Honda Motor Co., Ltd.

Honda Research Institute Europe Gmbh

Jens Schmudderich

Sven Rebhan

Naoki Mori

Morimichi Nishigaki

Julian Eggert

Marcus Kleinehagenbrock

Robert Kastner

Volker Willert

Hiroyuki Kamiya

Shunsuke Kusuhara

In an intelligent forward collision warning system that takes into account not only a first preceding vehicle traveling immediately ahead of the ego vehicle but also a second preceding vehicle traveling immediately ahead of the first preceding vehicle, a warning signal is produced upon detecting a critical state of the first or second preceding vehicle or an external condition that is predicted to cause the first preceding vehicle and the ego vehicle to be in a same lane with the first time to collision (TTC) below a prescribed value.

Intelligent forward collision warning system

The invention relates to a method for detecting the proper motion of an real-world object, comprising the steps of acquiring, by an image capturing device (ICD), a first image (I) of the object at a first point in time (t) and a second image (I) at a second point in time (t); obtaining a third (hypothetical) image (I), based on an estimated effect of the motion of the image capturing device (ICD) itself (EMF) between the first and the second point in time (t, t), wherein the effect of the motion of the image capturing device (ICD) itself is estimated based on the forward kinematics of the image capturing device; determining an optical flow (OF) between the second image (I) and the third image (I); and evaluating the optical flow (OF) by incorporating uncertainties of the optical flow (OF) and the ego-motion-flow (EMF) in order to determine the proper motion of the object.

Estimating objects proper motion using optical flow, kinematics and depth information

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Offenbach/Am Main, Germany

Jens Schmudderich