Collision warning system
View Patent ↗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.
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 t at which the images are acquired;
(b) determining a momentary time T v (t), which is equal to an instantaneous distance between the vehicle and the object at time t divided by an instantaneous relative velocity, from information derived from the images and the time intervals; and
determining the time-to-collision (TTC) based on a rate of change over times t of momentary time T v (t).
2. The method according to claim 1 , further comprising the step of:
(c) determining a function of the relative velocity from the images and using the function of the relative velocity to determine TTC.
3. The method according to claim 1 , wherein said (b) determining a momentary time T v (t) is based on a change in scale of images of at least a portion of the object.
4. The method according to claim 3 , wherein said determining the change in scale includes determining a ratio between a dimension of the object in a first one of the images and the same dimension of the object in a second one of the images.
5. The method according to claim 4 , wherein said determining the time-to-collision (TTC) includes determining the momentary time T v (t)=[1/(S(t)−1)]ΔT where S is the ratio and ΔT is the time interval between the acquisition of two images of the images.
6. The method, according to claim 1 , further comprising the step of (c) determining a function of the relative acceleration from the images and using said function of the relative acceleration to determine the TTC.
7. The method according to claim 6 , wherein said (c) determining said function of the relative acceleration includes determining a time derivative of a function of the relative velocity.
8. The method according to claim 1 , further comprising the step of:
(e) determining whether the vehicle and the object are on a course that leads to a collision at the TTC.
9. A method according to claim 8 , wherein said determining whether the vehicle and object are on a course that leads to a collision at the TTC includes:
(i) determining respective motions of at least two features of the object relative to the vehicle from the images; and
(ii) determining, from the relative motions, whether at TTC if the real space horizontal coordinates of said at least two features straddle the real-space horizontal coordinate of at least a part of the vehicle.
10. A system which performs the method steps of claim 1 , for determining the time-to-collision (TTC) of the vehicle with the object, the system comprising:
(a) at least one camera mounted in the vehicle and adapted for said acquiring of the images at the known time intervals; and
(b) a processor which is configured in real time to calculate the momentary time T v (t) equal to the instantaneous distance between the vehicle and the object at time t divided by the instantaneous relative velocity from information derived from the images and the time intervals, and, based on the rate of change over time t of momentary time T v (t), is configured to calculate in real time the time-to-collision (TTC).
11. The system, according to claim 10 wherein the at least one camera is a single camera.
12. The system, according to claim 10 , further comprising:
(c) an alarm apparatus operatively connected to the processor, the alarm apparatus configured for alerting a driver of the vehicle to a possible collision with the object responsive to the TTC.
13. The system, according to claim 10 , further comprising:
(c) an alarm apparatus, operatively connected to the processor, wherein the alarm apparatus is configured to alert, based on the TTC, at least one person outside of the vehicle of a possible collision of the vehicle with the object.
14. The system, according to claim 10 , wherein the at least one camera images an environment in front of the vehicle.
15. The system, according to claim 10 , wherein the at least one camera images an environment in back of the vehicle.
16. The system, according to claim 10 , wherein the at least one camera images an environment to a side of the vehicle.
17. 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) 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, wherein said (b) determining the time-to-collision (TTC) includes determining a change in scale of an image of at least a portion of the object and using the change in scale for determining a function of the relative velocity, wherein said determining the change in scale includes determining a ratio between a dimension of the object in a first one of the images and the same dimension of the object in a second one of the images, wherein said determining a function of the relative velocity includes determining a function T v =[1/(S−1)]ΔT, where S is the ratio and ΔT is a time lapse between two images of the images, wherein a function of the relative acceleration is determined based on a time derivative T′ v , of function T v .
18. The method according to claim 17 , wherein the TTC is determined responsive to a function of T v and T′ v .
19. The method according to claim 17 , wherein TTC is determined responsive to the expression: TTC (t)=[T v /C)][1−(1+2C)] 1/2 , where C=T′ v +1.
20. A method of determining whether a vehicle and an object are on a collision course, the method comprising the steps of:
(a) acquiring a plurality of images of the object from a position in the vehicle at a plurality of known times;
(b) determining, from the images, respective motions in image space of at least two features of the object relative to the vehicle;
(c) determining from the images an estimate of a time to collision (TTC) of the vehicle and the object; and
(d) determining from the motions whether at the TTC, the real-space horizontal coordinates of said at least two features straddle the real-space horizontal coordinate of the position in the vehicle, whereby the vehicle and object are on a collision course.
21. The method according to claim 20 , wherein said (b) determining respective motions of the at least two features includes determining lateral motion of the features relative to the vehicle.
22. The method according to claim 20 , wherein said (d) determining includes extrapolating lateral locations of the at least two features at TTC from the respective motions at the known times of said acquiring.
23. A method according to claim 20 , wherein said (c) determining includes determining TTC solely from the images and time intervals between the known times of said acquiring of the images.
24. A system which performs the method steps of claim 20 , for determining whether a vehicle and an object are on a collision course, the system comprising:
(a) a camera mounted in the vehicle and adapted for said acquiring of the images; and
(b) a processor which determines from the images, respective motions of at least two features of the object relative to the vehicle and from the images determines an estimate of a possible time to collision (TTC) of the vehicle and the object; and from the relative motions determines whether at the TTC, the real space horizontal coordinates of the first and second features straddle the real-space horizontal coordinate the camera.