Collision warning system

• US 8,879,795 B2
• Filed: 11/26/2013
• Issued: 11/04/2014
• Est. Priority Date: 04/08/2004
• Status: Active Grant

• Current Assignee: MobilEye Vision Technologies Ltd. (Intel Corporation)
• Original Assignee: MobilEye Vision Technologies Ltd. (Intel Corporation)
• Inventors: Stein, Gideon, Dagan, Erez, Mano, Ofer, Shashua, Amnon
• Primary Examiner(s): STREGE, JOHN B
• Application Number:
  US14/090,671
• Publication Number:
  US 20140156140A1
• Time in Patent Office: 343 Days
• Field of Search: 382/104, 701/301
• US Class Current: 382/104
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: G06T 2207/10004 Still image; Photographic image
• CPC Class Codes: G06T 2207/30232 Surveillance
• CPC Class Codes: G06T 2207/30236 Traffic on road, railway or crossing
• CPC Class Codes: G06T 2207/30241 Trajectory
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 2207/30256 Lane; Road marking
• CPC Class Codes: G06T 7/248 involving reference images or patches
• CPC Class Codes: G06T 7/337 involving reference images or patches
• CPC Class Codes: G06T 7/74 involving reference images or patches
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

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.

Claims

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 value indicative of a Time To Collision (TTC) 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 value indicative of the TTC with a threshold; and

cause a response in the system if the comparison between the at least one value indicative of the TTC and the threshold indicates a possible collision between the vehicle and the object.

2. The system of claim 1, wherein the at least one processing device is further configured to determine the at least one value indicative of the TTC based on analysis of the plurality of images, the analysis including determining a ratio between respective dimensions of a feature of the object in different images of the plurality of images.

3. The system of claim 2, wherein the analysis of the plurality of images includes determining a relative velocity between the vehicle and the object based on the ratio between respective dimensions of the feature of the object in different images of the plurality of images.

4. The system of claim 2, wherein the analysis of the plurality of images includes determining a time derivative of a variable associated with the ratio between respective dimensions of the feature of the object in different images of the plurality of images.

5. The system of claim 1, wherein the at least one processing device is further configured to determine the at least one value indicative of the TTC by determining a time derivative of a momentary TTC assuming the relative acceleration between the vehicle and the object is zero.

6. The system of claim 1, wherein the at least one processing device is further configured to determine the at least one value indicative of the TTC based on a relative scale of the object in the plurality of images.

7. The system of claim 1, wherein the at least one processing device is further configured to determine the at least one value indicative of the TTC based on information provided by one or more of:

a speedometer associated with the vehicle, a sensor that generates signals responsive to operation of brakes of the vehicle, a sensor that generates signals responsive to operation of a gas pedal of the vehicle.

8. The system of claim 1, wherein the object includes a second vehicle moving in a same direction as the vehicle.

9. The system of claim 1, wherein the object includes a second vehicle moving in a different direction from a direction of travel of the vehicle.

10. The system of claim 1, wherein the object includes a second vehicle moving toward the vehicle.

11. The system of claim 1, wherein the at least one processing device is further configured to cause the response if the at least one value indicative of the TTC is below the threshold.

12. The system of claim 1, wherein the response includes at least one of:

a visual warning, an audible warning, and a tactile alarm for a driver of the vehicle.

13. The system of claim 1, wherein the response includes an application of the brakes of the vehicle.

14. The system of claim 1, wherein the response includes an alarm for individuals in an environment of the vehicle using least one of:

the vehicle'"'"'s horn and the vehicle'"'"'s lights.

15. The system of claim 1, further including the image capture device, the image capture device configured to acquire image data and generate the plurality of images.

16. A vehicle, comprising:

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 value indicative of a Time To Collision (TTC) based on an indicator of a relative acceleration between the vehicle and an object, wherein the indicator of the relative acceleration is determined based on the plurality of images;

compare the at least one value indicative of the TTC with a threshold; and

cause a vehicular response if the comparison between the at least one value indicative of the TTC and the threshold is indicative of a possible collision between the vehicle and the object.

17. The vehicle of claim 16, further comprising at least one sensor configured to generate signals responsive to operation of at least one of an operation of vehicle brakes and gas pedal, and wherein the at least one processing device is further configured to determine the at least one value indicative of the TTC based on information from the at least one sensor.

18. The vehicle of claim 16, further comprising an alarm and wherein the response includes activation of the alarm.

19. The vehicle of claim 16, wherein the response includes activation of vehicle brakes.

20. The vehicle of claim 16, wherein the response includes activation of vehicle lights.

21. A method for providing indication of a possible collision between a vehicle and an object, the method comprising:

acquiring, using an image capture device, image data at time intervals to provide a plurality of images;

determining at least one value indicative of a Time To Collision (TTC) 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;

comparing the at least one value indicative of the TTC with a threshold; and

causing a response if the comparison between the at least one value indicative of the TTC and the threshold indicates a possible collision between the vehicle and the object.