Precautionary visual perception by detection of rear stop light of vehicle that is two vehicles ahead
Systems of an electrical vehicle and the operations thereof are provided. Systems and methods are provided to detect a braking next-to-last vehicle that may cause the last vehicle (the preceding vehicle) to collide with the next-to-last vehicle, panic brake, make a sudden lane change, or otherwise endanger a vehicle following the preceding vehicle. Automated means for computer based vision and detection of brake lights are provided for a next-to-last vehicle. Brake lights are identified; if illuminated to a sufficient level to indicate braking, systems of the operated vehicle are alerted; and appropriate responses may be deployed.
1. A vehicle with enhanced collision avoidance features, comprising:
a camera configured to capture real-time images ahead of a direction of travel of the vehicle and convert the real-time images into a corresponding output of electrical signals;
a processor, receiving the output of electrical signals from the camera, and having a memory for storage of instructions for execution by the processor; and
a communication interface enabling the processor to communicate with the camera and one or more other components of the vehicle;
wherein the processor:
determines that at least one visible brake light of a next-to-last vehicle is present in a see-through area of a preceding vehicle, wherein the at least one visible brake light is visible to the camera;
compares a current intensity of the at least one visible brake light to a baseline intensity, wherein the baseline intensity is associated with a non-braking state; and
upon the comparison indicating that the at least one visible brake light indicates braking of the next-to-last vehicle, outputs, on the communication interface, an alert signal energizing an alerting component of the vehicle.
2. The vehicle of claim 1 , wherein the processor determines the at least one visible brake light of the next-to-last vehicle is present in a see-through area of the preceding vehicle.
3. The vehicle of claim 2 , wherein:
the processor determines the see-through area of the preceding vehicle by determining a polygon substantially overlaying a perimeter of the preceding vehicle;
segmenting the polygon into an upper portion and a lower portion, wherein the upper portion and the lower portion each comprise substantially one half of the polygon and the segmentation is along a substantially horizontal line.
4. The vehicle of claim 2 , wherein:
the processor determines the see-through area of the preceding vehicle by determining a polygon substantially overlaying a perimeter of the preceding vehicle; and
the processor further segments the polygon into an upper portion and a lower portion, wherein the upper portion comprises a portion of the polygon absent images of the preceding vehicle.
5. The vehicle of claim 1 , wherein the processor performs the comparison indicating that one of the at least one visible brake light indicates braking for a first period of time and does not indicate braking for a second period of time, wherein the first period of time and second period of time are substantially equal, outputting the alert signal only upon the comparison indicating that the one of the at least one visible brake light indicates braking for a third period of time greater than the first period of time.
6. The vehicle of claim 5 , wherein upon the comparison indicates that the one of the at least one visible brake light indicates braking for a third period, and wherein the third period of time is greater than the first period of time, outputting the alert signal.
7. The vehicle of claim 1 , further comprising:
the processor creating a profile of the next-to-last vehicle, wherein the profile comprises a relative position of a first brake light and second brake light within an image of the next-to-last vehicle; and
the processor, based on the profile, determines the first brake light is obscured by the preceding vehicle and the second brake light indicates braking, outputting the alert signal.
8. The vehicle of claim 1 , further comprising:
the processor creating a profile of the next-to-last vehicle, wherein the profile comprises a relative position of a first brake light and second brake light within an image of the next-to-last vehicle; and
the processor, based on the profile, determines the first brake light is not obscured by the preceding vehicle the first brake light does not indicate braking and the second brake light indicates braking, omitting the outputting of the alert signal.
9. The vehicle of claim 1 , further comprising:
the processor creating a profile of the next-to-last vehicle, wherein the profile comprises a relative position of a first brake light and second brake light within an image of the next-to-last vehicle; and
the processor, based on the profile, determines the first brake light is not obscured by the preceding vehicle the first brake light does not indicate braking and the second brake light indicates braking, outputting of the alert signal when the second brake light is a center high mounted stop light.
10. The vehicle of claim 1 , wherein the processor further compares the current intensity and area of the at least one visible brake light to a baseline intensity and baseline area, wherein the baseline intensity and baseline area are each associated with a non-braking state.
11. The vehicle of claim 1 , wherein the processor, in order to reduce false positives indicating the next-to-last vehicle is braking, profiles the preceding vehicle and excludes from processing any portion of the see-through area that coincides with the profile.
12. The vehicle of claim 1 , wherein the processor determines one the at least one visible brake light of the next-to-last vehicle is a center high mount stop light (CHMSL) of the next-to-last vehicle and indicates braking, outputting the alert signal.
13. The vehicle of claim 1 , wherein the processor omits outputting the alert signal when the processor determines the preceding vehicle is avoidable, if abruptly stopped, with the vehicle in a normal driving mode.
14. The vehicle of claim 1 , wherein the baseline intensity comprises an intensity, as observed by the camera within a red visible spectrum, during a non-braking activity.
15. A method for improved vehicle safety equalizing a camera capturing images in a direction-of-travel, wherein a processor coupled to the camera performs:
identifying a see-through area of a preceding vehicle;
detecting, within the see-through area, a next-to-last vehicle;
determining that at least one brake light of the next-to-last vehicle is visible in the see-through area of the preceding vehicle;
comparing a current intensity of the at least one visible brake light to a baseline intensity, wherein the baseline intensity is associated with a non-braking state; and
upon the comparison indicating that the at least one visible brake light indicates braking of the next-to-last vehicle, outputting an alert signal to energize an alerting component of a vehicle.
16. The method of claim 15 , further comprising:
capturing through one or more images of the next-to-last vehicle, a profile of the next-to-last vehicle comprising locations of the at least one brake light; and
upon determining that at least a first portion of the at least one brake light indicates braking and at least a second portion of the at least one brake light does not indicate braking, and each of the at least one brake light of the second portion being determined to be obscured by a component of the preceding vehicle, outputting the alert signal.
17. The method of claim 15 , wherein outputting of the alert signal is omitted upon determining the at least one visible brake light indicates braking in an intermittent pattern associated with a turn-signal.
18. The method of claim 15 , wherein the current intensity the baseline intensity are luminosity intensities within a red visible spectrum.
19. A method to improve brake alerting of a vehicle using a camera coupled to a processor, comprising:
identifying a see-through area of a preceding vehicle;
detecting, within the see-through area, a next-to-last vehicle;
determining that at least one brake light of the next-to-last vehicle is visible in the see-through area of the preceding vehicle;
observing the at least one brake light of the next-to-last vehicle;
determining a state of the observed at least one visible brake light, wherein the state is one of braking, wherein an intensity of the at least one brake light indicates braking, or not braking, wherein the intensity of the at least one brake light indicates not braking;
wherein observing further comprises a subsequent observing step; and
upon determining, from the subsequent observing step, that the state of the at least one visible brake light, has changed, outputting an alert signal to an alerting component of the vehicle.
20. The method of claim 19 , wherein the alert signal causes a change in an energization state of the alerting component.