Imminent-collision detection system and process
First Claim
1. A process of determining an imminent-collision between a vehicle and an object, said vehicle having a sensing system for obtaining position data on at least one observed object within a field of detection, said process comprising:
- (a) obtaining position data on an object within said field of detection;
(b) determining that said object is likely to be between first and second collision courses when the following two conditions are met, (1) a probability density function value that said object is on said first collision course exceeds a probability density function value of said object being on a first avoidance course, and (2) a probability density function value that said object is on said second collision course exceeds a probability density function value of said object being on a second avoidance course,wherein said first avoidance course is on one side of said first and second collision courses, and said second avoidance course is on the other side of said first and second collision courses; and
(c) providing information to facilitate deployment of collision mitigation measures if said object is determined to be between said first and second collision courses.
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Abstract
A process of determining an imminent-collision between a vehicle and an object, said vehicle having a sensing system for obtaining one or more images representing at least one observed object within a field of detection, said process comprising: (a) obtaining one or more images representing an observed object within said field of detection; and (b) determining that a collision between said vehicle and said observed object is imminent when the ratio of the probability that said observed object is actually within a collision zone to the probability that said observed object is actually within a safe zone is greater than a certain value.
126 Citations
24 Claims
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1. A process of determining an imminent-collision between a vehicle and an object, said vehicle having a sensing system for obtaining position data on at least one observed object within a field of detection, said process comprising:
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(a) obtaining position data on an object within said field of detection; (b) determining that said object is likely to be between first and second collision courses when the following two conditions are met, (1) a probability density function value that said object is on said first collision course exceeds a probability density function value of said object being on a first avoidance course, and (2) a probability density function value that said object is on said second collision course exceeds a probability density function value of said object being on a second avoidance course, wherein said first avoidance course is on one side of said first and second collision courses, and said second avoidance course is on the other side of said first and second collision courses; and (c) providing information to facilitate deployment of collision mitigation measures if said object is determined to be between said first and second collision courses. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A process of determining if a collision between a vehicle and an object is imminent, said vehicle having a sensing system for obtaining position data on at least one object within a field of detection, said process comprising:
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(a) obtaining position data for one or more observations of said object; (b) determining first and second collision values, said first collision value being based on a first probability density function of said object being on a first collision course based on said position data, and said second collision value being based on a second probability density function of said object being on a second collision course based on said position data, said first and second collision courses defining boundaries of a collision zone; (c) determining first and second avoidance values, said first avoidance value being based on a first probability density function that said object is on a first avoidance course based on position data, and said second avoidance value being based on a second probability density function that said object is on a second avoidance course based on said position data, said first avoidance course being the boundary of a safe zone closest to said first collision course and said second avoidance course being the boundary of a second safe zone closest to said second collision course; (d) determining that a collision is imminent if the ratio of said first collision value to said first avoidance value is above a first certain number, and if the ratio of said second collision value to said second avoidance is above a second certain number; and (e) providing information to facilitate deployment of collision mitigation measures if a collision is determined to be imminent. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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Specification