Collision avoidance using optical pattern growth rate
AssigneeThe Bendix Corporation
InventorGeorge W. Goodrich
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Abstract
A passive electro-optical collision avoidance system disposed within a moving vehicle for generating a collision avoidance signal. The system comprises a lens, image sensor and image processor wherein the image processor generates a collision avoidance signal in response to the size of the image and its rate of growth.
Claims20
A collision avoidance system carried by a first vehicle for initiating corrective action in accordance with the relative motion between the first vehicle and an object, including a non-cooperating second vehicle, disposed at a distance r and having a velocity r relative to the first vehicle, said system comprising:
- image sensor means, adapted to be carried by the first vehicle, for transducing an image of the object into electrical signals;
- image processor means for generating a rate-range ratio (r/r) including:
- first means responsive to said electrical signals for generating a first signal indicative of the size of said image;
- second means, responsive to said first signal for generating a second signal indicative of the rate of growth of said image;
- third means for generating said rate-range ratio including means for dividing said second signal by said first signal;
- fourth means for generating a value indicative of the time necessary to perceive and react to a situation indicative of a pending collision between said first vehicle and said object;
- comparing means for comparing said rate-range ratio with said value;
- and
- signal means for generating a collision avoidance signal when said rate-range ratio exceeds said value.
A collision avoidance system carried by a first vehicle for initiating corrective action in accordance with the relative motion between the first vehicle and an object including a non-cooperating second vehicle and the first vehicle comprising:
- an image sensor means, adapted to be carried by the first vehicle, for transducing an image of an object focused thereon into electrical signals;
- imaging means responsive to radiation from the object of projecting on said image sensing means said image of said object;
- image processor means responding to said electrical signals for generating a size signal indicative of the size of the image projected thereon;
- differentiator means for generating a rate of change signal indicative of the rate of change of said size signal;
- decision means responsive to said size signal, and said rate of change signal for generating a collision avoidance signal indicating that corrective action need be taken wherein said signal is proportional to the ratio of said rate signal to said size signal;
- and
- means responsive to said collision avoidance signal for generating a signal to initiate correction action.
A method of avoiding a coillision of a first object with a second object, the method comprising the steps of:
- generating an optical image of the second object;
- detecting said optical image to generate signals indicative of the size of the image of said second object comparing the size of sequentially detected images of said object to generate a collision avoidance signal as a function of the rate of growth of said image divided by the size of said image.
A method of avoiding a collision between a moving first object with a second object, the method comprising the steps of:
- comparing sequentially generated first signals to generate a second signal indicative of the rate of growth of said image;
- generating the ratio of said second signal to said first signal;
- and then
- comparing said ratio to a threshold level to generate a collision avoidance signal when said ratio equals said threshold level.
A collision avoidance system, carried by a first vehicle, for generating a collision avoidance signal in accordance with the relative motion between the first vehicle and an object, including a non-cooperating second vehicle, disposed at a distance r and having a velocity r relative to the first vehicle, the system comprising:
- first means adapted to be carried by the first vehicle for transducing a signal indicative of the size of said object;
- processor means responding to said first means for generating a collision avoidance signal indicative of the ratio of r/r;
- and
- means responsive to said collision avoidance signal for generating a signal to initiate corrective action.
Dependencies are inferred from the claim text.