Abstract
In recent times, the number of vehicles with a rear-view camera has been increasing. The rear-view camera can be utilized as a sensor for monitoring a collision from behind the vehicle in a driving scene. To prevent rear-end collisions, we have been developing a technology that detects approaching vehicles from images obtained using an onboard rear-view camera. In conventional vehicle detection methods, often, camera-view images are used. However, it is difficult to accurately estimate the position of a distant approaching vehicle using such images. In this paper, we propose an improved method to accurately estimate the position of distant approaching vehicles by using virtual top-view images. The displacement of the vehicle in the top-view image is proportional to its speed. Thus, the proposed method can provide the accurate position of the distant vehicle. We describe the details of the proposed method and its availability by the experiment using actual images.
Highlights
The use of active safety technologies has increased, and various driver-assistance systems are in practical use
Systems that use on-board sensors such as radars or cameras to minimize the damage caused by rear-end collisions are an example of active safety measures
In order to avoid a rear-end collision, we propose a system where an on-board sensor continuously surveys the rear vehicle and if there may be a possibility of a rear-end collision, the system warns the driver of the approaching rear vehicle by flashing the hazard lamps
Summary
The use of active safety technologies has increased, and various driver-assistance systems are in practical use. In order to avoid a rear-end collision, we propose a system where an on-board sensor continuously surveys the rear vehicle and if there may be a possibility of a rear-end collision, the system warns the driver of the approaching rear vehicle by flashing the hazard lamps We have named this system as a rear collision prevention system, and in this paper, we have proposed a method for detecting an approaching vehicle using an on-board rear-view camera that can be utilized in this system. In the case of using the camera-view image, the optical flow is often calculated to detect the approaching vehicles [6, 7]. We detect the distant approaching vehicles by using these features of a top-view image obtained by transforming the camera-view image and improve the accuracy of the estimation of the distance between the host vehicle and the rear vehicle. The point in the virtual image plane can be calculated from the point in the rear camera-view image plane through the vehicle coordinate system.
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