Collison warning system
First Claim
Patent Images
1. A system for providing an indication of a possible collision between a vehicle and an object, the system comprising:
- at least one processing device configured to;
receive a plurality of images from an image capture device;
determine at least one collision parameter based on an indicator of a relative acceleration between the vehicle and the object, wherein the indicator of the relative acceleration is determined based on the plurality of images;
compare the at least one collision parameter with a predetermined threshold; and
cause a response in the system if the comparison between the at least one collision parameter and the predetermined threshold indicates a possible collision between the vehicle and the object.
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0 Petitions
Accused Products
Abstract
A method of estimating a time to collision (TTC) of a vehicle with an object comprising: acquiring a plurality of images of the object; and determining a TTC from the images that is responsive to a relative velocity and relative acceleration between the vehicle and the object.
62 Citations
23 Claims
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1. A system for providing an indication of a possible collision between a vehicle and an object, the system comprising:
at least one processing device configured to; receive a plurality of images from an image capture device; determine at least one collision parameter based on an indicator of a relative acceleration between the vehicle and the object, wherein the indicator of the relative acceleration is determined based on the plurality of images; compare the at least one collision parameter with a predetermined threshold; and cause a response in the system if the comparison between the at least one collision parameter and the predetermined threshold indicates a possible collision between the vehicle and the object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A vehicle, comprising:
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a body; an image capture device having at least one field of view relative to an exterior of the body, the image capture device configured to acquire image data at time intervals to provide a plurality of images; at least one processing device configured to; determine at least one collision parameter based on an indicator of a relative acceleration between the vehicle and the object, wherein the indicator of the relative acceleration is determined based on the plurality of images; compare the at least one collision parameter with a predetermined threshold; and cause a response in the system if the comparison between the at least one collision parameter and the predetermined threshold indicates a possible collision between the vehicle and the object. - View Dependent Claims (10, 11, 12)
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13. A system for providing an indication of a possible collision between a vehicle and an object, the system comprising:
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at least one processing device configured to; receive from an image capture device a plurality of images acquired of the object; determine, based on the plurality of images of the object, a possible collision between the vehicle and the object, when there is non-zero relative acceleration between the object and the vehicle; and cause a collision avoidance response at a time T different from a time T at which an instantaneous relative velocity between the vehicle and the object and a distance between the vehicle and the object together correspond to a collision warning threshold; wherein the determination of the possible collision is based on a determination of at least one value indicative of the relative acceleration between the vehicle object; and wherein the at least one value indicative of the relative acceleration is determined based a ratio between respective dimensions of a feature of the object in different images of the plurality of images. - View Dependent Claims (14, 15, 16, 17, 18)
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19. A system for providing an indication of a possible collision between a vehicle and an object, the system comprising:
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at least one processing device configured to; receive from an image capture device a plurality of images acquired of the object; determine, based on the plurality of images of the object, a possible collision between the vehicle and the object, when there is non-zero relative acceleration between the object and the vehicle; and cause a collision avoidance response at a time T different from time T′
at which an instantaneous relative velocity between the vehicle and the object and a distance between the vehicle and the object together correspond to a collision warning threshold;wherein for a scenario in which the collision threshold equals 2.8 seconds and the following vehicle is traveling at an initial velocity of 70 kmph at a distance of 50 meters behind the leading vehicle, which is also traveling at an initial velocity of 70 kmph, and at time Ti, the leading vehicle begins to decelerate at a constant deceleration rate of 7.5 m/s2 while the following vehicle continues at a constant velocity of 70 kmph, the at least one processing device is configured such that the warning of a possible collision will be issued at the time T, which occurs about 0.85 seconds after time Ti. - View Dependent Claims (20)
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21. A system for providing an indication of a possible collision between a vehicle and an object, the system comprising:
at least one processing device configured to; receive from an image capture device a plurality of images acquired of the object; determine, based on the plurality of images of the object, a possible collision between the vehicle and the object, when there is non-zero relative acceleration between the object and the vehicle; and cause a collision avoidance response at a time T different from a time T′
at which an instantaneous relative velocity between the vehicle and the object and a distance between the vehicle and the object together correspond to a collision warning threshold;wherein the determination of the possible collision is based on a determination of at least one value indicative of the relative acceleration between the vehicle and the object; and wherein the at least one value indicative of the relative acceleration is determined based on the plurality of images. - View Dependent Claims (22)
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23. A system for providing an indication of a possible collision between a vehicle and an object, the system comprising:
at least one processing device configured to; receive from an image capture device a plurality of images acquired of the object; determine, based on the plurality of images of the object, a possible collision between the vehicle and the object, when there is non-zero relative acceleration between the object and the vehicle, wherein the determination of a possible collision between the vehicle and the object includes determining whether information obtained from the plurality of images, including effects of the non-zero relative acceleration, indicates that the possible collision between the vehicle and the object will occur at or within a collision warning threshold of at least 2.0 seconds; and account for the non-zero relative acceleration effects from the plurality of images by causing a collision avoidance response at a time T, at which an instantaneous relative velocity between the vehicle and the object at time T and a distance between the vehicle and the object at time T do not correspond to the collision warning threshold, wherein time T is earlier than a time T at which the instantaneous relative velocity between the vehicle and the object and the distance between the vehicle and the object together correspond to the collision warning threshold.
Specification