Method for calculating time to collision for object and vehicle, calculation device and vehicle

A method for calculating a Time To Collision (TTC) for an object and a vehicle for a calculation device, comprising:

• generating a timestamp matrix in accordance with a series of event data from a Dynamic Vision Sensor (DVS) coupled to the vehicle, the timestamp matrix representing a coordinate position and a timestamp of each event when the event is triggered by movement of the object relative to the DVS;
• scanning the events in the timestamp matrix in a predetermined scanning direction, so as to calculate a time gradient of each event in the predetermined scanning direction, wherein the predetermined scanning direction is determined in accordance with a road condition;
• creating at least one subset consisting of a first quantity of consecutive events in the predetermined scanning direction and each with a positive time gradient;
• calculating a spatial position of each event in each subset in accordance with intrinsic and extrinsic parameter matrices of the DVS;
• and
• calculating the TTC for the object and the vehicle corresponding to each subset in accordance with the spatial position and the timestamp of each event in the subset, and determining whether there is a potential collision risk between the vehicle and the object corresponding to each subset in accordance with the TTC for the object and the vehicle corresponding to the subset;
• generating a vehicle collision early-warning map in accordance with the TTC for the object and the vehicle corresponding to each subset, and different pixel values in the vehicle collision early-warning map is used to represent a value of the TTC.