Abstract: A method and system are disclosed for determining relative connectedness from temporal data. A user iterates through a list of items implemented on a mobile device. As each item on the list is located it is marked to generate a corresponding timestamp. The timestamps are then used to generate a timestamped list, which in turn is processed to determine the amount of elapsed time between each item on the list being located. The timestamped list data is then processed to generate relative connectedness data, which in turn is processed to generate a relative connectedness graph. The relative connectedness graph is then processed to assign coordinates to each item on the list. In turn, the coordinates are used to generate a map of the items.

Abstract: A traffic accident prevention service provides a method for improving traffic safety by using beacons. Each vehicle participating in the traffic accident prevention service includes a system for determining the speed of the vehicle, and a terminal connected to the system that has access to a wireless access network. Positioning beacons are located at different points of the road network and communicate via radio with the vehicles circulating close to them. The network warns the terminal of the safety parameters by knowing the position of the vehicle when it passes close to a beacon so that the driver can take appropriate actions.

Abstract: A system for determining a hitch angle between a vehicle and trailer is provided. The system includes an imaging device disposed on the trailer. A first navigation system is disposed on-board the vehicle. A second navigation system is integrated with the imaging device. A controller determines the hitch angle based on data received from the first navigation system and the second navigation system.

Abstract: In one example, we describe a method and infrastructure for DSRC V2X (vehicle to infrastructure plus vehicle) system. This can cover a communication circle up to 800 m, and in some cases 1000 m, and as a result, in congested traffic areas, the onboard unit is communicating with high number of units and may end up saturating its processing capability very quickly. In one example, the task is to provide different levels of node filtering algorithms to intelligently select the node data to be processed. This results in optimally using the available processing power by only processing the data of the desired nodes. This method is based on combination of range, velocity, heading, direction, transmitted power, received power threshold, and map database, if available. This also reduces the V2X communication congestion problem resulted in high number of one-to-many nodes communication.

Abstract: The present description relates to a robot cleaner and to a method for controlling the same, which involve generating a map of an area to be cleaned in accordance with a travel mode command, and performing a cleaning operation by avoiding obstacles on the basis of the generated map upon receipt of a cleaning mode command. For this purpose, the robot cleaner of the present invention comprises: a travel unit which travels around the area to be cleaned upon receipt of the travel mode command; a detection unit which detects an object located in the area to be cleaned during travel performed in accordance with the travel mode command; and a control unit which generates a map of an area to be cleaned on the basis of the information on the location of an obstacle, if the detected object is the obstacle, and controls a cleaning operation on the basis of the generated map upon receipt of a cleaning mode command.

Abstract: Position finding system having a sensor unit and a transmitter unit. The sensor unit comprises a first RFID transponder reader unit, a first inductive detector unit, and an analysis unit connected to the RFID transponder reader unit and the inductive detector unit; the transmitter unit comprises an RFID transponder and a metallic material. The sensor unit is movable relative to the transmitter unit. The RFID transponder reader unit is configured for absolute position finding and outputs a first position value, and the inductive detector unit is configured for absolute position finding and outputs a second position value. The analysis unit is configured to determine, from the data acquired from the transmitter unit, an absolute position of the sensor unit from the first and second position values.

Abstract: A vision system of a vehicle includes a camera disposed at the vehicle and having a field of view exterior of the vehicle. The camera is operable to capture frames of image data. Responsive to image processing by an image processor of captured image data, a control is operable to determine objects present in the field of view of the camera. Responsive to vehicle data, the control determines a vehicle motion vector during driving of the vehicle by a driver of the vehicle. The control determines movement of an object relative to the vehicle via image processing of at least two frames of captured image data during driving of the vehicle by the driver of the vehicle. The control compares the determined relative movement of the object to the determined vehicle motion vector, and responsive to the comparison, the control may determine a misalignment of the camera.

Abstract: When a driver leaves a vehicle as indicated by a separation event such as the driver's portable wireless communication device (WCD) losing Bluetooth connectivity with the vehicle, the WCD uploads to a cloud server its GPS location before the driver has been able to walk away from the vehicle an appreciable distance. The location is recorded and the driver subsequently can use its WCD to communicate with the server to obtain map information showing the current location of the WCD and the location recorded at the separation event, so that the driver knows the location of her vehicle relative to her current location.

Abstract: A method for determining a slack condition of a vehicle system includes determining when each of first and second vehicles reaches a designated location along a route. The method also includes communicating a response message from the second vehicle to the first vehicle responsive to the second vehicle reaching the designated location, calculating a separation distance between the first vehicle and the second vehicle based on a time delay between a first time when the first vehicle reached the designated location and a second time when the second vehicle reached the designated location, and determining a slack condition of the vehicle system based on the separation distance. The slack condition is representative of an amount of slack in the vehicle system between the first and second vehicles.

Abstract: A drive assist system includes: wireless communication devices on first and second vehicles. The wireless communication device on the first vehicle includes: a distance calculation device for calculating a satellite positioning distance between the first and second vehicles; and a difference calculation device for calculating a distance difference between the satellite positioning distance and a distance to the second vehicle obtained by a ranging sensor in the first vehicle.

Abstract: In one example, we describe a method and infrastructure for DSRC V2X (vehicle to infrastructure plus vehicle) system. This can cover a communication circle up to 800 m, and in some cases 1000 m, and as a result, in congested traffic areas, the onboard unit is communicating with high number of units and may end up saturating its processing capability very quickly. In one example, the task is to provide different levels of node filtering algorithms to intelligently select the node data to be processed. This results in optimally using the available processing power by only processing the data of the desired nodes. This method is based on combination of range, velocity, heading, direction, transmitted power, received power threshold, and map database, if available. This also reduces the V2X communication congestion problem resulted in high number of one-to-many nodes communication.

Abstract: A driving assistance device includes: a surrounding-vehicle-information acquisition device for sequentially acquiring vehicle information for specifying a position and a travelling direction of a surrounding vehicle; a position acquisition device and a direction acquisition device for a host vehicle; a display controller for controlling a display device to display an image indicative of a current position of the surrounding vehicle relative to the current position and the travelling direction of the host vehicle; a surrounding-vehicle-track generation device for generating a surrounding vehicle track, which is at least one of a previous track and a future track of the surrounding vehicle; and a track display determination device for determining whether it is necessary to display the surrounding vehicle track. The display device further displays the surrounding vehicle track when it is necessary to display the surrounding vehicle track.

Abstract: This disclosure relates to a system and method for detecting execution of driving maneuvers based on pre-determined driving maneuver profiles. Some or all of the system may be installed in a vehicle and/or be otherwise coupled with a vehicle. In some implementations, the system may detect execution of driving maneuvers by the vehicle based on pre-determined driving maneuver profiles. The system may include one or more sensors configured to generate output signals conveying information related to the vehicle. In some implementations, the system may detect execution of the driving maneuvers by the vehicle based on a comparison of the information conveyed by the output signals from the sensors to criteria included in the pre-determined driving maneuver profiles.

Abstract: A mobile electronic apparatus includes a memory that stores a search range of an object and a processor that executes a process. The process includes acquiring a moving speed of the mobile electronic apparatus, determining the search range of the object on a basis of the moving speed, detecting the object existing within the search range, detecting whether a display unit of the mobile electronic apparatus is in an active state, and notifying that the object is detected when the display unit is detected to be in the active state and the object existing within the search range is detected.

Abstract: In some embodiments, methods and systems are provided for assisting a user in determining a real-world distance. Hardware-based sensors (e.g., present in a mobile electronic device) may allow for a fast low-power determination of distances. In one embodiment, one or more telemetry-related sensors may be incorporated into a device. For example, data detected by a frequently-calibrated integrated accelerometer may be used to determine a tilt of the device. A device height may be estimated based on empirical data or based on a time difference between a signal (e.g., a sonar signal) emitted towards the ground and a corresponding detected signal. A triangulation technique may use the estimated tilt and height to estimate other real-world distances (e.g., from the device to an endpoint or between endpoints).

Abstract: A vehicle navigation apparatus including a transceiver configured to communicate with at least one other vehicle near a vehicle including the vehicle navigation apparatus and configured to receive traveling information about the at least one other vehicle, a controller configured to calculate first movement information of the vehicle and second movement information of the at least one other vehicle based on the received traveling information, and a display unit configured to display a graphical representation of the vehicle and the at least one other vehicle based on the calculated movement information.

Abstract: When prediction information is newly acquired, a degree of the difference between a predicted via-point at a current time point is determined based on already transmitted past prediction information and a current position contained in the newly acquired prediction information. Then, it is determined whether the determined degree of the difference is a predetermined value or more. When the degree of the difference is determined to be the predetermined value or more, the newly acquired prediction information is transmitted.

Abstract: A method for displaying images (15, 18, 21) on a display device (3) of a driver assistance system (2) in a motor vehicle (1) is made available. Navigation data is received by the driver assistance system (2), and sensor data relating to the surroundings (10 to 13) of the motor vehicle (1) is acquired by at least one sensor (5a to 5d) of the driver assistance system (2). A control device (4) processes the sensor data to form a surroundings image (15, 18) which shows at least a surrounding area (16, 19) next to the motor vehicle (1?). A map image (21) which is generated while taking into account the navigation data on stored map data is displayed on the display device (3). Enlargement and/or zooming in of the map image (21) take/takes place on the display device (3). After a predetermined mapping scale (zoom factor) of the map image (21) has been reached, there is a change from the map image (21) to the surroundings image (15, 18).

Abstract: A method of optically locating an aircraft relative to an airport having standardized signage, including markings, the method includes generating an image of at least a portion of the airport from an optical sensor mounted on the aircraft, determining the location of the aircraft, and providing an indication of the determined location within the aircraft.

Abstract: A method of using a directional sensor for the purposes of detecting the presence of a vehicle or an object within a zone of interest on a roadway or in a parking space. The method comprises the following steps: transmitting a microwave transmit pulse of less than 5 feet; radiating the transmitted pulse by a directional antenna system; receiving received pulses by an adjustable receive window; integrating or combining signals from multiple received pulses; amplifying and filtering the integrated receive signal; digitizing the combined signal; comparing the digitized signal to at least one preset or dynamically computed threshold values to determine the presence or absence of an object in the field of view of the sensor; and providing at least one pulse generator with rise and fall times of less than 3 ns each and capable of generating pulses less than 10 ns in duration.

Abstract: A method includes, a first computer determining a stopping distance information for a first vehicle; broadcasting the stopping distance information for the first vehicle to at least one other vehicle; a second computer, in the at least one other vehicle, receiving the stopping distance information for the first vehicle determines a first distance between the at least one other vehicle and the first vehicle; and the second computer determining a proper distance for the at least one other vehicle based on the received stopping distance information of the first vehicle.

Abstract: A collision determination device is mounted to an own vehicle and determines a probability of a collision with a moving object. The collision determination device determines whether or not an own vehicle will collide with a moving object that is detected within a captured image. The collision determination device determines whether or not the moving object is in a shielded state where at least a portion of the moving object is hidden behind another object or the moving object appears from behind another object. The collision determination device sets an amount of time required for the collision determining means to complete a determination related to the collision to a shorter amount of time when the moving object is in the shielded state, compared to when the moving object is not in the shielded state.

Abstract: Aspects of the disclosure relate generally to detecting and avoiding blind spots of other vehicles when maneuvering an autonomous vehicle. Blind spots may include both areas adjacent to another vehicle in which the driver of that vehicle would be unable to identify another object as well as areas that a second driver in a second vehicle may be uncomfortable driving. In one example, a computer of the autonomous vehicle may identify objects that may be relevant for blind spot detecting and may determine the blind spots for these other vehicles. The computer may predict the future locations of the autonomous vehicle and the identified vehicles to determine whether the autonomous vehicle would drive in any of the determined blind spots. If so, the autonomous driving system may adjust its speed to avoid or limit the autonomous vehicle's time in any of the blind spots.

Abstract: A relative navigation system projects a grid into space from a grid generator and an object, such as an unmanned aerial vehicle, may use the projected grid to aid in the landing of the object. Methods of adjusting the projected grid including stabilizing the projected grid and orienting the grid generator relative to the earth.

Abstract: A collision avoidance support apparatus sets a side area right beside an own vehicle in an adjacent lane as a constant-speed target space, which is used for lane change at a constant speed, and also sets a diagonally-front area and a diagonally-rear area as alt-speed target spaces, which are used for lane change at an accelerated speed and at a decelerated speed. Then, a target space that is free of other vehicles is extracted by the apparatus. If there is no target space that is free of the other vehicles, the lane change is determined as unsafe. If there is no other vehicle in the constant-speed target space, the lane change is determined to be safe at the constant speed. If there is no other vehicle in at least one of the alt-speed target spaces, the lane change is determined to be safe at an accelerated speed or a decelerated speed.

Abstract: A system for in-vehicle monitoring and control of commodity loading, such a grain or loose or fluid materials, from a storage bin to a transport bin using a loading system, includes a loading system control device and a user interface device capable of mutual wireless communication. The system improves safety by eliminating the need for operators to crawl up the side of vehicle in order to check levels of commodity in the transport bin, while also trying to move the transport bin as required. The loading system control device includes a logic switching unit for selectively operating the loading system that transfers the commodity from the storage bin; one or more cameras providing visual feeds of the loading of commodity into the transport bin; and a security or safety feature. The user interface device includes a display for displaying the visual feeds and control switches for operating the loading system.

Abstract: A system for assisting in docking of a machine at a loading location is provided. The system includes a first controller and a second controller. The first controller is configured to generate a signal indicative of one or more loading locations associated with a loading machine. The second controller is communicably coupled to the first controller, a position detection module, a sensor and a display unit. Based on the signals received from the first controller, the position detection module and the sensor, the second controller compares the received signals and selects an exact loading location of the one or more loading locations. The second controller then determines when the current position of the machine crosses a predefined threshold distance and displays, on the display unit, a zoomed-in top view of the machine on the worksite and the exact loading location, based on the determination.

Abstract: The relative position of one vehicle vs. another vehicle, both driving in a vehicular environment, is determined using vehicular communications based on the IEEE 802.11 standard. The relative position determination is performed in a measuring vehicle using data provided by a measured vehicle through IEEE 802.11 communications carried through beacons as well as GPS or other location data and local map information.

Abstract: A method for collaborative navigation between two or more platforms is provided. The method comprises establishing a communication link between a first platform and a second platform, making a sensor measurement from the first platform, updating state and covariance elements of the first platform, and transmitting the updated state and covariance elements from the first platform to the second platform. A conditional update is performed on the second platform to compute a new estimate of state and covariance elements on the second platform, which takes into account the measurement from the first platform. The method further comprises making a sensor measurement from the second platform, updating state and covariance elements of the second platform, and transmitting the updated state and covariance elements from the second platform to the first platform.

Abstract: A mode controller determines whether to use an automated control mode of the spout or operator-directed manual control mode of the spout, based on a first operational status of a first location determining receiver associated with the propelling vehicle, a second operational status of a second location determining receiver associated with the harvesting vehicle, a third operational status of the imaging device or devices. In the automated control mode, an image processing module is adapted to facilitate the determination of the relative position of the spout and the storage portion and to generate command data place the storage portion and spout in relative cooperative alignment for transferring of material into the storage portion.

Abstract: A correct collision judgment is realized between an obstacle and a vehicle even when the vehicle enters a curve. In a collision judgment apparatus for judging the collision between the vehicle and the obstacle based on a relative positional relationship between a subject vehicle position of the vehicle and a relative movement straight line of the obstacle with respect to the vehicle as calculated based on a plurality of pieces of the position information acquired by a position information acquiring unit in relation to the obstacle, the relative positional relationship between the relative movement straight line and the subject vehicle position is adjusted so that a distance between the relative movement straight line and the subject vehicle position is separated if it is judged that the vehicle enters an entrance to a curve as compared with a situation in which the vehicle does not enter the entrance to the curve.

Abstract: A technique for calculating a location of a first vehicle is described. A method implementation of this technique comprises the steps of detecting, from the perspective of the first vehicle, a movement of a second vehicle relative to the first vehicle, determining, for the time of the relative movement, a location of the second vehicle based on the detected relative movement by matching the detected movement of the second vehicle against map data, measuring, for the time of the relative movement, a distance between the first and second vehicles, and calculating the location of the first vehicle based on the measured distance and the determined location of the second vehicle. The technique also comprises an apparatus, a computer program product, and a vehicle navigation system.

Abstract: Systems and methods for aligning a towing vehicle trailer hitch with the tongue of a trailer/towed vehicle are provided that enable a driver to know when the towing vehicle trailer hitch is close enough to the trailer tongue such that the two can be coupled. A trailer hitch includes a tow bar having a free end configured to be coupled to a trailer tongue. An alignment system includes at least one energy emitter secured to the vehicle that emits energy in the direction of the trailer tongue, and at least two sensors secured to the vehicle in spaced-apart relationship. The energy emitter(s) and sensors may be secured to the trailer or trailer hitch.

Abstract: An approach is provided for causing, at least in part, a sensing of information with at least one sensor, wherein the information is associated with at least one anticipated movement of the at least one parked vehicle. The approach also involves processing and/or facilitating a processing of the information to determine one or more conditions of the at least one anticipated movement of the at least one parked vehicle. The approach further involves causing, at least in part, an initiation of at least one action based, at least in part, on the one or more conditions, the at least one anticipated movement, or a combination thereof.

Abstract: A computer-implemented method and system for determining navigation/positional data, implemented in a computing system programmed to perform the method. The method includes receiving a plurality of signal strength measurements and user ID data from a hand-held user device, determining user navigation/position data using the plurality of signal strength measurements from the hand-held user device, and transferring the user navigation/position data to the hand-held user device in response to a request signal associated with the user ID data. The user navigation/position data can include 2-D position, 3-D position, relative position, heading, orientation, speed, bearing, and the like. Benefits of this method and system include user hardware independence, reduced computational load on user hardware, and network-level tracking of aggregated traffic patterns.

Abstract: In a vehicle travel assisting device, a vehicle speed, a yaw rate, a traveling lane of an own vehicle, and a position of a leading vehicle are detected. Target travel coordinates of the own vehicle are calculated, based on the traveling lane and the position of the leading vehicle A travel path curvature of a target travel coordinate group is estimated, based on information related to the target travel coordinate group. A steering quantity to be steered in advance by the own vehicle is calculated, based on the currently estimated travel path curvature. A weight for each of the target travel coordinates for estimating the travel path curvature is adjusted based on the vehicle speed, the yaw rate and the previously estimated travel path curvature. Steering control is performed such that the own vehicle travels so as to follow the estimated travel path curvature, based on the calculated steering quantity.

Abstract: An air navigation obstacle reporting and notification system for providing a centralized obstruction notification system to aircraft pilots regarding unreported and/or unmarked obstructions. The air navigation obstacle reporting and notification system generally includes a plurality of users that enter obstacle data into a control server via a global computer network which are uploaded to and broadcast by a satellite unit. Navigation receivers within the aircraft receive the updated obstruction data and match this data with navigation data (e.g. GPS) to determine if the aircraft heading and altitude will result in a potential collision with an obstacle. If a potential collision risk exists, the pilot is notified visually and audibly by the navigation receiver.

Abstract: A security and tracking apparatus includes at least a first signaling unit and a second signaling unit, wherein the apparatus is adapted for transmitting the location of each signaling unit when the first and second signaling units are separated by more than a preselected distance. A method to locate a person, animal, or object, includes providing in contact with or at least in close proximity to the person, the animal, or the object, at least a first signaling unit and a second signaling unit, wherein each respective signaling unit is adapted for identifying the location of the signaling units and for transmitting the location of the signaling units when the first and second signaling units are separated more than a preselected distance; and activating the signaling units to transmit the location of the signaling units.

Abstract: Disclosed is a golf performance tracking and mapping device that utilizes a handheld, portable device having an optical scanner for reading waypoints along a course map, cataloging strokes, distances and further for suggesting and cataloging club choices throughout a round. The data gathered during the round is utilized to create measurable data that can be utilized to create a portfolio of a specific round for posterity, or further for creating data that can be statistically analyzed for a specific user, wherein club ranges, weaknesses and strengths can be determined over a statistically significant period for performance tracking. The device includes a display and an internal global positioning system for tracking location. It is desired that the present tracking device require minimal user input beyond club scanning prior to subsequent swings.

Abstract: A collision judgment apparatus includes: a distance detecting unit detecting distance between a vehicle and an object; a relative speed detecting unit detecting a relative speed therebetween; a margin time calculation unit calculating a time to collision therebetween, based on the distance and the relative speed; an angle detecting unit detecting an angle of the object with respect to a running direction of the vehicle; a variation calculation unit calculating a variation of the angle over time; a setting unit setting a judgment value such that the shorter the margin time, the larger the judgment value; and a judgment unit judging that the vehicle is likely to collide with the object when the variation of the angle calculated by the variation calculation unit is lower than the judgment value set by the setting unit.

Abstract: Featured are a system and a method for alarming a front impact danger coupled with a driver viewing direction and a vehicle Such a system includes: a driver viewing direction recognition unit recognizing a driver viewing direction; an obstacle sensing unit sensing obstacles existing in directions that a driver does not view; and an engine control unit. The engine control unit receives and analyzes the driver face direction data from the driver viewing direction recognition unit to identify the driver viewing direction when the vehicle enters in the crossroads, requests the obstacle sensing unit perform obstacle sensing for another direction than the driver's viewing direction and analyzes analyze an obstacle sensing result. Such methods advantageously warns a driver to the presence of obstacles when a vehicle enters in crossroads to prevent a traffic accident.

Abstract: An object path prediction method, apparatus, and program and an automatic operation system that can secure safety even in situations that can actually occur are provided. For this purpose, a computer having a storage unit that stores the position of an object and the internal state including the speed of the object reads the position and internal state of the object from the storage unit, generates trajectories in a space-time consisting of time and space from changes of the positions that can be taken by the object with the passage of time based on the read position and internal state of the object, and predicts probabilistically paths of the object by using the generated trajectories.

Abstract: Systems and methods of providing road service to an operator of a vehicle are provided. Such systems and methods presuppose a navigation system of the vehicle is set to route the vehicle to a destination. A road service request from the vehicle is received and a waypoint along the route to the destination is calculated. The navigation system is remotely set to route the vehicle to the waypoint and road service at the waypoint is ordered. The road service includes swapping the vehicle with a new vehicle.

Abstract: A controlled vehicle is provided that detects the presence of an emergency vehicle by monitoring the trajectories of vehicles that are sharing the road with the controlled vehicle. The controlled vehicle may determine that the trajectory of each of the monitored vehicles follows the same predetermined pattern. Based on detecting the predetermined pattern in the behavior of the monitored vehicles, the controlled vehicle may deduce that an emergency vehicle is present in the vicinity of the monitored vehicles and/or the controlled vehicle.

Abstract: A method for detecting a front vehicle comprises: a moving light detecting step of detecting a front moving light area of an own vehicle in at least one image of a front scene of the own vehicle obtained at a time; a vehicle candidate generating step of extracting a light area pair from the detected front moving light area so that a front vehicle candidate is generated; and a vehicle candidate verifying step of verifying that the front vehicle candidate is the front vehicle in cases where the front vehicle candidate meets predetermined characteristics of a vehicle light.

Abstract: A driver performance mapping system for a vehicle system is disclosed. The system may include a GPS receiver generating GPS data indicative of a current location of the vehicle. In addition, the system may also have a radar device generating current gap data indicative of a current gap distance from the vehicle to a lead vehicle. Further, the system may include an electronic controller configured to generate learned gap data based on the current gap data and stored gap data, and then assign the learned gap data with the GPS data.

Abstract: A vehicle driving force suppression device is provided, and driving force suppression is conducted on the basis of existence of an obstacle which is on the opposite course to the selected shift position. Adding specific conditions related to acceleration pedal depression amount and speed, inclination of the road in the direction which an obstacle exists, or distance to the obstacle, magnitude of driving force suppression is decided.

Abstract: To facilitate security, locations of a portable electronic device may be tracked during a time interval. These tracked locations are then used to determine a location pattern, and the location pattern is used to estimate one or more secure locations. Then, when a user accesses financial information using the portable electronic device, the security level is determined based on a current location and the one or more secure locations.

Abstract: A communication system for first responders includes a plurality of mobile communication devices (MCDs) in communication with a global positioning system (GPS) and a cloud database via a wireless link. Software resident in the MCDs provides an application in which first responders can view and input data showing types and locations of emergency incidents, the units assigned, assigned radio channels, the incident status, graphical location, the location of each unit and other data. A sub-program resident on the MCDs permits users to locate and tag fire hydrants and input their locations and water delivery data into the cloud database.

Abstract: A system and method of analyzing traffic in a vicinity of a first machine is disclosed. The method may include determining, by one or more computer processors, a projected position of the first machine based on a yaw rate and velocity of the first machine. The method may further include determining, by the one or more computer processors, a predicted zone in the vicinity of the first machine based on the projected position of the first machine. The method may further include determining whether a second machine is present in the predicted zone. In response to determining that the second machine is present in the predicted zone, the method may further include determining whether an unsafe condition exists between the first machine and the second machine.