Collision avoidance alarm system

• US 4,872,051 A
• Filed: 10/01/1987
• Issued: 10/03/1989
• Est. Priority Date: 10/01/1987
• Status: Expired due to Term

• Current Assignee: Environmental Research Institute Incorporated
• Original Assignee: Environmental Research Institute of Michigan
• Inventors: Dye, Robert H.
• Primary Examiner(s): Britton, Howard W.
• Application Number:
  US07/103,202
• Time in Patent Office: 733 Days
• Field of Search: 358/105, 358/103, 358/107, 358/125, 340/963, 340/961, 342/29, 342/41, 342/55
• US Class Current: 348/113
• CPC Class Codes: B60Q 1/52 for indicating emergencies
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G06V 10/255 Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
• CPC Class Codes: G08G 9/02 Anti-collision systems

Abstract

The following invention is a passive collision avoidance alarm system. An optical sensor (which may optionally be visable, infrared or ultraviolet) is disposed to provide a continuous raster scan of the scene within a wide angle of the direction of travel of the vehicle. This sensor output is converted into digital data and stored. A computer system compares consecutive scenes to detect identifiable objects. For such identifiable objects the computer calculates the centroid of the object and its angle, and a measure of the size or extent of the object. Detection of an object having a constant angle and a increasing measure of extent causes an alarm to be triggered.

Claims

1. A collision avoidance alarm system, for rigid mounting on a vehicle, comprising:

(a) a sensor subsystem, producing electrical signals proportional to the intensity of visible light incident thereon;

(b) lens means for directing visible light, from a wide field of view substantially centered about a direction of progression of said vehicle, onto said sensor subsystem;

(c) means for correlatably identifying the electrical signals produced by said sensor subsystem with particular elements within the field of view of said lens system wherein the visible light sensed originates;

(d) means for comparing the electrical signals resulting from spatially contiguous elements within the field of view, and for establishing an extent parameter, in terms of a measure within the field of view, of said resultant electrical signals having like characteristics and amplitudes;

(e) means for computing a centroid, in terms of angle with respect to the center of the field of view, of the spatially contiguous elements on which said extent parameter is based;

(f) means for sequentially, in time, comparing consecutive extent parameters and centroid angle; and

(g) means for producing an audible signal when, and only when, the centroid angle is consecutively a constant and the extent parameter indicates an apparent growth.

2. The collision avoidance alarm system of claim 1, wherein said sensor subsystem and said lens means are in the form of a television camera having a field of view centered on the direction of progression of the carrying vehicle.

3. A collision avoidance alarm system, for rigid mounting on a vehicle, comprising:

(a) means for scanning an observed scene having a wide field of view and for directing electromagnetic energy emanating from said scene there through;

(b) means for sensing electromagnetic energy passing through said means for scanning an observed scene and for producing electrical signals proportional to the amount of energy sensed, said signals further being correlatable to spatial elements of the observed scene;

(c) means for analyzing said signals so as to establish an extent parameter of any contiguous region of the observed scene producing like signals and so as to establish an angle, with respect to the direction of progression of the vehicle, of a centroid of any such contiguous region; and

(d) means for producing an alarm signal for cases when both the centroid angle remains constant and the extent parameter indicates growth over time, and for precluding the production of an alarm signal in all other cases.

4. The collision avoidance alarm system of claim 3, wherein said electromagnetic energy is in the ultraviolet portion of the spectrum.

5. The collision avoidance alarm system of claim 3, wherein said electromagnetic energy is in the visible portion of the spectrum.

6. The collision avoidance alarm system of claim 3, further comprising means for digitizing the electrical signals produced by said means for sensing electromagnetic energy and for providing said digitized signals to said means for analyzing said signals.

7. The collision avoidance alarm system of claim 3, wherein said electromagnetic energy is in the infrared portion of the spectrum.

8. The collision avoidance alarm system of claim 7, wherein said means for scanning an observed scene and said means for sensing electromagnetic energy comprise a wide field of view optical system and an array of infrared detectors, respectively.

9. The collision avoidance alarm system of claim 7, wherein said means for scanning an observed scene and said means for sensing electromagnetic energy comprise an optical system driven to oscillate through a wide field of view, and a single chopped detector, respectively.

10. A passive collision avoidance system for a vehicle comprising:

a television camera for generating a continuous analog signal corresponding to a series of raster scan frames of received light, the analog signal at a particular time of receipt relative to said raster scan frames indicative of the intensity of incident light received from a corresponding location within the field of view;

a wide angle optical system coupled to said television camera disposed to gather to said television camera ambient light from a wide field of view centered on the direction of progression of the vehicle;

an analog-to-digital convertor connected to said television camera for converting said continuous analog signal into a corresponding stream of digital signals, each digital signal indicative of the intensity of incident light from a corresponding location within the field of view of said television camera;

a memory connected to said analog-to-digital convertor for storing at least one frame of said stream of digital signals;

an alarm device for producing an audible alarm when triggered; and

a logic processing unit connected to said analog-to-digital convertor, said memory and said alarm device programmed for

recalling said digital signals stored in said memory,

identifying objects within digital signals corresponding to frames by grouping digital signals of similar intensity of incident light,

computing a centroid of location within the field of view of the television camera of each such identified object,

computing a measure of the extent of each such identified object, and

triggering said alarm when said centroid of an identified object is constant and said measure of extent of the same identified object is increasing.

11. The passive collision avoidance system for a vehicle as claimed in claim 10, wherein:

the light received by said television camera is infrared light.

12. The passive collision avoidance system for a vehicle as claimed in claim 10, wherein:

the light received by said television camera is ultraviolet light.

13. The passive collision avoidance system for a vehicle as claimed in claim 10, wherein

the light received by said television camera is visible light.

14. The passive collision avoidance system for a vehicle as claimed in claim 10, wherein:

said wide angle optical system coupled to said television camera consists of a wide angle lens.