.

156. The method of clause 1, further comprising storing monitoring data comprising at least a portion of the collision detection model on a persistent storage medium.

157. The method of clause 156, further comprising securing the stored monitoring data.

158. The method of clause 156, further comprising sending the stored monitoring data over a network.

159. A collision detection system comprising:

a coordination module of the first land vehicle configured to generate a request to configure the sensing system of the second land vehicle; and

A processing module configured to generate a collision detection model using sensor data acquired using a sensing system of the second land vehicle.

160. The collision detection system of clause 159, further comprising a communication module configured to send the request to the second land vehicle.

161. The collision detection system of clause 159, further comprising a communication module configured to receive sensor data acquired using a sensing system of the second land vehicle in response to the request.

162. The collision detection system of clause 159, further comprising a communication module configured to receive sensor data acquired using a sensing system of the second land vehicle, wherein the processing module is configured to use a The collision detection model is generated using the sensor data acquired by the sensing system of the second land vehicle and the sensor data acquired by using the sensing system of the first land vehicle.

163. The collision detection system of clause 159, wherein the coordination module is configured to select the second land vehicle based at least in part on at least one of the following: the second land vehicle the position of the second land vehicle, the direction of the second land vehicle, the sensor capacity of the second land vehicle, the position of the second land vehicle relative to the specified area, the position of the second land vehicle relative to the specified object, the A direction of the second land vehicle relative to the designated area, and a direction of the second land vehicle relative to the designated object.

164. The collision detection system of clause 159, wherein sensor data acquired by using the sensing system of the second land vehicle includes range, velocity, angle, angular dependence of an object relative to the second land vehicle At least one of range and angle bounds.

165. The collision detection system of clause 159, wherein the request identifies an area, and wherein the sensing system of the second land vehicle directs a detection signal to the identified area in response to the request.

166. The collision detection system of clause 165, wherein the detection signal is configured to be detected by a receiver of a sensing system of the first land vehicle.

167. The collision detection system of clause 159, wherein the request identifies an object, and wherein the sensing system of the second land vehicle directs a detection signal to the identified object in response to the request.

168. The collision detection system of clause 167, wherein the detection signal is configured to be detected by a receiver of a sensing system of the first land vehicle.

169. The collision detection system of clause 159, further comprising a communication module to provide acquired sensor data to another land vehicle by using the sensing system of the first land vehicle.

170. The collision detection system of clause 159, wherein configuring the sensing system of the second land vehicle includes forming a multistatic sensor comprising at least a portion of the sensing system of the first land vehicle and all At least a portion of the sensing system of the second land vehicle.

171. The collision detection system of clause 170, wherein said multistatic sensor formed by said coordination module comprises one or more detection signal transmitters comprising said first Launchers for land vehicles.

172. The collision detection system of clause 170, wherein said multistatic sensor formed by said coordination module comprises one or more receivers comprising a receiver of said first land vehicle device.

173. The collision detection system of clause 170, wherein the coordination module is configured to configure the sensing system of the first land vehicle to receive a detection signal emitted by the sensing system of the second land vehicle.

174. The collision detection system of clause 170, wherein the coordination module is configured to configure a sensing system of the first land vehicle to transmit a sensing system configured to be detected by a receiver of the second land vehicle. test signal.

175. The collision detection system of clause 174, wherein the processing module is configured to use, by using the second land vehicle, in response to the sensing signal emitted by the sensing system of the first land vehicle The sensor data acquired by the sensing system is used to generate the collision detection model.

176. The collision detection system of clause 170, wherein the coordination module is configured to divert the sensing signal of the multistatic sensor to a predetermined area.

177. The collision detection system of clause 170, wherein the coordination module is configured to beamform one or more detection signals emitted by the multistatic sensors.

178. The collision detection system of clause 177, wherein the coordination module is configured to direct the one or more detection signals in a predetermined direction.

179. The collision detection system of clause 177, wherein the coordination module is configured to alter a detection signal emitted by one of the sensing system of the first land vehicle and the sensing system of the second land vehicle phase.

180. The collision detection system of clause 177, wherein the coordination module is configured to alter a detection signal emitted by one of the sensing system of the first land vehicle and the sensing system of the second land vehicle the magnitude of .

181. The collision detection system of clause 170, wherein the coordination module is configured to form a multistatic radar comprising at least a portion of the radar sensing system of the first land vehicle and the second At least a portion of the radar sensing system of the land vehicle.

182. The collision detection system of clause 170, wherein the coordination module is configured to form a multistatic radar comprising a plurality of radar receivers including a radar receiver of the first land vehicle .

183. The collision detection system of clause 170, wherein the coordination module is configured to form a multistatic radar comprising a plurality of radar transmitters, the plurality of radar transmitters including transmitters of the first land vehicle.

184. The collision detection system of clause 170, wherein the coordination module is configured to form a bistatic radar comprising a radar transmitter of the first land vehicle and a radar of the second land vehicle receiver.

185. The collision detection system of clause 170, wherein the coordination module is configured to form a bistatic radar comprising a radar receiver of the first land vehicle and a radar of the second land vehicle launcher.

186. The collision detection system of clause 170, wherein the coordination module is configured to form a phased array comprising at least a portion of the sensing system of the first land vehicle and the second land vehicle At least a portion of a sensing system of a vehicle.

187. The collision detection system of clause 186, wherein the coordination module is configured to steer the phased array in a predetermined direction.

188. The collision detection system of clause 170, further comprising a communication module that acquires assistance data about the second land vehicle, and wherein the coordination module is configured to use the acquired assistance data to form the Multistatic sensors described above.

189. The collision detection system of clause 188, wherein the acquired assistance data includes one of acceleration, velocity, position and orientation of the second land vehicle.

190. The collision detection system of clause 188, wherein the coordination module is configured to request assistance data from the second land vehicle.

191. The collision detection system of clause 159, wherein the sensing system of the second land vehicle comprises electro-optic sensors, stereo sensors, LIDAR, acoustic sensors, ultrasonic sensors, imaging sensors, radar, electromagnetic One of sensor, magnetic sensor and capacitive sensor.

192. The collision detection system of clause 159, wherein the sensing system of the first land vehicle comprises electro-optical sensors, stereo sensors, LIDAR, acoustic sensors, ultrasonic sensors, imaging sensors, radar, electromagnetic One of sensor, magnetic sensor and capacitive sensor.

193. The collision detection system of clause 159, wherein the coordination module is configured to generate the request in response to determining that motion information related to an object does not satisfy a threshold.

194. The collision detection system of clause 193, wherein said determining that motion information related to an object does not satisfy a threshold comprises determining that a signal-to-noise ratio of sensor data related to said object does not meet a threshold.

195. The collision detection system of clause 193, wherein said determining that motion information related to an object does not satisfy a threshold comprises determining that an orientation of a sensing system of said first land vehicle prevents determining one or more motions of said object feature.

196. The collision detection system of clause 159, wherein the coordination module is configured to generate the request in response to a determination that an object is outside a detection envelope of a sensing system of the first land vehicle.

197. The collision detection system of clause 159, wherein the coordination module is configured to generate the request in response to a determination that an object is inside a detection envelope of a sensing system of the second land vehicle.

198. The collision detection system of clause 196, wherein determining that the object is outside a detection range of the sensing system comprises determining that the object is obscured by another object.

199. The collision detection system of clause 196, wherein determining that the object is outside a detection range of the sensing system comprises determining that the extrapolated position of the object is within a detection of the sensing system of the first land vehicle out of range.

200. The collision detection system of clause 159, wherein the request includes a payment offer.

201. The collision detection system of clause 159, wherein the request includes a bid.

202. The collision detection system of clause 159, wherein the request includes an offer to access the collision detection model.

203. The collision detection system of clause 159, wherein the request includes an offer to access sensor data acquired using a sensing system of the first land vehicle.

204. The collision detection system of clause 159, wherein the request includes an offer to access stored monitoring data.

205. The collision detection system of clause 159, further comprising a communication module configured to transmit at least a portion of the collision detection model to a second land vehicle.

206. The collision detection system of clause 159, wherein the collision detection model is generated at least in part at the second land vehicle.

207. The collision detection system of clause 159, wherein the sensing system of the second land vehicle is configured to acquire sensor data related to an object.

208. The collision detection system of clause 207, wherein the object is one of a vehicle, a pedestrian, a road block, and an animal.

209. The collision detection system of clause 207, wherein the collision detection model includes an orientation of the object.

210. The collision detection system of clause 207, wherein the collision detection model includes a size of the object.

211. The collision detection system of clause 207, wherein the collision detection model includes a position of the object.

212. The collision detection system of clause 207, wherein the collision detection model includes a velocity of the object.

213. The collision detection system of clause 207, wherein the collision detection model includes an acceleration of the object.

214. The collision detection system of clause 207, wherein the collision detection model includes an identity of the object.

215. The collision detection system of clause 159, wherein the processing module is configured to transform sensor data acquired using a sensing system of the second land vehicle into a frame of reference of the first land vehicle.

216. The collision detection system of clause 159, wherein the processing module is configured to transform the collision detection model into an absolute frame of reference.

217. The collision detection system of clause 159, wherein the processing module is configured to transform the collision detection model into a frame of reference of the first land vehicle.

218. The collision detection system of clause 159, wherein the collision detection model includes a position relative to the first land vehicle object.

219. The collision detection system of clause 159, wherein the collision detection model includes an orientation of an object relative to the first land vehicle.

220. The collision detection system of clause 159, wherein the collision detection model includes a velocity of an object relative to the first land vehicle.

221. The collision detection system of clause 159, wherein the collision detection model includes an acceleration of an object relative to the first land vehicle.

222. The collision detection system of clause 159, wherein the processing module is configured to transform the sensor data acquired using a sensing system of the first land vehicle to a frame of reference of the second land vehicle middle.

223. The collision detection system of clause 159, wherein the processing module is configured to transform the collision detection model to a frame of reference of the second land vehicle.

224. The collision detection system of clause 159, wherein the collision detection model includes a position of an object relative to the second land vehicle.

225. The collision detection system of clause 159, wherein the collision detection model includes an orientation of an object relative to the second land vehicle.

226. The collision detection system of clause 159, wherein the collision detection model includes a velocity of an object relative to the second land vehicle.

227. The collision detection system of clause 159, wherein the collision detection model includes an acceleration relative to the second land vehicle object.

228. The collision detection system of clause 159, wherein the transformation module is configured to transform sensor data acquired using a sensing system of the second land vehicle into a frame of reference of a third land vehicle.

229. The collision detection system of clause 159, wherein the transformation module is configured to transform the collision detection model into a frame of reference of the third land vehicle.

230. The collision detection system of clause 159, wherein the collision detection model includes a position of an object relative to the third land vehicle.

231. The collision detection system of clause 159, wherein the collision detection model includes an orientation of the object relative to the third land vehicle.

232. The collision detection system of clause 159, wherein the collision detection model includes a velocity of an object relative to the third land vehicle.

233. The collision detection system of clause 159, wherein the collision detection model includes an acceleration of an object relative to the third land vehicle.

234. The collision detection system of clause 159, wherein the processing module is configured to detect potential collisions between objects within the collision detection model.

235. The collision detection system of clause 159, wherein the processing module is configured to detect a potential collision between an object and the first land vehicle by using the collision detection model.

236. The collision detection system of clause 159, wherein the processing module is configured to detect a potential collision between an object and the second land vehicle by using the collision detection model.

237. The collision detection system of clause 159, wherein the processing module is configured to detect a potential collision between an object and a third land vehicle by using the collision detection model.

238. The collision detection system of clause 234, wherein the processing module is configured to determine when the potential collision occurred.

239. The collision detection system of clause 234, wherein the processing module is configured to determine a location of the potential collision.

240. The collision detection system of clause 234, wherein the processing module is configured to determine an impact velocity of the potential collision.

241. The collision detection system of clause 234, wherein the processing module is configured to estimate one or more impact forces of the potential collision.

242. The collision detection system of clause 234, wherein the processing module is configured to estimate post-collision kinematics of one or more of the potentially colliding objects.

243. The collision detection system of clause 234, wherein the processing module is configured to generate an alert in response to detecting the potential collision.

244. The collision detection system of clause 234, wherein the coordination module is configured to provide the alert to objects predicted to be involved in the potential collision.

245. The collision detection system of clause 234, further comprising activating a collision avoidance system of the first land vehicle in response to detecting the potential collision.

246. The collision detection system of clause 234, further comprising a vehicle interface module to activate a collision warning system of the first land vehicle in response to detecting the potential collision.

247. The collision detection system of clause 246, wherein the vehicle interface is configured to activate an acoustic warning system of the first land vehicle.

248. The collision detection system of clause 246, wherein the vehicle interface is configured to activate an electro-optical transmitter of the first land vehicle in response to detecting the potential collision.

249. The collision detection system of clause 246, wherein the vehicle interface is configured to display an alert in response to detecting the potential collision.

250. The collision detection system of clause 246, wherein the vehicle interface is configured to generate an audio alert in response to detecting the potential collision.

251. The collision detection system of clause 246, wherein the vehicle interface is configured to display a visual indication of the potential collision on a user display screen of the first land vehicle in response to detecting the potential collision .

252. The collision detection system of clause 246, wherein the vehicle interface is configured to display a visual indication of the potential collision on a head-up display of the first land vehicle in response to detecting the potential collision.

253. The collision detection system of clause 252, wherein the vehicle interface is configured to identify objects of the potential collision occurring in the head-up display of the first land vehicle.

254. The collision detection system of clause 234, wherein the processing module is configured to generate a collision avoidance instruction based on the collision detection model in response to detecting the potential collision.

255. The collision detection system of clause 254, wherein the collision avoidance instructions include one of instructions to decelerate, accelerate, and turn.

256. The collision detection system of clause 254, further comprising a vehicle interface module that generates an alert including a collision avoidance instruction.

257. The collision detection system of clause 234, wherein the processing module is configured to predict an outcome of the potential collision by using the collision detection model and generate a collision avoidance instruction by using the predicted outcome.

258. The collision detection system of clause 234, further comprising a communication module that sends an alert to the second land vehicle in response to detecting the potential collision.

259. The collision detection system of clause 258, wherein the alert includes a position of the object of the potential collision relative to the second land vehicle.

260. The collision detection system of clause 258, wherein the alert includes a velocity of an object of the potential collision relative to the second land vehicle.

261. The collision detection system of clause 258, wherein the processing module is configured to generate a collision avoidance instruction for the second land vehicle in response to detecting the potential collision.

262. The collision detection system of clause 234, wherein the processing module is configured to predict an outcome of the potential collision by using the collision detection model and to generate a result for the first collision by using the predicted outcome. 2. Collision avoidance instructions for land vehicles.

263. The collision detection system of clause 234, further comprising broadcasting an alert in response to detecting the potential collision.

264. The collision detection system of clause 234, further comprising a communication module that sends an alert to a third land vehicle in response to detecting the potential collision.

265. The collision detection system of clause 264, wherein said third land vehicle is involved in said potential collision.

266. The collision detection system of clause 264, wherein the alert includes a location of an object of the potential collision relative to the third land vehicle.

267. The collision detection system of clause 264, wherein said alert includes a velocity of said potential collision object relative to said third land vehicle.

268. The collision detection system of clause 264, wherein the processing module is configured to predict an outcome of the potential collision by using the collision detection model and to generate a result for the first collision by using the predicted outcome. Collision avoidance commands for three land vehicles.

269. The collision detection system of clause 159, wherein the coordination module is configured to request assistance data from the second land vehicle.

270. The collision detection system of clause 159, further comprising a communication module for obtaining auxiliary data pertaining to the second land vehicle.

271. The collision detection system of clause 270, wherein the processing module is configured to transform the collision detection model into a frame of reference of the second land vehicle by using the acquired assistance data.

272. The collision detection system of clause 270, wherein the processing module is configured to transform sensor data obtained using a sensing system of the second land vehicle into the In the frame of reference of the first land vehicle.

273. The collision detection system of clause 270, wherein the processing module is configured to transform in response to a detection signal emitted by a sensing system of the second land vehicle by using the acquired assistance data sensor data received by the sensing system of the first land vehicle.

274. The collision detection system of clause 270, wherein the assistance data includes one of acceleration, velocity, position and orientation of the second land vehicle.

275. The collision detection system of clause 270, wherein the assistance data includes information related to the capacity of a sensing system of the second land vehicle.

276. The collision detection system of clause 270, wherein the assistance data includes Global Positioning System coordinates.

277. The collision detection system of clause 270, wherein the auxiliary data includes measurements of a speedometer.

278. The collision detection system of clause 270, wherein the assistance data includes a time synchronization signal.

279. The collision detection system of clause 270, further comprising a communication module that receives auxiliary data related to the second land vehicle from the third land vehicle.

280. The collision detection system of clause 159, further comprising a communication module that provides at least a portion of the collision detection model to another land vehicle.

281. The collision detection system of clause 159, further comprising a communication module that receives at least a portion of the second collision detection model from another land vehicle.

282. The collision detection system of clause 281, wherein the processing module is configured to combine the generated collision detection model and the second collision detection model.

283. The collision detection system of clause 281, wherein the processing module is configured to generate the collision detection model by using the second collision detection model.

284. The collision detection system of clause 159, wherein the coordination module is configured to receive access to sensor data acquired using the sensing system of the second land vehicle and the sensing system of the first land vehicle ask.

285. The collision detection system of clause 284, wherein the request to access the sensor data includes a payment offer, and wherein the coordination module is configured to provide support for the payment offer in response to the payment offer meeting a predetermined payment threshold. Access to the requested sensor data.

286. The collision detection system of clause 284, wherein the request to access the sensor data comprises a bid, and wherein the coordination module is configured to provide support for the requested bid in response to the bid meeting a predetermined bid threshold access to sensor data.

287. The collision detection system of clause 284, wherein the request to access the sensor data comprises an offer to provide access to collision detection data for a specified vehicle.

288. The collision detection system of clause 287, wherein the coordination module is configured to provide a response to the requested collision detection data in response to determining that the collision detection data for the specified vehicle can be used to generate the collision detection model. Access to the sensor data.

289. The collision detection system of clause 159, wherein the coordination module is configured to receive a request to access the collision detection model.

290. The collision detection system of clause 289, wherein the request to access the collision detection model includes a payment offer, and wherein the reconciliation module is configured to provide in response to the payment offer meeting a predetermined payment threshold Access to the collision detection model.

291. The collision detection system of clause 289, wherein the request to access the collision detection model includes a bid, and wherein the reconciliation module is configured to provide support for the bid in response to the bid meeting a predetermined bid threshold. Access to the collision detection model described above.

292. The collision detection system of clause 289, wherein the request to access the collision detection model comprises an offer to provide access to collision detection data for a specified vehicle.

293. The collision detection system of clause 292, wherein the coordination module is configured to provide information on the collision detection in response to determining that the collision detection data for the specified vehicle can be used to generate the collision detection model. Detect model access.

294. The collision detection system of clause 159, further comprising a communication module configured to establish a communication link between the first land vehicle and the second land vehicle.

295. The collision detection system of clause 294, wherein the communication link comprises a peer-to-peer network, an ad hoc network, an infrastructure network, a wireless network, a cellular data network, and an electro-optical network One of a kind in the network.

296. The collision detection system of clause 294, wherein the communication module is configured to establish a communication link in response to detecting one of the first land vehicle and the second land vehicle within a communication range.

297. The collision detection system of clause 294, wherein the communication module is configured to establish a communication link in response to detecting the approach of the first land vehicle to the second land vehicle.

298. The collision detection system of clause 297, wherein the communication module is configured to broadcast a communication discovery signal to detect the first land vehicle approaching the second land vehicle.

299. The collision detection system of clause 297, wherein the communication module is configured to determine a location of one of the first land vehicle and the second land vehicle.

300. The collision detection system of clause 299, further comprising registering a location of one of the first land vehicle and the second land vehicle.

301. The collision detection system of clause 159, further comprising a communication module configured to transmit monitoring data comprising at least a portion of the collision detection model via a network.

302. The collision detection system of clause 301, further comprising sending the monitoring data to one of a traffic management system, a web-accessible service station, an insurance company, and a public safety agency.

303. The collision detection system of clause 301, wherein the communication module is configured to secure the monitoring data transmitted via the network.

304. The collision detection system of clause 301, wherein the communication module is configured to sign the monitoring data.

305. The collision detection system of clause 301, wherein the communication module is configured to encrypt the monitoring data.

306. The collision detection system of clause 301, wherein the communication module is configured to apply a time stamp to the monitoring data.

307. The collision detection system of clause 301, wherein the monitoring data includes a location identifier.

308. The collision detection system of clause 159, further comprising a storage module for storing monitoring data comprising at least a portion of the collision detection model on a persistent storage medium.

309. The collision detection system of clause 308, wherein the storage module is configured to secure the stored monitoring data.

310. A machine-readable storage medium comprising instructions configured to cause a collision detection system to perform a method comprising:

generating a request at the first land vehicle to configure the sensing system of the second land vehicle; and

A collision detection model is generated using sensor data acquired using a sensing system of the second land vehicle.

311. The machine-readable storage medium of clause 310, the method further comprising sending the request to the second land vehicle.

312. The machine-readable storage medium of clause 310, the method further comprising receiving sensor data acquired using a sensing system of the second land vehicle in response to the request.

313. The machine-readable storage medium of clause 310, the method further comprising:

acquiring sensor data by using a sensing system of the first land vehicle; and

The collision detection model is generated using sensor data acquired using a sensing system of the second land vehicle and sensor data acquired using a sensing system of the first land vehicle.

314. The machine-readable storage medium of clause 310, the method further comprising:

selecting the second land vehicle based at least in part on at least one of the following: a location of the second land vehicle, an orientation of the second land vehicle, a sensor capacity of the second land vehicle, The position of the second land vehicle relative to a designated area, the position of the second land vehicle relative to a designated object, the direction of the second land vehicle relative to a designated area, and the direction of the second land vehicle relative to a designated object direction.

315. The machine-readable storage medium of clause 310, wherein the sensor data acquired using the sensing system of the second land vehicle includes range, velocity, angle, angle of an object relative to the second land vehicle At least one of dependency range, angle bound.

316. The machine-readable storage medium of clause 310, wherein the request identifies an area, and wherein the sensing system of the second land vehicle directs a detection signal to the identified area in response to the request.

317. The machine-readable storage medium of clause 316, wherein the detection signal is configured to be detected by a receiver of a sensing system of the first land vehicle.

318. The machine-readable storage medium of clause 310, wherein the request identifies an object, and wherein the sensing system of the second land vehicle directs a detection signal to the identified object in response to the request.

319. The machine-readable storage medium of clause 318, wherein the detection signal is configured to be detected by a receiver of a sensing system of the first land vehicle.

320. The machine-readable storage medium of clause 310, the method further comprising providing sensor data acquired using the sensing system of the first land vehicle to another land vehicle.

321. The machine-readable storage medium of clause 310, the method further comprising forming a multistatic sensor comprising at least a portion of the first land vehicle's sensing system and the second land vehicle's Sensing at least a portion of the system.

322. The machine-readable storage medium of clause 321, wherein the multistatic sensor comprises one or more detection signal transmitters comprising a detection signal of the first land vehicle launcher.

323. The machine-readable storage medium of clause 321, wherein the multistatic sensor comprises one or more receivers, the one or more receivers comprising a receiver of the first land vehicle.

324. The machine-readable storage medium of clause 321, wherein forming the multistatic sensor comprises configuring a sensing system of the first land vehicle to receive a detection signal emitted by a sensing system of the second land vehicle .

325. The machine-readable storage medium of clause 321, wherein forming the multistatic sensor comprises configuring a sensing system of the first land vehicle to transmit a signal configured to be detected by a receiver of the second land vehicle detected sense signal.

326. The machine-readable storage medium of clause 325, the method further comprising using the second land vehicle in response to the sensing signal emitted by the sensing system of the first land vehicle using The sensor data acquired by the sensing system is used to generate the collision detection model.

327. The machine-readable storage medium of clause 321, wherein forming the multistatic sensor comprises steering a sensing signal to a predetermined area.

328. The machine-readable storage medium of clause 321, wherein forming the multistatic sensor comprises beamforming the sensing system of the first land vehicle and the sensing system of the second land vehicle.

329. The machine-readable storage medium of clause 328, wherein beamforming comprises directing a detection signal of the multistatic radar in a predetermined direction.

330. The machine-readable storage medium of clause 328, wherein beamforming comprises altering the phase of a detection signal emitted by one of the sensing system of the first land vehicle and the sensing system of the second land vehicle .

331. The machine-readable storage medium of clause 328, wherein beamforming comprises altering an amplitude of a detection signal emitted by one of the sensing system of the first land vehicle and the sensing system of the second land vehicle value.

332. The machine-readable storage medium of clause 321, wherein forming the multistatic sensor comprises forming a multistatic radar comprising at least a portion of the radar sensing system of the first land vehicle and At least a portion of a radar sensing system of the second land vehicle.

333. The machine-readable storage medium of clause 321, wherein forming the multistatic sensor comprises forming a multistatic radar comprising a plurality of radar receivers, the plurality of radar receivers comprising a radar receiver of the first land vehicle device.

334. The machine-readable storage medium of clause 321, wherein forming the multistatic sensor comprises forming a multistatic radar comprising a plurality of radar transmitters, the plurality of radar transmitters comprising a transmitter of a first land vehicle receiving device.

335. The machine-readable storage medium of clause 321, wherein forming the multistatic sensor comprises forming a bistatic radar comprising a radar transmitter of the first land vehicle and the second land vehicle radar receiver.

336. The machine-readable storage medium of clause 321, wherein forming the multistatic sensor comprises forming a bistatic radar comprising a radar receiver of the first land vehicle and the second land vehicle radar transmitter.

337. The machine-readable storage medium of clause 321, wherein forming the multistatic sensor comprises forming a phased array comprising at least a portion of the sensing system of the first land vehicle and the At least a portion of the sensing system of the second land vehicle.

338. The machine-readable storage medium of clause 337, the method further comprising steering the phased array in a predetermined direction.

339. The machine-readable storage medium of clause 321, the method further comprising:

obtaining auxiliary data about said second land vehicle; and

The multistatic sensor is formed using the acquired assistance data.

340. The machine-readable storage medium of clause 339, wherein the acquired assistance data includes one of an acceleration, velocity, position, and orientation of the second land vehicle.

341. The machine-readable storage medium of clause 339, the method further comprising requesting assistance data from the second land vehicle.

342. The machine-readable storage medium of clause 339, wherein the sensing system of the second land vehicle comprises electro-optical sensors, stereo sensors, LIDAR, acoustic sensors, ultrasonic sensors, imaging sensors, radar , an electromagnetic sensor, a magnetic sensor and a capacitive sensor.

343. The machine-readable storage medium of clause 310, wherein the sensing system of the first land vehicle comprises electro-optical sensors, stereo sensors, LIDAR, acoustic sensors, ultrasonic sensors, imaging sensors, radar , an electromagnetic sensor, a magnetic sensor and a capacitive sensor.

344. The machine-readable storage medium of clause 310, the method further comprising generating the request to configure a sensing system of the second land vehicle in response to determining that motion information related to an object does not satisfy a threshold.

345. The machine-readable storage medium of clause 344, the method further comprising determining that a signal-to-noise ratio of sensor data related to the object does not satisfy the threshold.

346. The machine-readable storage medium of clause 344, the method further comprising determining an orientation of a sensing system of the first land vehicle prevents determining one or more motion characteristics of the object.

347. The machine-readable storage medium of clause 310, the method further comprising generating the request in response to determining that an object is outside a detection envelope of a sensing system of the first land vehicle.

348. The machine-readable storage medium of clause 310, the method further comprising generating the request in response to determining that an object is inside a detection envelope of a sensing system of the second land vehicle.

349. The machine-readable storage medium of clause 347, the method further comprising determining that the object is occluded by another object.

350. The machine-readable storage medium of clause 347, the method further comprising determining that the extrapolated position of the object is outside a detection range of a sensing system of the first land vehicle.

351. The machine-readable storage medium of clause 310, wherein the request includes an offer to pay.

352. The machine-readable storage medium of clause 310, wherein the request includes an offer.

353. The machine-readable storage medium of clause 310, wherein the request includes an offer to access the collision detection model.

354. The machine-readable storage medium of clause 310, wherein the request includes an offer to access sensor data acquired using a sensing system of the first land vehicle.

355. The machine-readable storage medium of clause 310, wherein the request comprises an offer to access the stored monitoring data.

356. The machine-readable storage medium of clause 310, wherein the collision detection model is generated at least in part at the first land vehicle.

357. The machine-readable storage medium of clause 310, the method further comprising sending at least a portion of the collision detection model to the second land vehicle.

358. The machine-readable storage medium of clause 310, wherein the collision detection model is generated at least in part at the second land vehicle.

359. The machine-readable storage medium of clause 310, wherein the sensing system of the second land vehicle is configured to acquire sensor data related to an object.

360. The machine-readable storage medium of clause 359, wherein the object is one of a vehicle, a pedestrian, a roadblock, and an animal.

361. The machine-readable storage medium of clause 359, wherein the collision detection model includes an orientation of the object.

362. The machine-readable storage medium of clause 359, wherein the collision detection model includes a size of the object.

363. The machine-readable storage medium of clause 359, wherein the collision detection model includes a position of the object.

364. The machine-readable storage medium of clause 359, wherein the collision detection model includes a velocity of the object.

365. The machine-readable storage medium of clause 359, wherein the collision detection model includes an acceleration of the object.

366. The machine-readable storage medium of clause 359, wherein the collision detection model includes an identity of the object.

367. The machine-readable storage medium of clause 310, the method further comprising transforming sensor data acquired using a sensing system of the second land vehicle into a frame of reference of the first land vehicle.

368. The machine-readable storage medium of clause 310, the method further comprising transforming the collision detection model into an absolute frame of reference.

369. The machine-readable storage medium of clause 310, the method further comprising transforming the collision detection model to a frame of reference of the first land vehicle.

370. The machine-readable storage medium of clause 310, wherein the collision detection model includes a position of an object relative to the first land vehicle.

371. The machine-readable storage medium of clause 310, wherein the collision detection model includes an orientation of an object relative to the first land vehicle.

372. The machine-readable storage medium of clause 310, wherein the collision detection model includes a velocity of an object relative to the first land vehicle.

373. The machine-readable storage medium of clause 310, wherein the collision detection model includes an acceleration of an object relative to the first land vehicle.

374. The machine-readable storage medium of clause 310, the method further comprising transforming sensor data acquired using a sensing system of the first land vehicle into a frame of reference of the second land vehicle.

375. The machine-readable storage medium of clause 310, the method further comprising transforming the collision detection model into a frame of reference of the second land vehicle.

376. The machine-readable storage medium of clause 310, wherein the collision detection model includes a position of an object relative to the second land vehicle.

377. The machine-readable storage medium of clause 310, wherein the collision detection model includes an orientation of an object relative to the second land vehicle.

378. The machine-readable storage medium of clause 310, wherein the collision detection model includes a velocity of an object relative to the second land vehicle.

379. The machine-readable storage medium of clause 310, wherein the collision detection model includes an acceleration of an object relative to the second land vehicle.

380. The machine-readable storage medium of clause 310, the method further comprising transforming sensor data acquired using a sensing system of the second land vehicle into a frame of reference of a third land vehicle.

381. The machine-readable storage medium of clause 310, the method further comprising transforming the collision detection model into a frame of reference of the third land vehicle.

382. The machine-readable storage medium of clause 310, wherein the collision detection model includes a position of an object relative to a third land vehicle.

383. The machine-readable storage medium of clause 310, wherein the collision detection model includes an orientation of the object relative to the third land vehicle.

384. The machine-readable storage medium of clause 310, wherein the collision detection model includes a velocity of an object relative to a third land vehicle.

385. The machine-readable storage medium of clause 310, wherein the collision detection model includes an acceleration of an object relative to the third land vehicle.

386. The machine-readable storage medium of clause 310, the method further comprising detecting potential collisions between objects within the collision detection model.

387. The machine-readable storage medium of clause 310, the method further comprising detecting a potential collision between an object and the first land vehicle by using the collision detection model.

388. The machine-readable storage medium of clause 310, the method further comprising detecting a potential collision between an object and the second land vehicle by using the collision detection model.

389. The machine-readable storage medium of clause 310, the method further comprising detecting a potential collision between an object and a third land vehicle by using the collision detection model.

390. The machine-readable storage medium of clause 389, the method further comprising determining when the potential collision occurred.

391. The machine-readable storage medium of clause 389, the method further comprising determining a location of the potential collision.

392. The machine-readable storage medium of clause 389, the method further comprising determining an impact velocity of the potential collision.

393. The machine-readable storage medium of clause 389, the method further comprising estimating one or more impact forces of the potential collision.

394. The machine-readable storage medium of clause 389, the method further comprising estimating post-collision kinematics of one or more of the potentially colliding objects.

395. The machine-readable storage medium of clause 389, the method further comprising generating an alert in response to detecting the potential collision.

396. The machine-readable storage medium of clause 389, the method further comprising providing the alert to objects predicted to be involved in the potential collision.

397. The machine-readable storage medium of clause 389, the method further comprising activating a collision avoidance system of the first land vehicle in response to detecting the potential collision.

398. The machine-readable storage medium of clause 389, the method further comprising activating a collision warning system of the first land vehicle in response to detecting the potential collision.

399. The machine-readable storage medium of clause 398, wherein activating a collision warning system includes activating an acoustic warning system of the first land vehicle.

400. The machine-readable storage medium of clause 398, wherein activating a collision warning system includes activating an electro-optical transmitter of the first land vehicle.

401. The machine-readable storage medium of clause 389, the method further comprising displaying an alert in response to detecting the potential collision.

402. The machine-readable storage medium of clause 389, the method further comprising generating an audio alert within the first land vehicle in response to detecting the potential collision.

403. The machine-readable storage medium of clause 389, the method further comprising displaying a visual indication of the potential collision on a user display screen of the first land vehicle.

404. The machine-readable storage medium of clause 389, the method further comprising displaying a visual indication of the potential collision on a head-up display of the first land vehicle.

405. The machine-readable storage medium of clause 404, the method further comprising identifying the potentially colliding object occurring in the head-up display of the first land vehicle.

406. The machine-readable storage medium of clause 389, the method further comprising generating a collision avoidance instruction based on the collision detection model in response to detecting the potential collision.

407. The machine-readable storage medium of clause 406, wherein the collision avoidance instructions include one of instructions to decelerate, accelerate, and steer.

408. The machine-readable storage medium of clause 406, the method further comprising generating an alert including the collision avoidance instruction.

409. The machine-readable storage medium of clause 389, the method further comprising:

predicting the outcome of the potential collision by using the collision detection model; and

A collision avoidance instruction is generated by using the predicted result.

410. The machine-readable storage medium of clause 389, the method further comprising sending an alert to the second land vehicle in response to detecting the potential collision.

411. The machine-readable storage medium of clause 410, wherein the alert includes a location of an object of the potential collision relative to the second land vehicle.

412. The machine-readable storage medium of clause 410, wherein the alert includes a velocity of the potential collision object relative to the second land vehicle.

413. The machine-readable storage medium of clause 410, the method further comprising generating a collision avoidance instruction for the second land vehicle.

414. The machine-readable storage medium of clause 410, the method further comprising:

predicting the outcome of the potential collision using the collision detection model; and

A collision avoidance instruction for the second land vehicle is generated by using the predicted outcome.

415. The machine-readable storage medium of clause 389, the method further comprising sending an alert to a third land vehicle in response to detecting the potential collision.

416. The machine-readable storage medium of clause 415, wherein sending the alert comprises broadcasting the alert.

417. The machine-readable storage medium of clause 415, wherein the third land vehicle is involved in the potential collision.

418. The machine-readable storage medium of clause 415, wherein the alert includes a location of the object of the potential collision relative to the third land vehicle.

419. The machine-readable storage medium of clause 415, wherein the alert includes a velocity of the potential collision object relative to the third land vehicle.

420. The machine-readable storage medium of clause 415, the method further comprising:

predicting the outcome of the potential collision using the collision detection model; and

An avoidance instruction for the third land vehicle is generated based on the predicted outcome.

421. The machine-readable storage medium of clause 420, the method further comprising generating a collision avoidance instruction for the third land vehicle based on the predicted outcome.

422. The machine-readable storage medium of clause 310, the method further comprising requesting assistance data from the second land vehicle.

423. The machine-readable storage medium of clause 310, the method further comprising receiving assistance data from the second land vehicle.

424. The machine-readable storage medium of clause 422, the method further comprising using the assistance data to transform the collision detection model into a frame of reference of the second land vehicle.

425. The machine-readable storage medium of clause 422, the method further comprising using the assistance data to transform sensor data acquired using a sensing system of the second land vehicle to that of the first land vehicle. in the frame of reference.

426. The machine-readable storage medium of clause 422, the method further comprising using the assistance data to transform a signal detected by the first land vehicle in response to a detection signal emitted by a sensing system of the second land vehicle. The sensor data received by the sensing system.

427. The machine-readable storage medium of clause 422, wherein the assistance data includes one of acceleration, velocity, position, and orientation of the second land vehicle.

428. The machine-readable storage medium of clause 422, wherein the assistance data includes information related to a capacity of a sensing system of the second land vehicle.

429. The machine-readable storage medium of clause 422, wherein the assistance data comprises Global Positioning System coordinates.

430. The machine-readable storage medium of clause 422, wherein the auxiliary data comprises measurements of a speedometer.

431. The machine-readable storage medium of clause 422, wherein the auxiliary data comprises a time synchronization signal.

432. The machine-readable storage medium of clause 422, the method further comprising receiving assistance data from a third land vehicle.

433. The machine-readable storage medium of clause 310, the method further comprising:

generating a collision detection model on the first land vehicle; and

At least a portion of the collision detection model is provided to another land vehicle.

434. The machine-readable storage medium of clause 310, the method further comprising receiving at least a portion of the second collision detection model from another land vehicle.

435. The machine-readable storage medium of clause 434, the method further comprising combining the collision detection model and the second collision detection model.

436. The machine-readable storage medium of clause 434, the method further comprising optimizing the collision detection model using the second collision detection model.

437. The machine-readable storage medium of clause 310, the method further comprising receiving a request to access sensor data acquired using the sensing system of the second land vehicle and the sensing system of the first land vehicle .

438. The machine-readable storage medium of clause 437, wherein the request to access the sensor data comprises a payment offer, the machine-readable storage medium further comprising responding to the payment offer meeting a predetermined payment threshold Provides access to the requested sensor data.

439. The machine-readable storage medium of clause 437, wherein the request to access the sensor data includes an offer, the machine-readable storage medium further comprising providing a response to the offer in response to the offer meeting a predetermined offer threshold. Access to the requested sensor data.

440. The machine-readable storage medium of clause 437, wherein the request to access the sensor data comprises an offer to provide access to collision detection data for a specified vehicle.

441. The machine-readable storage medium of clause 440, wherein the machine-readable storage medium further comprises:

Access to the requested sensor data is provided in response to determining that the collision detection data for the specified vehicle can be used to generate the collision detection model.

442. The machine-readable storage medium of clause 310, wherein the machine-readable storage medium further comprises:

request access to the collision detection model generated by the specified vehicle; and

The collision detection model is generated using a collision detection model of the specified vehicle.

443. The machine-readable storage medium of clause 442, wherein requesting the collision detection model comprises offering payment in exchange for access to the requested collision detection model.

444. The machine-readable storage medium of clause 442, wherein requesting the collision detection model comprises bidding for access to the requested collision detection model.

445. The machine-readable storage medium of clause 442, wherein requesting the collision detection model comprises offering to access sensor data in exchange for accessing the requested collision detection model.

446. The machine-readable storage medium of clause 310, further comprising receiving a request to access the collision detection model.

447. The machine-readable storage medium of clause 446, wherein the request to access the collision detection model includes a payment, the method further comprising providing support for the collision in response to the payment meeting a predetermined payment threshold Detect model access.

448. The machine-readable storage medium of clause 446, wherein the request to access the collision detection model includes a bid, the method further comprising providing a request for the collision in response to the bid meeting a predetermined bid threshold Detect model access.

449. The machine-readable storage medium of clause 446, wherein the request to access the collision detection model comprises an offer to provide access to collision detection data for a specified vehicle.

450. The machine-readable storage medium of clause 449, the method further comprising:

Access to the collision detection model is provided in response to determining that the collision detection data for the specified vehicle can be used to generate the collision detection model.

451. The machine-readable storage medium of clause 310, the method further comprising establishing a communication link between the first land vehicle and the second land vehicle.

452. The machine-readable storage medium of clause 451, wherein the communication link comprises one of a peer-to-peer network, an ad hoc network, an infrastructure network, a wireless network, a cellular data network, and an electro-optical network.

453. The machine-readable storage medium of clause 451, the method further comprising establishing a communication link in response to detecting one of the first land vehicle and the second land vehicle within communication range.

454. The machine-readable storage medium of clause 451, the method further comprising establishing a communication link in response to detecting proximity of the first land vehicle to the second land vehicle.

455. The machine-readable storage medium of clause 454, wherein detecting the first land vehicle approaching the second land vehicle comprises one of broadcasting a communication discovery signal and detecting a communication discovery signal broadcast.

456. The machine-readable storage medium of clause 451, wherein detecting that the first land vehicle approaches the second land vehicle comprises determining an Place.

457. The machine-readable storage medium of clause 456, the method further comprising registering a location of one of the first land vehicle and the second land vehicle.

458. The machine-readable storage medium of clause 310, the method further comprising sending monitoring data comprising at least a portion of the collision detection model via a network.

459. The machine-readable storage medium of clause 458, the method further comprising sending the monitoring data to one of a traffic management system, a web-accessible service station, an insurance company, and a public safety agency.

460. The machine-readable storage medium of clause 458, the method further comprising securing the monitoring data transmitted over the network.

461. The machine-readable storage medium of clause 460, wherein securing the monitoring data comprises signing the monitoring data.

462. The machine-readable storage medium of clause 460, wherein securing the monitoring data comprises encrypting the monitoring data.

463. The machine-readable storage medium of clause 458, the method further comprising applying a time stamp to the monitoring data.

464. The machine-readable storage medium of clause 458, the method further comprising including a location identifier within the monitoring data.

465. The machine-readable storage medium of clause 310, the method further comprising storing monitoring data comprising at least a portion of the collision detection model on a persistent storage medium.

466. The machine-readable storage medium of clause 465, the method further comprising securing the stored monitoring data.

467. The machine-readable storage medium of clause 465, the method further comprising sending the stored monitoring data over a network.

468. The machine-readable storage medium of clause 310, wherein the machine-readable storage medium is non-transitory.

Claims (38)

1. A collision detection method, comprising: generating a request at a first land vehicle to configure a sensing system of a second land vehicle to acquire sensor data at the second land vehicle by using one or more sensors of the sensing system of the second land vehicle; generating a collision detection model in the first land vehicle using sensor data acquired using the one or more sensors of the sensing system of the second land vehicle; and forming a multistatic sensor comprising at least a portion of the sensing system of the first land vehicle and at least a portion of the sensing system of the second land vehicle; Wherein, forming the multistatic sensor includes configuring a sensing system of the first land vehicle to transmit a sensing signal configured to be detected by a receiver of the second land vehicle. 2. The method of claim 1, wherein the multistatic sensor includes one or more detection signal transmitters, the one or more detection signal transmitters including a detection signal transmitter of the first land vehicle. 3. The method of claim 1, wherein the multistatic sensor comprises one or more receivers including a receiver of a first land vehicle. 4. The method of claim 1, wherein forming the multistatic sensor includes configuring a sensing system of the first land vehicle to receive a detection signal emitted by a sensing system of the second land vehicle. 5. The method of claim 1, further comprising using the second sensor in the first land vehicle in response to the sensing signal emitted by the sensing system of the first land vehicle. The sensor data acquired by the sensing system of the land vehicle is used to generate the collision detection model. 6. The method of claim 1, wherein forming the multistatic sensor comprises steering a sensing signal to a predetermined area. 7. The method of claim 1, wherein forming the multistatic sensor comprises configuring the sensing system of the first land vehicle and the sensing system of the second land vehicle by beamforming. 8. The method of claim 7, wherein beamforming includes directing detection signals of the multistatic radar in predetermined directions. 9. The method of claim 7, wherein beamforming includes altering the phase of a detection signal emitted by one of the sensing system of the first land vehicle and the sensing system of the second land vehicle. 10. The method of claim 7, wherein beamforming includes varying an amplitude of a detection signal emitted by one of the sensing system of the first land vehicle and the sensing system of the second land vehicle. 11. The method of claim 1, wherein forming the multistatic sensor comprises forming a multistatic radar including at least a portion of the first land vehicle's radar sensing system and the second At least a portion of the radar sensing system of the land vehicle. 12. The method of claim 1, wherein forming the multistatic sensor comprises forming a multistatic radar including a plurality of radar receivers, including a radar receiver of the first land vehicle. 13. The method of claim 1, wherein forming the multistatic sensor comprises forming a multistatic radar comprising a plurality of radar transmitters, the plurality of radar transmitters including a transmitter receiver of a first land vehicle. 14. The method of claim 1, wherein forming the multistatic sensor comprises forming a bistatic radar comprising a radar transmitter of the first land vehicle and a radar receiver of the second land vehicle. device. 15. The method of claim 1, wherein forming the multistatic sensor comprises forming a bistatic radar comprising a radar receiver of the first land vehicle and a radar transmission of the second land vehicle device. 16. The method of claim 1, wherein forming the multistatic sensor comprises forming a phased array including at least a portion of the sensing system of the first land vehicle and the second land vehicle. At least a portion of a sensing system of a vehicle. 17. The method of claim 16, further comprising steering the phased array in a predetermined direction. 18. The method of claim 1, further comprising: obtaining at said first land vehicle auxiliary data pertaining to said second land vehicle; and The acquired assistance data is used in the first land vehicle to form the multistatic sensor. 19. The method of claim 18, wherein the acquired assistance data includes one of acceleration, velocity, position and orientation of the second land vehicle. 20. The method of claim 18, further comprising requesting assistance data from the second land vehicle. 21. A collision detection system comprising: A coordination module of a first land vehicle configured to generate a request to configure a sensing system of a second land vehicle to operate on the second land vehicle by using one or more sensors of the sensing system of the second land vehicle a land vehicle acquiring sensor data and forming a multistatic sensor comprising at least a portion of the sensing system of the first land vehicle and at least a portion of the sensing system of the second land vehicle, wherein the a multistatic sensor comprising configuring a sensing system of said first land vehicle to emit a sensing signal configured to be detected by a receiver of said second land vehicle; and A processing module configured to generate a collision detection model at the first land vehicle using sensor data acquired using the one or more sensors of the sensing system of the second land vehicle. 22. The collision detection system of claim 21, further comprising a communication module configured to transmit the request to the second land vehicle. 23. The collision detection system of claim 21 , further comprising a communication module configured to receive sensor data acquired using a sensing system of the second land vehicle, wherein the processing module is configured to use The collision detection model is generated by using sensor data acquired by the sensing system of the second land vehicle and by using sensor data acquired by the sensing system of the first land vehicle. 24. The collision detection system of claim 21 , wherein the coordination module is configured to select the second land vehicle based at least in part on at least one of the following: the second land vehicle The position of the vehicle, the direction of the second land vehicle, the sensor capacity of the second land vehicle, the position of the second land vehicle relative to a designated area, the position of the second land vehicle relative to a designated object, the A direction of the second land vehicle relative to the designated area, and a direction of the second land vehicle relative to the designated object. 25. The collision detection system of claim 21, wherein the request identifies an area, and wherein the sensing system of the second land vehicle directs a detection signal to the identified area in response to the request. 26. The collision detection system of claim 25, wherein the detection signal is configured to be detected by a receiver of a sensing system of the first land vehicle. 27. The collision detection system of claim 21, wherein the request identifies an object, and wherein the sensing system of the second land vehicle directs a detection signal to the identified object in response to the request. 28. The collision detection system of claim 27, wherein the detection signal is configured to be detected by a receiver of a sensing system of the first land vehicle. 29. The collision detection system of claim 21, wherein the coordination module is configured to generate the request in response to determining that motion information related to an object does not satisfy a threshold. 30. The collision detection system of claim 29, wherein said determining that motion information about an object does not satisfy a threshold comprises determining that a signal-to-noise ratio of sensor data related to said object does not satisfy said threshold. 31. The collision detection system of claim 29, wherein said determining that motion information related to an object does not meet a threshold comprises determining that an orientation of a sensing system of the first land vehicle prevents determining one or more of the objects. a movement characteristic. 32. A machine-readable storage medium comprising instructions configured to cause a collision detection system to perform a method comprising: generating a request at a first land vehicle to configure a sensing system of a second land vehicle to acquire sensor data at the second land vehicle by using one or more sensors of the sensing system of the second land vehicle; generating a collision detection model at the first land vehicle using sensor data acquired by using the one or more sensors of the sensing system of the second land vehicle; and forming a multistatic sensor comprising at least a portion of the sensing system of the first land vehicle and at least a portion of the sensing system of the second land vehicle; Wherein, forming the multistatic sensor includes configuring a sensing system of the first land vehicle to transmit a sensing signal configured to be detected by a receiver of the second land vehicle. 33. The machine-readable storage medium of claim 32, wherein the multistatic sensor comprises one or more detection signal transmitters, the one or more detection signal transmitters comprising a detection of the first land vehicle signal transmitter. 34. The machine-readable storage medium of claim 32, the method further comprising: obtaining at said first land vehicle auxiliary data pertaining to said second land vehicle; and Using the acquired assistance data to form the multistatic sensor at the first land vehicle. 35. The machine-readable storage medium of claim 32, the method further comprising generating the request in response to determining that an object is inside a detection envelope of a sensing system of the second land vehicle. 36. The machine-readable storage medium of claim 32, wherein the request includes a payment offer. 37. The machine-readable storage medium of claim 32, wherein the request includes an offer to access the collision detection model. 38. The machine-readable storage medium of claim 32, wherein the request includes an offer to access sensor data acquired using a sensing system of the first land vehicle.