Systems for detecting vehicle following distance
Systems, methods, models, and training data for models are discussed, for determining vehicle positioning, and in particular identifying tailgating. Simulated training images showing vehicles following other vehicles, under various conditions, are generated using a virtual environment. Models are trained to determine following distance between two vehicles. Trained models are used to in detection of tailgating, based on determined distance between two vehicles. Results of tailgating are output to warn a driver, or to provide a report on driver behavior.
1. A system for training a model for determining a distance between a first vehicle and second vehicle, the system comprising:
at least one processor;
at least one non-transitory processor-readable storage medium communicatively coupled to the at least one processor and storing processor-executable instructions which when executed by the at least one processor cause the system to:
access image data, the image data including at least a first set of images, each image in the first set of images including a representation of a respective first vehicle from a perspective of a second respective vehicle behind the first respective vehicle, and each image in the first set of images associated with a distance label indicating a distance between the respective first vehicle and the respective second vehicle;
determine, by the at least one processor, for at least one image in the first set of image, at least one image attribute based on a positional measure between the first vehicle as represented in the image and at least one boundary of the image;
evaluate a following distance loss function for the at least one image in the first set of images, the following distance loss function representing a difference between a distance indicated in a respective distance label and a determined distance between the first vehicle and the second vehicle by the model for each respective image; and
train the model by minimizing the following distance loss function over the first set of images.
2. The system of claim 1 , wherein the processor-executable instructions which cause the at least one processor to determine the at least one image attribute cause the at least one processor to determine the at least one image attribute as including a first distance from a bottom boundary of the image to a bottom of the first vehicle as represented in the image.
3. The system of claim 2 , wherein the processor-executable instructions which cause the at least one processor to determine the at least one image attribute further cause the at least one processor to determine the at least one image attribute as further including a second distance from a top boundary of the image to a top of the first vehicle as represented in the image.
4. The system of claim 1 , wherein the processor-executable instructions which cause the at least one processor to determine the at least one image attribute cause the at least one processor to determine the at least one image attribute as including a cumulative measure of:
a first positional measure between a first corner of the image and a first corner of the first vehicle as represented in the image; and
a second positional measure between a second corner of the image and a second corner of the first vehicle as represented in the image.
5. The system of claim 1 , wherein the processor-executable instructions which cause the at least one processor to determine the at least one image attribute cause the at least one processor to determine the at least one image attribute as including:
a first cumulative measure of:
a first positional measure between a bottom-left corner of the image and a bottom-left corner of the first vehicle as represented in the image; and
a second positional measure between a bottom-right corner of the image and a bottom-right corner of the first vehicle as represented in the image; and
a second cumulative measure of:
a third positional measure between a top-left corner of the image and a top-left corner of the first vehicle as represented in the image; and
a fourth positional measure between a top-right corner of the image and a top-right corner of the first vehicle as represented in the image.
6. The system of claim 5 , wherein the processor-executable instructions which cause the at least one processor to determine the at least one image attribute cause the at least one processor to determine the at least one image attribute as further including:
a third cumulative measure of:
a fifth positional measure between a bottom-left corner of the image and a bottom-right corner of the first vehicle as represented in the image; and
a sixth positional measure between a bottom-right corner of the image and a bottom-left corner of the first vehicle as represented in the image; and
a fourth cumulative measure of:
a seventh positional measure between a top-left corner of the image and a top-right corner of the first vehicle as represented in the image; and
an eighth positional measure between a top-right corner of the image and a top-left corner of the first vehicle as represented in the image.
7. The system of claim 1 , wherein the processor-executable instructions which cause the at least one processor to determine the at least one image attribute cause the at least one processor to determine the at least one image attribute based on respective positional measures between each corner of the image and each corner of the first vehicle as represented in the image.
8. The system of claim 1 , wherein the processor-executable instructions which cause the at least one processor to determine the at least one image attribute cause the at least one processor to determine the at least one image attribute as including a first positional measure of a first corner of the first vehicle as represented in the image from a first corner of the image.
9. The system of claim 8 , wherein the processor-executable instructions which cause the at least one processor to determine the at least one image attribute cause the at least one processor to determine the at least one image attribute as further including a second positional measure of a second corner of the first vehicle as represented in the image from the first corner of the image.
10. The system of claim 8 , wherein the processor-executable instructions which cause the at least one processor to determine the at least one image attribute cause the at least one processor to determine the at least one image attribute as further including a scale measure of a size of the first vehicle as represented in the image.
11. The system of claim 1 , wherein the processor-executable instructions further cause the system to:
determine whether auxiliary criteria are satisfied over the first set of images; and
further evaluate the following distance loss function for at least one image in the first set of images, if the auxiliary criteria are not satisfied.
12. The system of claim 11 , wherein the auxiliary criteria require that the following distance loss function be within a maximum loss threshold for each image in the first set of images.
13. The system of claim 11 , wherein the auxiliary criteria require that the following distance loss function be within a maximum loss threshold for a defined quantity of images in the first set of images, where the defined quantity of images is smaller than a total quantity of images in the first set of images.
14. The system of claim 11 , wherein the auxiliary criteria require that the following distance loss function be evaluated for each image in the first set of images.
15. The system of claim 11 , wherein the auxiliary criteria require that the following distance loss function be evaluated for a defined quantity of images in the first set of images, where the defined quantity of images is smaller than a total quantity of images in the first set of images.