Video-based warning system for a vehicle

• US 8,933,797 B2
• Filed: 09/12/2012
• Issued: 01/13/2015
• Est. Priority Date: 10/06/2011
• Status: Expired due to Fees

• Current Assignee: Honda Research Institute Europe GmbH (Honda Motor Company)
• Original Assignee: Honda Research Institute Europe GmbH (Honda Motor Company)
• Inventors: Eggert, Julian, Janssen, Herbert, Deigmller, Jrg, Fuchs, Oliver
• Primary Examiner(s): Lee, Benjamin C
• Assistant Examiner(s): DARAMOLA, ISRAEL O
• Application Number:
  US13/610,924
• Publication Number:
  US 20130088343A1
• Time in Patent Office: 853 Days
• Field of Search: 340/435, 340/436, 340/453, 382/103
• US Class Current: 340/436
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/215 Motion-based segmentation
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

The present invention proposes a warning system that can be implemented in any kind of vehicle, in order to efficiently detect moving objects. The system utilizes at least one camera for a continuous imaging of the surroundings of the vehicle. Thereby, moving objects can be monitored. A computing unit is programmed to estimate a motion of any moving object based on a pixel motion in the camera image. If a dangerously moving object is detected, a warning unit can be used for issuing a warning signal. To take such a decision, the estimated motion of at least one of the moving objects can be correlated or compared to predetermined motion patterns.

Claims

1. Warning system for a vehicle to detect moving objects, wherein the system comprises

at least one camera for preferably continuously imaging the surroundings of the vehicle, wherein the camera is rear facing in respect to the driving direction of the vehicle;

a computing unit for estimating a motion of moving objects based on a pixel motion in the image of said camera, wherein the computing unit is adapted to compute the pixel motion between consecutive frames of the camera image and to perform a motion segmentation that divides the computed pixel motion into a motion of stationary background objects and a motion of moving objects by detecting a motion of the background objects in respect to the camera based on a contracting motion of pixels and by detecting a motion of the moving objects based on an expanding motion of pixels, which do not move towards the focus of concentration;

a warning unit for issuing a warning signal, if the estimated motion of at least one of the moving objects follows a predetermined motion pattern.

2. Warning system according to claim 1, wherein the computing unit is adapted to

compare the results of the motion segmentation for the motion of moving objects with predetermined motion patterns to determine, whether to issue a warning signal or not.

3. Warning system according to claim 2, wherein the computing unit is adapted to

detect from the pixel motion in the camera image a rotation, scaling and/or translation of the at least one camera;

and

to compensate during the motion segmentation for any detected rotation, scaling and/or translation of the camera.

4. Warning system according to claim 2, wherein the computing unit is adapted to disregard motion information of pixels, which do not follow one of the contracting and expanding motions obtained during the motion segmentation.

5. Warning system according to claim 1, wherein the warning unit is at least one warning light provided on the dashboard or on a side-mirror of the vehicle.

6. Warning system according to claim 1, wherein the warning unit is a live video display of the camera that is graphically overlaid on the dashboard of the vehicle with a warning display.

7. Warning system according to claim 6, wherein the warning unit is adapted to highlight the position of the moving object on the live video display.

8. Warning system according to claim 1, wherein the warning unit is disposed so as to issue a warning signal in direction of a moving object on the rear-side of the vehicle.

9. Warning system according to claim 1, wherein the camera is disposed on the rear-side of the vehicle and is protected against dirt and water.

10. Warning system according to claim 1, wherein the warning signal is supplied to at least one of:

haptic, e.g. vibrating handles or seat, acoustic or visual indication means,

an actuator of the vehicle acting on the state of the vehicle, such as e.g. brakes, accelerator or steering, and/or

safety devices, such as e.g. airbag, ABS or auxiliary wheels of a saddle-ridden vehicle.

11. Vehicle, especially saddle-ridden vehicle like motorcycle or scooter, being provided with a warning system according to claim 1.

13. Warning method according to claim 11, further comprising

computing the pixel motion between consecutive frames of the image;

performing a motion segmentation that divides the computed pixel motion into a motion of stationary background objects and a motion of moving objects;

comparing the results of the motion segmentation for the motion of the moving objects with predetermined motion patterns to determine, whether to issue a warning signal or not.

14. A computer software program product, performing a method according to claim 13 when run on a computing device of a vehicle.

15. A computer software program product, performing a method according to claim 2 when run on a computing device of a vehicle.

12. Warning method to detect moving objects, wherein the method comprises

continuously imaging the rear facing, in respect to the driving direction, surroundings of a saddle-ridden vehicle;

estimating a motion of moving objects based on a pixel motion in the camera image, by computing the pixel motion between consecutive frames of a camera image and performing a motion segmentation that divides the computed pixel motion into a motion of stationary background objects and a motion of moving objects by detecting a motion of the background objects in respect to the camera based on a contracting motion of pixels and by detecting a motion of the moving objects based on an expanding motion of pixels, which do not move towards the focus of concentration;

issuing a warning signal, if the estimated motion of at least one of the moving objects follows a predetermined motion pattern.