Forward collision warning with a single camera

Erez Dagan*, Ofer Mano, Gideon P. Stein, Amnon Shashua

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

245 Scopus citations


The large number of rear end collisions due to driver inattention has been identified as a major automotive safety issue. Even a short advance warning can significantly reduce the number and seventy of the collisions. This paper describes a vision based Forward Collision Warning (FCW) system for highway safely. The algorithm described in this paper computes time to contact (TTC) and possible collision course directly from the size and position of the vehicles in the image - which are the natural measurements for a vision based system - without having to compute a 3D representation of the scene. The use of a single low cost image sensor results in an affordable system which is simple to install. The system has been implemented on real-time hardware and has been test driven on highways. Collision avoidance tests have also been performed on test tracks.

Original languageAmerican English
Number of pages6
StatePublished - 2004
Event2004 IEEE Intelligent Vehicles Symposium - Parma, Italy
Duration: 14 Jun 200417 Jun 2004


Conference2004 IEEE Intelligent Vehicles Symposium


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