FORWARD COLLISION WARNING TRAP AND PEDESTRIAN ADVANCED WARNING SYSTEM
First Claim
1. A method for providing a forward collision warning using a camera mountable in a motor vehicle, the method comprising:
- acquiring a plurality of image frames at known time intervals;
selecting a patch in at least one of the image frames;
tracking optical flow between the image frames of a plurality of image points of said patch;
fitting the image points to at least one model; and
based on the fit of the image points to said at least one model, determining a time-to-collision (TTC) if a collision is expected.
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Accused Products
Abstract
A method for providing a forward collision warning using a camera mountable in a motor vehicle. The method acquires multiple image frames at known time intervals. A patch may be selected in at least one of the image frames. Optical flow may be tracked between the image frames of multiple image points of the patch. Based on the fit of the image points to a model, a time-to collision (TTC) may be determined if a collision is expected. The image points may be fit to a road surface model and a portion of the image points is modeled to be imaged from a road surface. A collision is not expected based on the fir of the image points to the road surface model.
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Citations
18 Claims
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1. A method for providing a forward collision warning using a camera mountable in a motor vehicle, the method comprising:
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acquiring a plurality of image frames at known time intervals; selecting a patch in at least one of the image frames; tracking optical flow between the image frames of a plurality of image points of said patch; fitting the image points to at least one model; and based on the fit of the image points to said at least one model, determining a time-to-collision (TTC) if a collision is expected. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A system including a camera and a processor mountable in a motor vehicle, the system operable to provide a forward collision warning, the system operable to:
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acquire a plurality of image frames at known time intervals; select a patch in at least one of the image frames; track optical flow between the image frames of a plurality of image points of said patch; fit the image points to at least one model; and based on the fit of the image points to the at least one model, determine a time-to-collision (TTC) if a collision is expected. - View Dependent Claims (9)
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10. A method of providing a forward collision warning using a camera and a processor mountable in a motor vehicle, the method comprising:
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acquiring a plurality of image frames at known time intervals; selecting a patch in an image frame corresponding to where the motor vehicle will be in a predetermined time interval; and monitoring said patch, if an object is imaged in said patch then issuing a forward collision warning. - View Dependent Claims (11, 12, 13, 14, 15)
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16. A system for providing a forward collision warning in a motor vehicle, the system comprising:
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a camera mountable in the motor vehicle, said camera operable to acquire a plurality of image frames at known time intervals; a processor operable to; select a patch in an image frame corresponding to where the motor vehicle will be in a predetermined time interval; to monitor said patch; and if an object is imaged in said patch, then issue a forward collision warning. - View Dependent Claims (17, 18)
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Specification