Stereo-based collision avoidance system for urban traffic

Takashi Moriya; Naoto Ishikawa; Kazuyuki Sasaki; Masato Nakajima

doi:10.1117/12.452133

21 November 2002 Stereo-based Collision Avoidance System for Urban Traffic

Takashi Moriya, Naoto Ishikawa, Kazuyuki Sasaki, Masato Nakajima

Proceedings Volume 4790, Applications of Digital Image Processing XXV; (2002) https://doi.org/10.1117/12.452133
Event: International Symposium on Optical Science and Technology, 2002, Seattle, WA, United States

Abstract

Numerous car accidents occur on urban road. However, researches done so far on driving assistance are subjecting highways whose environment is relatively simple and easy to handle, and new approach for urban settings is required. Our purpose is to extend its support to the following conditions in city traffic: the presence of obstacles such as pedestrians and telephone poles; the lane mark is not always drawn on a road; drivers may lack the sense of awareness of the lane mark. We propose a collision avoidance system, which can be applied to both highways and urban traffic environment. In our system, stereo cameras are set in front of a vehicle and the captured images are processed through a computer. We create a Projected Disparity Map (PDM) from stereo image pair, which is a disparity histogram taken along ordinate direction of obtained disparity image. When there is an obstacle in front, we can detect it by finding a peak appeared in the PDM. With a speed meter and a steering sensor, the stop distance and the radius of curvature of the self-vehicle are calculated, in order to set the observation-required area, which does not depend on lane marks, within a PDM. A danger level will be computed from the distance and the relative speed to the closest approaching object detected within the observation-required area. The method has been tested in urban traffic scenes and has shown to be effective for judging dangerous situation, and gives proper alarm to a driver.

Citation Download Citation

Takashi Moriya, Naoto Ishikawa, Kazuyuki Sasaki, and Masato Nakajima "Stereo-based Collision Avoidance System for Urban Traffic", Proc. SPIE 4790, Applications of Digital Image Processing XXV, (21 November 2002); https://doi.org/10.1117/12.452133

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