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Forward collision warning trap and pedestrian advanced warning system

  • US 9,251,708 B2
  • Filed: 12/07/2011
  • Issued: 02/02/2016
  • Est. Priority Date: 12/07/2010
  • Status: Active Grant
First Claim
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1. A method for providing a forward collision warning or control signal using a camera mountable in a motor vehicle, the method comprising:

  • acquiring a plurality of image frames at known time intervals;

    selecting a patch in at least one of the image frames;

    tracking optical flow between the image frames of a plurality of image points of said patch to produce a tracked optical flow;

    for a plurality of models selected from the group consisting of;

    (i) a road surface model wherein a portion of the image points is modeled to be imaged from a road surface (ii) vertical surface model wherein a portion of the image points is modeled to be imaged from a substantially vertical object and (iii) a mixed model wherein a first portion of the image points is modeled to be imaged from a road surface and a second portion of the image points is modeled to be imaged from a substantially vertical object, fitting the tracked optical flow of at least a portion of the image points to produce a plurality of fits to the models;

    using at least a portion of the image points, scoring the fits of the tracked optical flow to the respective models to produce respective scores; and

    determining if a collision is expected and a time-to-collision by selecting the model with a score which corresponds to a best fit of the image points to the tracked optical flow.

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