COLLISION PREVENTION WARNING METHOD AND DEVICE CAPABLE OF TRACKING MOVING OBJECT
First Claim
1. A collision prevention warning method capable of tracking a moving object, that is installed on a vehicle, comprising the following steps.capturing a plurality of continuous images,identify at least an obstacle in said continuous images, to obtain geometric characteristic parameters of width and length of said obstacle and image pixel characteristic parameters, and use a binary tree sorter to sort said obstacles into various categories,find at least a moving obstacle based on category of said obstacle,detect continuous relative positions of said moving obstacle and said vehicle, to estimate out a first collision region of said vehicle.calculate speed, direction, and position of said moving obstacle based on said continuous relative positions through using an Extended Kalman Filter Algorithm, to obtain a second collision region of said moving obstacle;
- andestimate a collision point based on said first collision region and said second collision region, to determine if said first collision region and said second collision region at least partially overlap each other, if answer is positive, calculate a collision time, and output an alarm signal;
otherwise, repeat said step of capturing a plurality of continuous images..
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Abstract
A collision prevention warning method and device capable of tracking a moving object, the method comprises the following steps. Firstly, capturing a plurality of continuous images in a front region of 180 degrees, through identifying category of at least an obstacle in these continuous images, to find a moving obstacle. Next, detect continuous relative positions of the moving obstacle and vehicle, to estimate a first collision region of the vehicle. Then, based on the continuous relative positions and an Extended Kalman Filter Algorithm, to estimate a second collision region of the moving obstacle. Finally, based on the first collision region and the second collision region to calculate a collision point. When the first collision region and the second collision region at least partially overlap each other, estimate out a collision time, and then output an alarm signal to warn the driver and raise driving safety.
21 Citations
14 Claims
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1. A collision prevention warning method capable of tracking a moving object, that is installed on a vehicle, comprising the following steps.
capturing a plurality of continuous images, identify at least an obstacle in said continuous images, to obtain geometric characteristic parameters of width and length of said obstacle and image pixel characteristic parameters, and use a binary tree sorter to sort said obstacles into various categories, find at least a moving obstacle based on category of said obstacle, detect continuous relative positions of said moving obstacle and said vehicle, to estimate out a first collision region of said vehicle. calculate speed, direction, and position of said moving obstacle based on said continuous relative positions through using an Extended Kalman Filter Algorithm, to obtain a second collision region of said moving obstacle; - and
estimate a collision point based on said first collision region and said second collision region, to determine if said first collision region and said second collision region at least partially overlap each other, if answer is positive, calculate a collision time, and output an alarm signal;
otherwise, repeat said step of capturing a plurality of continuous images.. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A collision prevention warning device, installed on a vehicle, including:
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at least two image capturing units, used to fetch a plurality of continuous images in a front region of 180 degrees; a vehicle body signal sensor unit, used to sense a dynamic signal of said vehicle, an image processing module, connected electrically to said two image capturing units, to identify continuous relative positions of said vehicle and at least a said obstacle in said images, to obtain a geometric characteristic parameter of length and width of said obstacle, and said image pixel characteristic parameter, then, use a binary tree sorter to sort said obstacles and among them at least a moving obstacle into various categories. a central processor, connected electrically to said vehicle body signal sensor unit and said image processing module, and it utilizes said moving obstacle and said dynamic signal to calculate continuous relative positions of said moving obstacle and said vehicle, to estimate a first collision region of said vehicle, then, it utilizes said Extended Kalman Filter Algorithm to obtain a second collision region of said moving obstacle, and then it estimates and obtains a collision point based on said first collision region and said second collision region, when said first collision region and said second region at least partially overlap each other, said central processor calculates a collision time, and outputs a control signal; and an alarm unit, connected electrically to said central processor, to receive said control signal and output an alarm signal. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14)
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Specification