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

Claim 10:
11. 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
a target object detection and tracking controller configured to:
process each of the image frames using pixel measurements extracted from the respective image frame to determine, from the pixel measurements, a predicted time to line crossing for a target vehicle detected in the respective image frame at a time corresponding to capture of the respective image frame, wherein, to process each of the image frames, the target object detection and tracking controller is further configured to
determine a width in pixels of an ego traffic lane and a lateral offset in pixels of the target vehicle,
determine a ratio Ln of the lateral offset of the target vehicle Lt the width of the ego traffic lane Le, and
determine 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 control the ego vehicle based on the predicted time to line crossing.