Abstract:

Time to Collision (TTC) between vehicles is used to control strategy of driver assistance systems,
and to analyze drivers’ behavior. A calculation approach was presented to estimate the TTC of emergency
braking in risk scenarios using a monocular camera. The vehicle in front of the host car is detected and tracked,
followed with calculating the observed vehicle scale change based on the corner detection and using the scale
change to estimate the TTC. Least square method and Kalman filtering were used in processing data, with the
image pyramid being applied to realize the corner matching in large frame movements. The results show that
the algorithm is a new tool for analyzing the risk scenarios, while expanding monocular camera application and
providing a new solution for low-cost driver assistance systems.

Key words: automotive engineering, active safety, risk scenarios, time to collision (TTC) between vehicles, driver assistance systems, corner detection