Collision avoidance using optical pattern growth rate
First Claim
Patent Images
1. A collision avoidance system carried by a first vehicle for initiating corrective action in accordance with the relative motion between the first vehicle and an object, including a non-cooperating second vehicle, disposed at a distance r and having a velocity r relative to the first vehicle, said system comprising:
- image sensor means, adapted to be carried by the first vehicle, for transducing an image of the object into electrical signals;
image processor means for generating a rate-range ratio (r/r) including;
first means responsive to said electrical signals for generating a first signal indicative of the size of said image;
second means, responsive to said first signal for generating a second signal indicative of the rate of growth of said image;
third means for generating said rate-range ratio including means for dividing said second signal by said first signal;
fourth means for generating a value indicative of the time necessary to perceive and react to a situation indicative of a pending collision between said first vehicle and said object;
comparing means for comparing said rate-range ratio with said value; and
signal means for generating a collision avoidance signal when said rate-range ratio exceeds said value.
0 Assignments
0 Petitions
Accused Products
Abstract
A passive electro-optical collision avoidance system disposed within a moving vehicle for generating a collision avoidance signal. The system comprises a lens, image sensor and image processor wherein the image processor generates a collision avoidance signal in response to the size of the image and its rate of growth.
375 Citations
20 Claims
-
1. A collision avoidance system carried by a first vehicle for initiating corrective action in accordance with the relative motion between the first vehicle and an object, including a non-cooperating second vehicle, disposed at a distance r and having a velocity r relative to the first vehicle, said system comprising:
-
image sensor means, adapted to be carried by the first vehicle, for transducing an image of the object into electrical signals; image processor means for generating a rate-range ratio (r/r) including; first means responsive to said electrical signals for generating a first signal indicative of the size of said image; second means, responsive to said first signal for generating a second signal indicative of the rate of growth of said image; third means for generating said rate-range ratio including means for dividing said second signal by said first signal; fourth means for generating a value indicative of the time necessary to perceive and react to a situation indicative of a pending collision between said first vehicle and said object; comparing means for comparing said rate-range ratio with said value; and signal means for generating a collision avoidance signal when said rate-range ratio exceeds said value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
-
-
15. A collision avoidance system carried by a first vehicle for initiating corrective action in accordance with the relative motion between the first vehicle and an object including a non-cooperating second vehicle and the first vehicle comprising:
-
an image sensor means, adapted to be carried by the first vehicle, for transducing an image of an object focused thereon into electrical signals; imaging means responsive to radiation from the object of projecting on said image sensing means said image of said object; image processor means responding to said electrical signals for generating a size signal indicative of the size of the image projected thereon; differentiator means for generating a rate of change signal indicative of the rate of change of said size signal; decision means responsive to said size signal, and said rate of change signal for generating a collision avoidance signal indicating that corrective action need be taken wherein said signal is proportional to the ratio of said rate signal to said size signal; and means responsive to said collision avoidance signal for generating a signal to initiate correction action. - View Dependent Claims (16, 17)
-
-
18. A method of avoiding a coillision of a first object with a second object, the method comprising the steps of:
-
generating an optical image of the second object; detecting said optical image to generate signals indicative of the size of the image of said second object comparing the size of sequentially detected images of said object to generate a collision avoidance signal as a function of the rate of growth of said image divided by the size of said image.
-
-
19. A method of avoiding a collision between a moving first object with a second object, the method comprising the steps of:
-
comparing sequentially generated first signals to generate a second signal indicative of the rate of growth of said image; generating the ratio of said second signal to said first signal; and
thencomparing said ratio to a threshold level to generate a collision avoidance signal when said ratio equals said threshold level.
-
-
20. A collision avoidance system, carried by a first vehicle, for generating a collision avoidance signal in accordance with the relative motion between the first vehicle and an object, including a non-cooperating second vehicle, disposed at a distance r and having a velocity r relative to the first vehicle, the system comprising:
-
first means adapted to be carried by the first vehicle for transducing a signal indicative of the size of said object; processor means responding to said first means for generating a collision avoidance signal indicative of the ratio of r/r; and means responsive to said collision avoidance signal for generating a signal to initiate corrective action.
-
Specification