Collision Warning System
First Claim
Patent Images
1. A method of estimating a time-to-collision (TTC) of a vehicle with an object comprising the step of:
- (a) acquiring a plurality of images of the object at known time intervals between the times at which the images of the plurality of images are acquired; and
(b) determining the time-to-collision (TTC) solely from information derived from the images and the time intervals, wherein said determining the TTC is based on a relative velocity and relative acceleration between the vehicle and the object.
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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.
97 Citations
24 Claims
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1. A method of estimating a time-to-collision (TTC) of a vehicle with an object comprising the step of:
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(a) acquiring a plurality of images of the object at known time intervals between the times at which the images of the plurality of images are acquired; and (b) determining the time-to-collision (TTC) solely from information derived from the images and the time intervals, wherein said determining the TTC is based on a relative velocity and relative acceleration between the vehicle and the object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A method of determining whether a vehicle and an object are on a collision course, the method comprising the steps of:
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(a) acquiring a plurality of images of the object from a position of the vehicle at each of a plurality of known times; (b) determining, from the images, respective motions of at least two features of the object relative to the vehicle; (c) determining from the images an estimate of a possible time to collision (TTC) of the vehicle and the object; and (d) determining from the relative motions whether at the TTC, the at least two features straddle at least a part of the vehicle, whereby the vehicle and object are on a collision course. - View Dependent Claims (21, 22, 23, 24)
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Specification