Collision warning system

• US 9,916,510 B2
• Filed: 05/08/2017
• Issued: 03/13/2018
• 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:
  US15/589,063
• Publication Number:
  US 20170243071A1
• Time in Patent Office: 309 Days
• 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;

identify a position of the object in at least two images of the plurality of images;

determine, based on the plurality of images, a value indicative of a time-to-collision (TTC) that is responsive to a relative acceleration between the vehicle and the object;

determine if the vehicle and the object are on a collision course based on the position of the object in the at least two images and the value indicative of the TTC; and

cause a response in the system if the vehicle and the object are determined to be on a collision course.

2. 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.

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

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

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

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

a visual warning, an audible warning, a tactile alarm for a driver of the vehicle, an application of the vehicle'"'"'s brakes, and an alarm for individuals in the environment of the vehicle.

7. The system of claim 1, wherein the image capture device includes a single image sensor.

8. The system of claim 1, wherein the at least one processing device is further configured to identify a size of the object in the at least two images, and determine whether the vehicle and the object are on a collision course based on the size and the position of the object in the at least two images.

9. The system of claim 8, wherein the at least one processing device is further configured to determine the value indicative of the TTC based on scale changes in the size of the object.

10. The system of claim 1, wherein the at least one processing device is further configured to determine information indicative of movement of the object based on an indicator of a relative velocity between the vehicle and the object and the plurality of images.

11. The system of claim 10, wherein the at least one processing device is further configured to determine at least one collision parameter based on the information indicative of movement of the object and to compare the at least one collision parameter with a predetermined threshold.

12. The system of claim 1, wherein the at least one processing device is further configured to determine information indicative of movement of the object based on an indicator of a relative acceleration between the vehicle and the object and the plurality of images.

13. The system of claim 12, wherein the at least one processing device is further configured to determine at least one collision parameter based on the information indicative of movement of the object and compare the at least one collision parameter with a predetermined threshold.

14. The system of claim 12, wherein the indicator of the relative acceleration is derived from the at least two images.

15. The system of claim 14, wherein the indicator of the relative acceleration is derived from a ratio between respective dimensions of a feature of the object in the at least two images.

16. The system of claim 1, further comprising at least one sensor configured to generate one or more 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 value indicative of the TTC based on the one or more signals from the at least one sensor.

17. A vehicle, comprising:

a body;

an image capture configured to acquire images from an environment of the vehicle;

at least one processing device configured to;

receive a plurality of images from the image capture device;

identify a position of the object in at least two images of the plurality of images;

determine, based on the plurality of images, a value indicative of a time-to-collision (TTC) that is responsive to a relative acceleration between the vehicle and the object;

determine if the vehicle and the object are on a collision course based on the position of the object in the at least two images and the value indicative of the TTC; and

cause a response by the vehicle if the vehicle and the object are determined to be on a collision course.

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

receiving a plurality of images from an image capture device;

identifying a position of the object in at least two images of the plurality of images;

determining, based on the plurality of images, a value indicative of a time-to-collision (TTC) that is responsive to a relative acceleration between the vehicle and the object;

determining if the vehicle and the object are on a collision course based on the position of the object in the at least two images and the value indicative of the TTC; and

causing a response by the vehicle if the vehicle and the object are determined to be on a collision course.