×

Pedestrian collision warning system

  • US 9,925,939 B2
  • Filed: 12/29/2015
  • Issued: 03/27/2018
  • Est. Priority Date: 04/27/2011
  • Status: Active Grant
First Claim
Patent Images

1. A computerized method using a camera mountable in a motor vehicle, the method comprising:

  • acquiring a plurality of image frames from the camera with a known time interval;

    detecting an image patch in at least one of the image frames, wherein the image patch includes a candidate image of a pedestrian in the field of view of the camera;

    responsive to the motor vehicle moving forward, tracking optical flow between the image frames of an image point of the pedestrian;

    from horizontal image motion of the tracked point of the pedestrian relative to the horizontal image coordinate of the focus of expansion in an image space, computing physical lateral motion of the pedestrian responsive to longitudinal distance to the pedestrian in a physical space; and

    estimating the lateral position of the pedestrian at a time-to-collision from the physical lateral motion of the pedestrian.

View all claims
  • 2 Assignments
Timeline View
Assignment View
    ×
    ×