Time to collision estimation for vehicles coming from behind using in-vehicle camera

Luka Ćosić, M. Vranješ, V. Ilkic, V. Mihic
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引用次数: 4

Abstract

In recent years the number of Advanced Driver-Assistance Systems (ADAS) implemented in vehicles has been rising significantly. In this paper an algorithm for ADAS that estimates the time to potential collision (TTC) with the vehicle coming from behind, by processing only the video frames captured by the camera located in the outside rear-view mirror, is proposed. After preprocessing of the input video frame, vehicle detection is performed, followed by vehicle tracking. When the vehicle is successfully detected and tracked, it is possible to estimate the distance between the oncoming vehicle and the camera, as well as the oncoming vehicle speed. Using the calculated distance and the speed of the oncoming vehicle, the proposed algorithm outputs the final information about the TTC, i.e. time remaining for safe change of the driving lane. The algorithm has been tested on different real video sequences and it achieves high performance in terms of estimated TTC accuracy, while processing 25 Full HD frames per second.
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使用车载摄像头对后方车辆进行碰撞时间估计
近年来,先进驾驶辅助系统(ADAS)在汽车上的应用数量显著增加。本文提出了一种用于ADAS的算法,该算法仅通过处理位于外部后视镜上的摄像头捕获的视频帧来估计与后车发生潜在碰撞的时间(TTC)。对输入视频帧进行预处理后,进行车辆检测,进行车辆跟踪。当车辆被成功检测和跟踪时,可以估计迎面而来的车辆与摄像头之间的距离,以及迎面而来的车辆速度。该算法利用计算出的距离和迎面车辆的速度,输出最终的TTC信息,即安全换道的剩余时间。该算法已经在不同的真实视频序列上进行了测试,在估计TTC精度方面达到了很高的性能,同时每秒处理25个全高清帧。
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