Detection of pedestrian using radio devices
The present radio system transmits an electromagnetic signal to nearby devices requesting the device respond. The radio system also receives responses to the electromagnetic signal from the nearby devices. Based on the radio technology used, the signaling of the transmitted electromagnetic signal may be varied. For example, the transmitted electromagnetic signal may be a Bluetooth, 802.11, or other radio signal. A device that received the signal from the radio unit may transmit a response signal with the same radio technology. However, in some instances, the radio technology used for communication may operate on several radio (e.g., frequency) channels. Both the transmitter and receiver must operate on the same channel at the same time in order to communicate. Thus, it may be desirable to transmit the electromagnetic signal on more than one channel at the same time, in order to increase the chances that a nearby device responds.
1. A method comprising:
transmitting, by a first computing device coupled to a vehicle, a device-discovery radio signal in an environment of the vehicle using a radio technology;
receiving, at the first computing device, a responsive radio signal from a second computing device situated externally to the vehicle;
transmitting to the second computing device a signal requesting motion data from the second computing device based on receiving the responsive radio signal from the second computing device, and receiving motion data from the second computing device;
based on the responsive radio signal and the received motion data, determining that the second computing device is a pedestrian device;
controlling the vehicle based on determining that the second computing device is the pedestrian device.
2. The method of claim 1 , wherein transmitting the device-discovery radio signal in the environment of the vehicle using the radio technology comprises:
transmitting a plurality of device-discovery radio signals on a plurality of channels.
3. The method of claim 2 , wherein transmitting the plurality of device-discovery radio signals on the plurality of channels comprises:
transmitting a first device-discovery radio signal on a first channel; and
transmitting a second device-discovery radio signal on a second channel without waiting for a response signal after transmitting the first device-discovery radio signal.
4. The method of claim 1 , further comprising:
based on receiving the responsive radio signal from the second computing device, determining a distance between the vehicle and the second computing device and a direction of the second computing device relative to the vehicle.
5. The method of claim 4 , wherein controlling the vehicle based on determining that the second computing device is the pedestrian device comprises:
adjusting a trajectory of the vehicle and a speed of the vehicle based on the distance between the vehicle and the second computing device and the direction of the second computing device relative to the vehicle.
6. The method of claim 1 , wherein determining that the second computing device is the pedestrian device comprises using information in the responsive radio signal received from the second computing device as a basis to determine that the second computing device is the pedestrian device rather than another type of device.
7. The method of claim 6 , wherein using the information in the responsive radio signal received from the second computing device as a basis to determine that the second computing device is the pedestrian device rather than another type of device comprises:
determining, based on the information, that the second computing device is a mobile device; and
based on the determining that the second computing device is a mobile device, determining that the second computing device is the pedestrian device.
8. The method of claim 1 , wherein transmitting the device-discovery radio signal in the environment of the vehicle using the radio technology comprises:
transmitting the device-discovery radio signal is on all frequency channels of the radio technology using a sensor unit having a plurality of antennas, wherein each antenna is configured to send and receive signals in a specific direction.
9. The method of claim 1 , wherein determining that the second computing device is the pedestrian device comprises:
receiving sensor data from a vehicle sensor; and
determining that the second computing device is the pedestrian device based on the responsive radio signal and the sensor data.
10. The method of claim 1 ,
wherein controlling the vehicle based on determining that the second computing device is the pedestrian device further comprises adjusting a trajectory of the vehicle further based on the motion data.
11. The method of claim 1 , further comprising:
receiving a second responsive radio signal from a third computing device; and
determining that the third computing device is a pedestrian device based on the second responsive radio signal.
12. The method of claim 11 , further comprising determining a first location of the first computing device and a second location of the second computing device,
wherein controlling the vehicle comprises adjusting a trajectory and a speed of the vehicle based on the first location of the first computing-device and the second location of the second computing device.
13. A system comprising:
a sensor coupled to a vehicle;
a first computing device coupled to the vehicle, wherein the first computing device is configured to:
transmit, using the sensor, a device-discovery radio signal in an environment of the vehicle using a radio technology;
receive a responsive radio signal from a second computing device situated externally to the vehicle;
transmit to the second computing device a signal requesting motion data from the second computing device based on receiving the responsive radio signal from the second computing device, and receive motion data from the second computing device;
based on the responsive radio signal and the received motion data, determine that the second computing device is a pedestrian device; and
control the vehicle based on determining that the second computing device is the pedestrian device.
14. The system of claim 13 , wherein the first computing device is further configured to:
adjust a trajectory of the vehicle further based on the motion data.
15. The system of claim 13 , wherein the first computing device is further configured to:
transmit a first device-discovery radio signal on a first channel; and
transmit a second device-discovery radio signal on a second channel without waiting for a response signal in response to the first device-discovery radio signal.
16. The system of claim 13 ,
wherein determining that the second computing device is the pedestrian device comprises using information in the responsive radio signal received from the second computing device as a basis to determine that the second computing device is the pedestrian device rather than another type of device, and
wherein using the information in the responsive radio signal received from the second computing device as a basis to determine that the second computing device is the pedestrian device rather than another type of device comprises (i) determining, based on the information, that the second computing device is a mobile device and (ii) based on the determining that the second computing device is a mobile device, determining that the second computing device is the pedestrian device.
17. An article of manufacture including a non-transitory computer-readable medium having stored thereon program instructions that, if executed by a processor, cause a first computing device to perform operations comprising:
transmitting a device-discovery radio signal in an environment of a vehicle using a radio technology;
receiving a responsive radio signal from a second computing device situated externally to the vehicle;
transmitting to the second computing device a signal requesting motion data from the second computing device based on receiving the responsive radio signal from the second computing device, and receiving motion data from the second computing device;
based on the responsive radio signal and the received motion data, determining that the second computing device is a pedestrian device; and
controlling the vehicle based on determining that the second computing device is the pedestrian device.