Method and system for forward collision warning

摘要

A method for providing a forward collision warning using a camera mountable in a motor vehicle acquires multiple image frames at known time intervals. A patch may be selected in at least one of the image frames. Optical flow may be tracked between the image frames of multiple image points of the patch. The image points may be fit to at least one model. Based on the fit of the image points to the at least one model, a time-to-collision (TTC) may be determined if a collision is expected. The image points may be fit to a road surface model and a portion of the image points is modeled to be imaged from a road surface. A collision is not determined expected based on the fit of the image points to the road surface model. The at least one model may also include a mixed model where a first portion of the image points may be modeled to be imaged from a road surface and a second portion of the image points may be modeled to be imaged from a substantially vertical object. The image points may be fit to a vertical surface model, where a portion of the image points may be modeled to be imaged from a vertical object. The TTC may be determined based on the fit of the image points to the vertical surface model.