Calculation of the time needed and the size of an object based on the correlation of scale between Images from a sensor electro Optical

摘要

A procedure for calculating a value of Missing time, TTG, between a vehicle and an object intrusiveSaid method comprising: - a step back (S43) to retrieve a First image of the object in a First Moment intrusive Time T0.And a Second image of the object in a Second moment intrusive TemporaryT1; a step of filtering (S44) to filter the first Image and the second Image so that the first Image and the second Image are independentEnergy and Absolute Signal so that the edges are enhanced; a step of establishing (S45) to establish a position of fractional Pixel X, xfrac,At zero and a fractional pixel position, and yfrac, Zero,In the xfrac denotes a subpixel level horizontal displacement and vertical Displacement yfrac denotes a subpixel level; selecting a scaling factorYes; - A Step Climb (S46) to establish the second image to the scale factor.If the escalation and resample the image position and yfrac xfrac; resulting in a Scaled Image resampled, rsii,; a step of calculating (s47) to calculate values of Correlation, cxpix, ypix, r, between the first Image and the image is resampled rsii, climbing,For different horizontal displacements at pixel level, xpix, and for different vertical Displacements in pixel level, ypix,In the above image resampled rsii climbing; a step of finding (S48) consists in finding a maximum Correlation value to subpixel level, ICBased on the above-mentioned values of Correlation, cxpix,I ypix and updating xfrac and yfrac; - a First Step to establish (S49) to establish J = J + 1 and repeat the steps to climb (S46), Calculate (s47)FIND (S48) (S49) and establish a First Predetermined number of times; a second step of establishing (S50) consisting in set I = I + 1 and repeat the steps of adjusting (S45)Scalar (S46), Calculate (s47), Search (S48),First and second CONFIGURATION settings (S49) (50) a Second Predetermined number of times; a step of seeking (S51) to find the largest value of maximum Correlation, CmaxAmong the above-mentioned values of maximum Correlation, CI and the scale factor IF,Max Associate with the higher Correlation maximum Cmax; and a step of calculating (S52) to calculate the Missing time, TTG, based on the scale factor if Max