US 11,945,435 B2
Devices and methods for predicting collisions and/or intersection violations
Benjamin Oren Alpert, Sunnyvale, CA (US); Tahmida Binte Mahmud, San Jose, CA (US); Alexander Dion Wu, San Carlos, CA (US); Piyush Chandra, Belmont, CA (US); Jeremy Marschke, San Carlos, CA (US); Gary Kwan, Belmont, CA (US); Stefan Heck, Palo Alto, CA (US); Ruslan Belkin, Sunnyvale, CA (US); and Ilan Hornstein, Menlo Park, CA (US)
Assigned to Nauto, Inc., Palo Alto, CA (US)
Filed by Nauto, Inc., Palo Alto, CA (US)
Filed on Jun. 15, 2021, as Appl. No. 17/348,715.
Prior Publication US 2021/0380115 A1, Dec. 9, 2021
Int. Cl. B60W 30/095 (2012.01); B60W 40/08 (2012.01); B60W 50/14 (2020.01); G06N 3/02 (2006.01); G06V 10/764 (2022.01); G06V 20/50 (2022.01); G06V 20/56 (2022.01); G06V 20/59 (2022.01)
CPC B60W 30/0956 (2013.01) [B60W 40/08 (2013.01); B60W 50/14 (2013.01); G06N 3/02 (2013.01); G06V 10/764 (2022.01); G06V 20/50 (2022.01); G06V 20/588 (2022.01); G06V 20/597 (2022.01); B60W 2040/0818 (2013.01); B60W 2050/143 (2013.01); B60W 2050/146 (2013.01); B60W 2540/223 (2020.02); B60W 2540/225 (2020.02); B60W 2540/229 (2020.02); B60W 2552/53 (2020.02)] 58 Claims
OG exemplary drawing
 
1. An apparatus comprising:
a first camera configured to view an environment outside a vehicle;
a second camera configured to view a driver of the vehicle; and
a processing unit configured to receive a first image from the first camera, and a second image from the second camera;
wherein the processing unit is configured to determine first information indicating a risk of collision with the vehicle based at least partly on the first image;
wherein the processing unit is configured to determine second information indicating a state of the driver based at least partly on the second image;
wherein the processing unit is configured to determine whether to provide a control signal for operating a device or not based on (1) the first information indicating the risk of collision with the vehicle, (2) the second information indicating the state of the driver, and (3) sensor information indicating that the vehicle is being operated to mitigate the risk of the collision;
wherein the processing unit is configured to determine whether to provide the control signal by comparing an estimated time-to-collision with a timing criterion to determine if the estimated time-to-collision satisfies the timing criterion, wherein the timing criterion is variable based at least partly on the second information; and
wherein the processing unit is configured to predict the collision at least 3 seconds or more before an expected occurrence time for the predicted collision.