CPC G06V 20/58 (2022.01) [G06V 10/751 (2022.01); G06V 20/588 (2022.01)] | 20 Claims |
1. A method, comprising:
capturing a series of image frames for traffic lanes in front of an ego vehicle using at least one camera, wherein each of the series of image frames is captured at a different one of a plurality of times, and wherein the traffic lanes include an ego traffic lane occupied by the ego vehicle and an adjacent traffic lane for traffic traveling in a same direction as traffic within the ego traffic lane;
processing each of the image frames to detect a target vehicle in the adjacent traffic lane within the respective image frame at a time corresponding to capture of the respective image frame;
determining, using pixel measurements extracted from the image frames, a predicted time to line crossing for the detected target vehicle to cross into the ego traffic lane from the adjacent traffic lane;
determining a rate of arrival R(k) of the target vehicle from the ratio Ln(k) at time k and the ratio Ln(k−1) at time k−1; and
controlling the ego vehicle based on the predicted time to line crossing by the target vehicle into the ego traffic lane from the adjacent traffic lane.
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