Collision Warning System

• US 9,168,868 B2
• Filed: 04/30/2013
• Issued: 10/27/2015
• 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:
  US13/874,041
• Publication Number:
  US 20130308828A1
• Time in Patent Office: 910 Days
• Field of Search: 382/103, 382/104, 701/301
• US Class Current: 1/1
• 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;

use the plurality of images to determine a plurality of values indicative of a Time-to-Collision (TTC) based on an indicator of a relative velocity between the vehicle and the object;

determine a rate of change of the plurality of values indicative of the TTC at a selected time; and

based on the determined rate of change, cause a response in the system if a possible collision between the vehicle and the object is anticipated.

2. The system of claim 1 further including the image capture device configured to acquire image data at time intervals to provide the plurality of images.

3. The system of claim 1, wherein the at least one processing device is further configured to determine a collision course, and to cause the response in the system only if the vehicle and the object are determined to be on a collision course.

4. The system of claim 1, wherein the plurality of values indicative of the TTC are also based on an indicator of a relative acceleration between the vehicle and the object.

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

6. The system of claim 5, 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.

7. The system of claim 5, 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.

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

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

the vehicle'"'"'s speedometer, a sensor that generates signals responsive to operation of the vehicle'"'"'s brakes, a sensor that generates signals responsive to operation of the vehicle'"'"'s gas pedal.

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

11. 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.

12. The system of claim 1, wherein the response includes an application of the vehicle'"'"'s brakes.

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

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

14. 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;

use the plurality of images to determine a plurality of values indicative of a Time-to-Collision (TTC) based on an indicator of a relative velocity between the vehicle and the object;

determine a rate of change of the plurality of values indicative of the TTC at a selected time; and

based on the determined rate of change, cause a response in the vehicle if a possible collision between the vehicle and the object is anticipated.

15. The vehicle of claim 14, further comprising at least one sensor configured to generate signals responsive to at least one of an operation of the vehicle'"'"'s brakes and an operation of the vehicle'"'"'s gas pedal, and wherein the at least one processing device is further configured to determine the plurality of values indicative of the TTC based on information from the at least one sensor.

16. The vehicle of claim 14, further comprising an alarm and wherein the response includes activation of the alarm.

17. The vehicle of claim 14, wherein the response includes activation of vehicle brakes.

18. The vehicle of claim 14, wherein the response includes activation of vehicle headlights.

19. 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;

using the plurality of images to determine a plurality of values indicative of a Time To Collision (TTC) based on an indicator of a relative velocity between the vehicle and the object;

determining a rate of change of the plurality of values indicative of the TTC at a selected time; and

based on the determined rate of change, causing a response in the vehicle if a possible collision between the vehicle and the object is anticipated.