Collision warning system
AssigneeMobileye Technologies Ltd.
InventorsGideon Stein, Erez Dagan, Ofer Mano, Amnon Shashua
Life of this patent
Estimating the term…
Abstract
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.
Claims15
A method of estimating a time-to-collision (TTC) of a vehicle with an object using a system including a camera and a processor mountable in a motor vehicle the method comprising:
- acquiring from the camera a plurality of images of the object at known time intervals;
- determining a relative scale of the object in the images;
- determining a function of relative velocity and relative acceleration between the vehicle and the object from the relative scale and die time intervals;
- and
- determining the time-to-collision (TTC) based on the function of the relative velocity and the relative acceleration.
A system for estimating a time-to-collision collision, the system including a camera and a processor mountable in a motor vehicle, the system operable to:
- acquire from the camera a plurality of images of the object at known time intervals;
- determine a relative scale of the object in the images;
- determine a function of relative velocity and relative acceleration between the vehicle and the object from the relative scale and the time intervals;
- and
- determine the time-to-collision (TTC) based on the function relative velocity and the relative acceleration.
A system for alerting a driver to a possible collision with an object, the system comprising:
- a camera and a processor mountable in a motor vehicle, the system operable to:
- acquire a plurality of images of the object at known time intervals;
- determine the time-to-collision (TTC) based on data from the images and the time intervals;
- and
- determine motion of at least two features of the object relative to the vehicle from the images;
- and
- determine from the relative motions at the time-to-collision, 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.
Dependencies are inferred from the claim text.