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Collision possibility determination device

  • US 7,209,833 B2
  • Filed: 01/17/2005
  • Issued: 04/24/2007
  • Est. Priority Date: 01/19/2004
  • Status: Expired due to Fees
First Claim
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1. A collision possibility determination device for a vehicle, comprising:

  • image capturing means that captures an image of view ahead of the vehicle;

    object detecting means that determines whether an object exists in a travel direction of the vehicle from the image captured by the image capturing means;

    main pixel position specifying means that specifies a main pixel position of an image of the object, the main pixel position representing a position of the object in the image of view;

    pixel position setting means that sets a travel direction pixel position in the image of view based on the travel direction of the vehicle;

    storage means that stores the main pixel position;

    travel vector calculating means that calculates a travel vector of the object from a history of the main pixel position of the object stored by the storage means; and

    collision possibility determining means that determines a possibility of a collision between the vehicle and the object based on an orientation of the travel vector and the travel direction pixel position;

    whereinthe pixel position setting means sets a circle with a specific radius from the set travel direction pixel position on the image;

    the vector direction determining means determines whether the orientation of the travel vector matches a direction toward an inside of the circle; and

    the collision possibility determining means determines that a possible collision between the vehicle and the object when the orientation of the travel vector matches the direction toward the inside of the circle.

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