Abstract: A method for dynamically managing parking space utilization including receiving a dynamic feed of available parking spaces across a set of sectors, each parking space associated with a parking control device, each sector having a preferred utilization rate; utilizing a processor to determine that a parking utilization rate of a first sector exceeds a preferred utilization rate for the first sector; upon receiving a location based parking space reservation request from a user, the request capable of being fulfilled from a plurality of sectors, providing a list of available parking spaces meeting the request including associated prices dynamically generated, wherein parking spaces in the first sector are priced higher than parking spaces in other sectors; and upon selection of one of the provided list of available parking spaces by the user, allocating the selected parking space to the user at the provided associated price and notifying the parking control device associated with the selected parking space.

Abstract: Methods, apparatuses, and non-transitory computer readable storage media for external vehicle communication are described.

Abstract: A vehicle illumination system provided to a vehicle capable of traveling in an autonomous driving mode includes: an illumination unit configured to emit a light pattern toward an outside of the vehicle; and an illumination controller configured to control the illumination unit to irradiate the light pattern to a predetermined position. When the vehicle changes a traffic lane from a first traffic lane to a second traffic lane, the illumination controller: controls the illumination unit to irradiate the light pattern on a road surface between a first other vehicle traveling on the second traffic lane and a second other vehicle which is a following vehicle of the first other vehicle; and changes a length of the light pattern, depending on an interval between the first other vehicle and the second other vehicle.

Abstract: Herein is disclosed a vehicle sensor-data sharing device, comprising one or more processors configured to receive sensor information representing sensor data output from the one or more sensors of a first vehicle; determine a reliability indicator indicating the reliability of the received sensor information; determine from the received sensor information a criticality indicator indicating the criticality of the received sensor information for the first vehicle; select a data sharing level based on the criticality indicator and the reliability indicator; and generate a message comprising observation information or a request for observation information, wherein the observation information corresponds to sensor information according to the data sharing level.

Abstract: Disclosed is an apparatus for preventing a collision.

Abstract: A vehicle control apparatus and a vehicle control method are disclosed. The vehicle control apparatus includes an inputter, a setting module, a determiner, and a controller. The inputter receives at least one collision avoidance operation signal from a collision avoidance device, and receives information about a current object detected by a sensing device. The setting module establishes a collision sensitive region for each driver upon receiving an ON mode signal from among the collision avoidance operation signals. The determiner determines whether the received current object information is present in a range of the established collision sensitive region for each driver. If the current object information is present in the range of the established collision sensitive region for each driver, the controller controls the collision avoidance device to perform a collision avoidance operation at a target time point earlier than a predetermined reference time point.

Abstract: Provided is a feature such that the opportunity to cancel travel control can be reduced by seamlessly switching between travel modes in combination with a plurality of functions. A travel control device has: a first mode which causes a vehicle to travel according to the control target set on the basis of an object outside the vehicle; and a second mode which causes the vehicle to travel according to the control target set irrespective of an object outside the vehicle. If it is impossible to set the control target on the basis of the object outside the vehicle during traveling in the first mode, the travel mode is shifted to the second mode. If it is possible to set the control target on the basis of the object outside the vehicle during traveling in the second mode, the travel mode is shifted to the first mode.

Abstract: A presentation control device controlling an information presentation device in a vehicle equipped with a vehicle control device for controlling an acceleration-deceleration function or a steering function, includes: a plan acquisition section that acquires a travel plan indicating a control content of the vehicle; a behavior change determination section that determines whether a control target value relating to a magnitude of a behavior change included in the travel plan is larger than an advance threshold; and a presentation execution section that presents the control content to the occupant using the information presentation device in accordance with the behavior change occurring in the vehicle when the control target value is smaller than the advance threshold, and presents the control content temporarily in advance of an actual behavior change when the control target value is larger than the advance threshold.

Abstract: A drive assist device includes a fatigue degree estimator and a display controller. The fatigue degree estimator estimates a fatigue degree of a driver of a vehicle. The display controller changes a display range of an optical flow to be presented to the driver, on a basis of the fatigue degree.

Abstract: According to an embodiment, a measurement device includes a processing circuitry. A plurality of images are captured in time series by an image capturing unit installed in a moving object. The processing circuitry identifies a region in which other moving object moving in surroundings of the moving object is present for each of the images, based on position and direction information of the moving object, and moving object information of the other moving object. The processing circuitry estimates position and posture of the image capturing unit based on the images. The processing circuitry searches for sets of corresponding points among non-moving object regions in the respective images. The processing circuitry performs 3D measurement based on the position and posture of the image capturing unit and the sets of the corresponding points.

Abstract: A monitoring region for monitoring entry of an obstacle is set around a machine main body. A plurality of obstacle sensing sensors sense an obstacle in the monitoring region and sense an obstacle in different directions with respect to the machine main body. A construction machine accumulatively stores approach information indicating that an obstacle has been sensed by any of the plurality of obstacle sensing sensors in a specific period, and outputs the approach information to be displayed on a display device.

Abstract: The reliability of detection of the traveling lane can be improved even in a case where an image capturing environment changes. The lane detection device includes a first image capturing device which is fixed to a moving body and periodically captures a first image under a predetermined first image capturing condition, a second image capturing device which is fixed to the moving body and periodically captures a second image under a second image capturing condition different from the predetermined first image capturing condition, and an operation device, regarding a traveling lane on which the moving body travels, which detects a first boundary line of the traveling lane on the first image, detects a second boundary line of the traveling lane on the second image, and estimates the position of the first boundary line on the first image based on a position of the second boundary line on the second image under a predetermined execution condition.

Abstract: System, methods, and other embodiments described herein relate to improving situational awareness of occupants of a vehicle. In one embodiment, a method includes analyzing, using at least a processor of the vehicle, scan data from a sensor of the vehicle to detect at least one object within the surrounding environment. The method includes converting the scan data into converted data that represents the at least one object with a reduced quantity of data. The method includes rendering, using the converted data, at least one graphic that is a visual representation of the at least one object. The method includes displaying the at least one graphic within a display of the vehicle at a location within the display that represents a location of the at least one object relative to the vehicle in the surrounding environment.

Abstract: Activation of an automatic driving feature in a vehicle is detected by evaluating sequential vehicle operation data against subtractive and additive heuristic rules that define a likelihood of an automatic driving feature having been engaged as a function of vehicle performance. The sequential vehicle operation data, which does not include an explicit indication of whether the automatic driving feature was engaged, is provided for time intervals of a trip made by the vehicle. Automatic driving information is generated, which provides an indication of whether the automatic driving feature was engaged during a subset of the time intervals.

Abstract: The invention relates to a method for assessing an affiliation of a sensing point (12, 13, 19, 20) to an object in a surrounding area (7, 8) of a motor vehicle (1), in which the sensing point (12, 13, 19, 20) is sensed using a first sensor device (4) of the motor vehicle (1), and a fuzziness zone (14, 15) characterizing a positional fuzziness of the sensing point (12, 13, 19, 20) is formed around the sensing point (12, 13, 19, 20), wherein the assessment of the affiliation of the sensing point (12, 13, 19, 20) to the object takes into consideration at least one position of a further sensing point (12, 13, 19, 20) of the object, wherein an overall fuzziness zone (16) is formed on the basis of the fuzziness zone (14, 15) of the sensing point (12, 13, 19, 20), and the affiliation of the sensing point (12, 13, 19, 20) to the object is acknowledged if the sensing point (12, 13, 19, 20) and the further sensing point (12, 13, 19, 20) are situated in an area formed by the overall fuzziness zone (16).

Abstract: A vehicle lamp control system includes an electronic control unit having a processor and a non-transitory computer readable memory including a machine-readable instruction set. The electronic control unit is communicatively coupled to a camera configured to output image data of a vehicle environment, a vehicle lamp and a steering wheel sensor. The machine-readable instruction set causes the processor to receive the image data of the vehicle environment from the camera, determine whether an external light source is present in the vehicle environment based on the image data of the vehicle environment, determine a steering wheel angle based on an output signal of the steering wheel sensor, and generate a control signal for activating the vehicle lamp when the steering wheel angle exceeds an activation steering threshold and no external light source is detected in the vehicle environment.

Abstract: The control part controls a timing of changing the light emission intensity of the first light source and a timing of changing the light emission intensity of the second light source such that a first light-shielding portion is formed in a part of the first irradiation pattern, a second light-shielding portion is formed in a part of the second irradiation pattern so as to overlap with the first light-shielding portion, and a range of the first light-shielding portion and a range of the second light-shielding portion are deviated from each other.

Abstract: In accordance with driving information that is obtained by a driving situation detecting sensor 13 and is related to the driving situation of a vehicle, a display control unit 20 sets the image area to be presented to the driver DR of the vehicle from an image obtained by a peripheral area imaging unit 11 imaging a peripheral area around the vehicle, and, in accordance with the driving situation, controls the visual recognition range in the peripheral area the driver DR can visually recognize from the image presented by a display unit 50 via a mirror 55. When the driving situation is such that the orientation of a cabin differs from the orientation of a trailer portion, for example, the image area to be presented is set so that the outer side of the trailer portion is included in the visual recognition range even though the orientation of the cabin differs from the orientation of the trailer portion. Thus, a desired peripheral area around the vehicle can be readily viewed.

Abstract: An apparatus includes a camera, a sensor and a processor. The camera may generate a video signal based on a targeted view of a driver. The sensor may generate a proximity signal in response to detecting an object within a predetermined radius. The processor may determine a location of the object with respect to the vehicle, determine a current location of eyes of the driver, determine a field of view of the driver at a time when the proximity signal is received based on the current location of the eyes, determine whether the object is within the field of view using the current location of the eyes, and generate a control signal. The distance may be determined based on a comparison of reference pixels of a vehicle component in a reference video frame to current pixels of the vehicle component in the video frames.

Abstract: A vehicular vision system includes an electronic control unit having at least four coaxial connectors. At least four coaxial cables are electrically connected at respective coaxial connectors of the electronic control unit and respective cameras of at least four cameras. Each of the coaxial cables carries DC power from the electronic control unit to the respective camera. Each of the coaxial cables carries image data captured by an imager of the respective camera to the electronic control unit. Image data carried to the electronic control unit is processed at the electronic control unit by a processor of the electronic control unit. Each of the coaxial cables provides monodirectional data transfer of captured image data from the respective camera to the electronic control unit. Each of the coaxial cables provides bidirectional data transfer of other data between the respective camera and the electronic control unit.

Abstract: Systems and methods are provided for generating and managing ad-hoc mobile computing networks. For example, a method includes discovering, by a first mobile compute node, an existence of a second mobile compute node within a geographic location monitored by the first mobile compute node, and exchanging data between the first and second mobile compute nodes to negotiate conditions for forming a cluster of a mobile ad-hoc network. The conditions include, for example, a target purpose for forming the cluster, criteria for compute node membership within the cluster, and designation of one of the first and second mobile compute nodes as a master compute node for the cluster. The cluster including the first and second mobile compute nodes is then formed based on the negotiated conditions.

Abstract: Techniques are described herein for conducting traffic and road operations using unmanned aerial vehicle (UAV) assisted vehicle-to-everything (V2X) communications. The UAVs can be deployed at various locations and can be operatively connected to a cell site, a mobile edge computing (MEC) server, and/or a V2X sensor. The UAVs, upon detecting an oncoming vehicle from a target location traveling towards one or more autonomous vehicles (AVs), can directly communicate with the one or more AVs to alert the AVs of the approaching oncoming vehicle. If the UAVs cannot communicate with the AVs, the UAVs can handover messages to other UAVs that can communicate with the AVs. The UAVs can also transport messages to a cell site and/or a V2X sensor to broadcast messages to the one or more AVs. Cell sites can also transmit messages to broadcast the messages to the AVs within respective coverage areas.

Abstract: A vehicular collision avoidance control device includes: a collision avoidance control unit that receives a vehicle deceleration rate that is an actual deceleration rate of a traveling vehicle and obtains a first desired deceleration rate for avoiding collision with an obstacle based on the received vehicle deceleration rate, a relative distance to the obstacle, and a target relative distance; and a brake control unit that obtains a desired deceleration rate for controlling a brake device by performing first control based on the received vehicle deceleration rate and the first desired deceleration rate and performing second control based on the first desired deceleration rate and stops the first control upon detection of a brake operation performed by a driver.

Abstract: A driver safety system estimates a time that a traffic signal transitions (e.g., from red to green) by obtaining location information from a user device in the vehicle at various times and using a physical model of the movement of the vehicle to estimate when the vehicle began to move.

Abstract: A data storage device includes: a housing integrating a control logic, a data protection logic, and a non-volatile storage; and a network interface connector integrated to the housing and is configured to be directly inserted into a network switch. The control logic is configured to store a vehicle data including a video stream in the non-volatile storage. The video stream is received from a video camera that is connected to the network switch. The data protection logic is configured to detect a vehicle event and change an operating mode of the data storage device to a read-only mode prohibiting the vehicle data stored in the non-volatile storage from being erased or tampered.

Abstract: According to some embodiments, a system selects a number of polynomials representing a number of time segments of a time duration to complete the path trajectory. The system selects an objective function based on a number of cost functions to smooth speeds between the time segments. The system defines a set of constraints to the polynomials to at least ensure the polynomials are smoothly joined together. The system performs a quadratic programming (QP) optimization on the objective function in view of the set of constraints, such that a cost associated with the objective function reaches a minimum while the set of constraints are satisfied. The system generates a smooth speed for the time duration based on the optimized objective function to control the ADV autonomously.

Abstract: A method for a data processing installation for obtaining an operating state of a first autonomous vehicle. The method includes determining a current state of the first autonomous vehicle from a received measurement value of a sensor of a second vehicle. When the current state of the first autonomous vehicle deviates from a setpoint state, the method includes sending a first message to the first autonomous vehicle, wherein the first message contains a command to travel autonomously to a service location. Alternatively, the method includes sending a second message to a person responsible for the first autonomous vehicle, wherein the second message includes information about the deviation of the current state of the first autonomous vehicle from the setpoint state. Alternatively, the method includes sending a third message to service personnel, wherein the third message contains an instruction for the service personnel to set the vehicle to the setpoint state.

Abstract: In an approach for notifying, a computer receives one or more preemption notifications, wherein the one or more preemption notifications are associated with one or more priority vehicles. The computer identifies a device that is within range of the received one or more preemption notifications, wherein the device includes one or more directional indicators. The computer one or more directions of approach associated with the received one or more preemption notifications relative to the identified device. The computer determines a number of approaching priority vehicles associated with each instance of the identified one or more directions of approach relative to the identified device. The computer initiates to display through the one or more directional indicators of the identified device the identified total number of approaching priority vehicles associated with the one or more identified directions of approach relative to the identified device.

Abstract: An electronic mirror control device includes: an imager which is installed in a vehicle, and captures a rearward image including a rear side surface of the vehicle during traveling; a display which displays the rearward image captured by the imager; a calculator which calculates a position of a vanishing point from the rearward image; an extractor which extracts, in the rearward image, a rear side surface region where the rear side surface of the vehicle is displayed; and a display controller which displays, in the rear side surface region, a vanishing point line which coincides with a straight line passing through the vanishing point.

Abstract: A camera apparatus. The camera apparatus includes a housing having a front end and a back end; a lens, wherein the lens is disposed in the front end of the housing; and a thermal core, wherein the thermal core is disposed between the lens and the back end of the housing, the thermal core further comprising: at least one substrate; at least one thermally conductive member configured to remove heat from the thermal core; and an infrared imager affixed to one of the at least one substrate, the infrared imager configured to capture an infrared video stream.

Abstract: A riding lawn care vehicle may include a steering assembly and an indicator system may be incorporated into a portion of the steering assembly. The steering assembly, which may be, for example, a steering lever on a zero-turn vehicle, is coupled to a mechanism to move at least one wheel, and the indicator system may includes at least one illuminating element and/or display device that is configured to visually communicate information to an operator in response to detection of a predetermined trigger or condition occurring.

Abstract: A steering assist device includes a driving support ECU. The driving support ECU is configured to determine on whether or not accelerator operation is performed during execution of a lane change assist control. The driving support ECU is configured to prohibit execution of an original lane return assist control, when the driving support ECU determines that the accelerator operation has been performed.

Abstract: An object detector includes a projector including a light source having a two-dimensionally arranged plurality of light emitter groups, each of the light emitter groups having a plurality of light emitters, a light receiver which receives light emitted from the projector, and reflected by an object, and a light source driver which lights on and lights off each of the light emitter groups of the light source.

Abstract: According to some embodiments, a system determines a number of boundary areas having predetermined dimensions centered around each of a number of control points of a first reference line. The system selects a number of two-dimensional polynomials each representing a segment of an optimal reference line between adjacent control points. The system defines a set of constraints to the two-dimensional polynomials to at least ensure the two-dimensional polynomials passes through each of the boundary areas. The system performs a quadratic programming (QP) optimization on a target function such that a total cost of the target function reaches minimum while the set of constraints are satisfied. The system generates a second reference line representing the optimal reference line based on the QP optimization to control the ADV autonomously according to the second reference line.

Abstract: A following vehicle detection and alarm device comprises a tail camera for shooting an area behind a vehicle of interest at a predetermined frame rate, a frame quantity count unit for counting the number of frames after a following vehicle is shot in a shooting range of the tail camera until the following vehicle reaches a first position behind the vehicle of interest, an alarm instruction output unit for outputting an alarm instruction of notifying the driver of the vehicle of interest that the other vehicle is approaching at a timing set based on the number of frames counted by the frame quantity count unit, and an alarm processing unit for performing a predetermined alarm operation on the driver when the alarm instruction is output by the alarm instruction output unit.

Abstract: A driving support device as an example of a data processor executes processing for estimating a driving behavior of a vehicle by using a driving behavior model trained based on detection results by a sensor. A detected-information input unit acquires detected information including the detection results. From the detection results included in the detected information input to the detected-information input unit, a selection unit selects a detection result that falls within predetermined selection range narrower than a range detectable by the sensor. A processing unit executes the processing, based on the detection result selected by the selection unit.

Abstract: A method and a system for communicating a an ego-vehicle's determined behavior to a target object is for use in a driver assistance system of a vehicle. The method includes steps of acquiring data of a traffic scene preferably by sensor means configured to sense an environment of the vehicle, calculating a prediction result including a target object's behaviour based on the acquired sensor data, determining an action of the host vehicle based on the prediction result and generating an actuation signal for performing the determined action, and determining a communication information indicating the determined action. The communication information is output to a communication means for communication to the target object via at least one of a lighting means of the vehicle and a car-to-x communication means.

Abstract: A method of controlling a vehicle, and which includes wirelessly communicating, via a wireless communication unit, with at least one other vehicle; displaying, via a display, a list of activities that are executable together during a commonly available autonomous driving time period where both the vehicle and the least one other vehicle are operated in an autonomous driving mode; receiving, via a controller, a selection of an activity in the displayed list of activities; and displaying, via the display, an execution screen of the selected activity during the commonly available autonomous driving period.

Abstract: A vehicle device is used for a vehicle and includes a data acquisition unit, a compensation unit, and an output unit. The data acquisition unit acquires data successively transmitted from outside a subject vehicle via communication. The compensation unit compensates a data loss resulting from unsuccessfully acquiring of data in the data acquisition unit by using data already acquired by the data acquisition unit and generates assistive data used for travel assistance of the subject vehicle. The compensation unit associates with the assistive data a compensation implementation value indicating an implementation of the compensation. The output unit outputs the assistive data associated with the compensation implementation value to a travel assistance device for performing the travel assistance when the compensation unit generates the assistive data by compensating the data loss. Accordingly, decrease of driver's reliability for travel assistance using data acquired through communication is restricted.

Abstract: Disclosed herein is an installation angle distinction apparatus including at least: an Input unit which inputs a current relative distance value, current relative velocity value and current horizontal angle value of a stationary object; an estimation unit which estimates a vertical height of the stationary object, and estimates vertical height values of the stationary object at each of predetermined time points for different distances and estimates a current vertical installation angle value of the detector; a determination unit which determinates that the current vertical installation angle of the detector is abnormal when the estimated current vertical installation angle value is deviated from a reference vertical installation angle value range preset; and a control unit which receives the current relative distance value, the current relative velocity value, and the current horizontal angle value, transmits an estimation command and a determination command to the estimation unit the determination unit, resp

Abstract: A push cart includes a wheel, a motor, an obstacle detector, and a controller. The motor is configured to generate a rotational force that rotates the wheel. The obstacle detector is configured to detect an obstacle. The controller is configured to execute, in response to detection of the obstacle by the obstacle detector, avoidance control to control driving of the motor such that a movement of the push cart is limited. The controller is configured to disable execution of the avoidance control in response to a determination that a specified disabling condition is satisfied.

Abstract: A method and system of vehicle localization. Sensed data representing an environment of the vehicle is received from at least one sensor. A top view image of the environment is generated from the sensed data representing the environment of the vehicle. A vehicle localization is determined using a top view from a plurality of previously captured top view images that matches the generated top view and the sensed data. An output is generated including the vehicle localization.

Abstract: Aspects of the disclosure provide systems and methods for recognizing an assigned passenger. For instance, dispatching instructions to pick up a passenger at a pickup location are received. The instructions include authentication information for authenticating a client computing device associated with the passenger. A vehicle is maneuvered in an autonomous driving mode towards the pickup location. The client device is then authenticated. After authentication, a set of pedestrians within a predetermined distance of the vehicle are identified from sensor information generated by a sensor of the vehicle and location information is received over a period of time from the client device. The received location information is used to estimate a velocity of the passenger. This estimated velocity is used to identify a subset of set of pedestrians that is likely to be the passenger. The vehicle is stopped to allow the passenger to enter the vehicle based on the subset.

Abstract: A system for use in a vehicle for determining an indication of the type of terrain in the vicinity of the vehicle, the system comprising; means configured to receive sensor output data from at least one sensor on the vehicle; means configured to determine a plurality of parameters in dependence on the sensor output data; a neural network algorithm configured to receive the plurality of parameters; and means configured to execute the neural network algorithm to provide a plurality of outputs corresponding to a plurality of different terrain types, the neural network being further configured to associate the plurality of parameters with one of the plurality of outputs, so as to determine an indication of the terrain type.

Abstract: A sensor mounting state determination device includes distance measurement section that measures a distance to a road surface based on time from transmission of a transmission wave to reception of a reflection wave by an ultrasonic sensor that is mounted to a vehicle to transmit a transmission wave toward a road surface and receive a reflection wave reflected off the road surface. There is further provided a determination section configured to determine not only that the ultrasonic sensor is correctly mounted when the distance measured by the distance measurement section is identical to a predetermined distance, but also that the ultrasonic sensor is incorrectly mounted when the distance measured by the distance measurement section is not identical to the predetermined distance.

Abstract: A first computer including a processor is programmed to receive an indication of a failure mode in a vehicle and wirelessly transmit the indication of the failure mode to a remote server. The computer is further programmed to receive a revised route to a destination based at least in part on the failure mode and operate the vehicle along the revised route.

Abstract: A method for automatic determination and/or monitoring of a target trajectory for a vehicle by which a starting point corresponding to the current position of the vehicle is connected to a target point. The method includes determining different trajectories of the vehicle that connect the starting point to the target point, detecting a further target trajectory for each road user, wherein each of the further target trajectories connects the starting point of the respective road user to a target point corresponding to the respective road user, determining the trajectories of the vehicle as collision-free trajectories that do not result in a collision with one of the further road users if the respective road user is moving on the target trajectory, and determining and/or monitoring the target trajectory of the vehicle depending on the collision-free trajectories of the vehicle.

Abstract: Aspects of the invention relate generally to autonomous vehicles. The features described improve the safety, use, driver experience, and performance of these vehicles by performing a behavior analysis on mobile objects in the vicinity of an autonomous vehicle. Specifically, the autonomous vehicle is capable of detecting nearby objects, such as vehicles and pedestrians, and is able to determine how the detected vehicles and pedestrians perceive their surroundings. The autonomous vehicle may then use this information to safely maneuver around all nearby objects.

Abstract: A display control device for a vehicle includes: a display controller that displays a predetermined display image on a windshield of the vehicle; a visibility reducing area detector that detects a presence or an absence of a visibility reducing area which reduces a visibility of the display image on the windshield; and a gaze detector that detects a gaze of a driver. When the display image overlaps with the visibility reducing area and the driver does not keep the gaze on the display image, the display controller moves the display image to an outside of the visibility reducing area.

Abstract: Among other things, data is received from a sensor oriented to monitor ground transportation entities at or near an intersection of a transportation network, and a machine learning model predicts behavior of ground transportation entities at or near the intersection at a current time. The machine learning model is based on training data about previous motion and related behavior of ground transportation entities at or near the intersection. Current motion data is applied to the machine learning model to predict imminent behaviors of the ground transportation entities. An imminent dangerous situation for one or more of the ground transportation entities at or near the intersection is inferred from the predicted imminent behaviors. A wireless communication device sends a warning about the dangerous situation to one of the ground transportation entities.