Vehicle collision warning system

• US 20060178830A1
• Filed: 02/10/2005
• Published: 08/10/2006
• Est. Priority Date: 02/10/2005
• Status: Active Grant

• Current Assignee: Toyota Motor Corporation
• Original Assignee: Toyota Motor Corporation
• Inventors: Sherony, Rini
• Granted Patent: US 7,130,745 B2
• Time in Patent Office: Days
• US Class Current: 701/301
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves

Abstract

An apparatus for facilitating avoidance of a vehicle collision with an object, comprises a vision sensor providing image data, and an image analyzer, operable to provide an estimated time to collision of the vehicle with the object. The estimated time to collision is determined from a rate of expansion of an image element corresponding to the object within the image data, and the apparatus provides a warning if the estimated time to collision is less than or approximately equal to a predetermined time.

Claims

1. An apparatus providing a collision avoidance response to facilitate avoidance of a collision between a vehicle and an object, the apparatus comprising:

a vision sensor providing image data; and

an image analyzer, operable to provide an estimated time to collision of the vehicle with the object,

the estimated time to collision being determined from the rate of expansion of an image element within the image data, the image element corresponding to at least part of the object,

the apparatus providing the collision avoidance response if the estimated time to collision is less than or approximately equal to a predetermined time.

2. The apparatus of claim 1, wherein the vision sensor provides a substantially hemispherical field of view.

3. The apparatus of claim 1, wherein the vision sensor provides a substantially spherical field of view.

4. The apparatus of claim 1, the vision sensor comprises a plurality of light collectors disposed over a curved surface.

5. The apparatus of claim 1, the vision sensor further comprising a plurality of light detectors, wherein each light collector is optically coupled to at least one light detector,

the image data being derived from electrical signals provided by the plurality of light detectors.

6. The apparatus of claim 4, wherein the plurality of light collectors disposed over a curved surface is a plurality of lenses arranged over a hemispherical surface.

7. The apparatus of claim 1, comprising a pair of vision sensors cooperatively providing a field of view of 360 degrees in at least one plane.

8. The apparatus of claim 7, wherein the pair of vision sensors each comprise a plurality of lenses disposed over a hemispherical surface.

9. The apparatus of claim 7, the pair of vision sensors cooperatively providing a spherical field of view.

10. The apparatus of claim 1, wherein the collision avoidance response comprises an audible signal.

11. The apparatus of claim 1, wherein the collision avoidance response comprises a visual signal.

12. The apparatus of claim 1, wherein the collision avoidance response comprises an automatic slowing or redirection of the vehicle.

13. An apparatus providing a collision avoidance response to facilitate collision avoidance between a vehicle and an object within a heading of the vehicle, the vehicle having a vehicle speed, the apparatus comprising:

a pair of vision sensors, the vision sensors having optical axes separated by approximately 180 degrees, the vision sensors providing image data;

an image analyzer, receiving the image data, the image analyzer performing an optical flow analysis of the image data and providing an estimated time to collision with the object; and

a collision avoidance mechanism providing a collision avoidance response if the estimated time to collision is less than a predetermined time.

14. The apparatus of claim 13, wherein the estimated time to collision is determined using the magnitude of an optical flow vector for an image element corresponding to the object.

15. The apparatus of claim 13, wherein the image analyzer determines if the object is in the heading of the vehicle by comparing the optical flow vector with a focus of expansion within the image data.

16. The collision avoidance system of claim 15, wherein the estimated time to collision with the object is determined from a ratio of a magnitude of the optical flow vector to a distance between the optical flow vector and the focus of expansion.

17. The apparatus of claim 13, wherein the collision avoidance system includes an audio generator, the collision avoidance response including an audible warning to a vehicle operator.

18. The apparatus of claim 13, wherein the collision avoidance system includes a steering control, the collision avoidance response including a change in the heading of the vehicle.

19. The apparatus of claim 13, wherein the collision avoidance system includes a brake control, the collision avoidance response including a reduction of the vehicle speed.

20. The apparatus of claim 13, wherein each vision sensor comprises a hemispherical surface supporting a plurality of light collectors, each light collector being optically coupled to a light detector.

21. The apparatus of claim 13, wherein each vision sensor comprises a plurality of lenses disposed over a hemispherical surface, each lens directing light to a light detector.

22. A method of facilitating avoidance of a vehicle collision with an object, the vehicle having a vehicle speed, and having a vehicle operator and vehicle surroundings, the method comprising:

providing a vision sensor having a wide field of view of the vehicle surroundings;

obtaining time-sequential image data from the vision sensor corresponding to the vehicle surroundings;

determining an optical flow vector corresponding to an image element within the image data, the image element corresponding to a portion of the object;

determining an estimated time to collision with the object using the optical flow vector; and

providing a collision avoidance response to the vehicle operator if the time to collision is less than a predetermined time.

23. The method of claim 22, wherein the estimated time to collision is determined from a ratio of the magnitude of the optical flow vector with a distance of the optical flow vector from a focus of expansion within the image data.

24. The method of claim 22, wherein the step of providing a vision sensor includes providing a pair of vision sensors, each vision sensor having a hemispherical field of view, the pair of vision sensors facing in opposed directions so as to cooperatively provide a spherical field of view.

25. The method of claim 22, wherein the collision avoidance response includes a visual alert to the vehicle operator.

26. The method of claim 22, wherein the collision avoidance response includes an audible alert to the vehicle operator.

27. The method of claim 22, wherein the collision avoidance response includes a haptic alert to the vehicle operator.