Patent ID: 11908200
Assignee: CANOO TECHNOLOGIES INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G  B | IPC G

Claim 4:
5. An apparatus, comprising:
at least one camera configured to capture a series of image frames for traffic lanes in front of an ego vehicle, 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; and
a target object detection and tracking controller configured to:
process 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,
determine, 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, and
control 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.