PEDESTRIAN COLLISION WARNING SYSTEM
First Claim
1. A method for preventing a collision between a motor vehicle and a pedestrian using a camera and a processor mountable in a motor vehicle, wherein the processor is operably connectible to the camera and the processor is configured to capture a plurality of image frames from the camera of the environment of the motor vehicle in the field of view of the camera, the method comprising:
- detecting an image patch in at least one of the image frames, wherein the image patch includes a candidate image of a pedestrian in the field of view of the camera;
validating detection of the candidate image by analyzing optical flow between the image frames of the image patch; and
providing a collision warning or a collision prevention control signal, when the analyzed optical flow is consistent with an upright pedestrian.
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Accused Products
Abstract
A method is provided for preventing a collision between a motor vehicle and a pedestrian. The method uses a camera and a processor mountable in the motor vehicle. A candidate image is detected. Based on a change of scale of the candidate image, it may be determined that the motor vehicle and the pedestrian are expected to collide, thereby producing a potential collision warning. Further information from the image frames may be used to validate the potential collision warning. The validation may include an analysis of the optical flow of the candidate image, that lane markings prediction of a straight road, a calculation of the lateral motion of the pedestrian, if the pedestrian is crossing a lane mark or curb and/or if the vehicle is changing lanes.
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Citations
20 Claims
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1. A method for preventing a collision between a motor vehicle and a pedestrian using a camera and a processor mountable in a motor vehicle, wherein the processor is operably connectible to the camera and the processor is configured to capture a plurality of image frames from the camera of the environment of the motor vehicle in the field of view of the camera, the method comprising:
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detecting an image patch in at least one of the image frames, wherein the image patch includes a candidate image of a pedestrian in the field of view of the camera; validating detection of the candidate image by analyzing optical flow between the image frames of the image patch; and providing a collision warning or a collision prevention control signal, when the analyzed optical flow is consistent with an upright pedestrian. - View Dependent Claims (2, 3)
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4. A method for preventing a collision between a motor vehicle and a pedestrian, the method using a camera and a processor mountable in the motor vehicle, wherein the processor is operably connectible to the camera and the processor is configured to capture image frames from the camera of the environment of the motor vehicle in the field of view of the camera, the method comprising:
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detecting a candidate image, wherein the candidate image includes the pedestrian in the field of view of the camera; based on a change of scale of the candidate image, determining that the motor vehicle and the pedestrian are expected to collide, thereby producing a potential collision warning; using further information from the image frames, validating the potential collision warning; and providing a collision warning signal or a collision control signal based upon said validating. - View Dependent Claims (5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A system operable to prevent a collision between a motor vehicle and a pedestrian, the system using a camera and a processor mountable in the motor vehicle, wherein the processor is operably connectible to the camera and the processor is configured to capture image frames from the camera of the environment of the motor vehicle in the field of view of the camera, the system operable to:
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detect a candidate image, wherein the candidate image includes the pedestrian in the field of view of the camera; based on a change of scale of the candidate image, determine that the motor vehicle and the pedestrian are expected to collide, thereby producing a potential collision warning; use further information from the image frames to give a validation of the potential collision warning; and provide a collision warning signal or a collision control signal upon said validation. - View Dependent Claims (17, 18, 19, 20)
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Specification