COLLISION WARNING SYSTEM FOR A VEHICLE AND METHOD FOR OPERATING A COLLISION WARNING SYSTEM FOR A VEHICLE

Abstract

Collision warning system (12) for a vehicle, comprising: a vision system (20) attached to the vehicle, wherein the vision system (20) provides a video of an upcoming road segment which includes at least one object (14) located on the path; a control module (22) coupled to the vision system (20), wherein the control module (22) receives the video from the vision system (20) and provides an enhanced video of the upcoming road segment that includes the object (14) on the path, the object (14) on the path being highlighted according to collision data so that it stands out from the rest of the upcoming road segment; and a visual display (24) coupled to the control module (22), wherein the visual display (24) receives the enhanced video from the control module (22) and displays the enhanced video to a driver; wherein the control module (22) provides an enhanced video of the upcoming road segment, which includes the object (14) on the path, highlighted with a color selected according to the collision data, so that it stands out from the rest of the upcoming road segment, which is provided in black and white, the highlighted object (14) on the path being overlaid on a black and white version of the video originally received from the vision system (20).

Description

AREA

[0001] The present invention relates generally to vehicle safety systems and in particular to vehicle collision warning systems which use a visual display to warn or alert a driver of an impending collision. BACKGROUND

[0002] Vehicles increasingly employ a variety of safety systems to prevent collisions and optimize overall safety. For example, when a potential collision is detected, some vehicle safety systems generate audible, visual, or haptic warnings to alert the driver to the impending collision. While such warnings can be beneficial, it is always necessary to optimize or enhance their usefulness by making them more intuitive for the driver, by providing additional information, or by expanding the operating conditions under which they can be used, to name a few examples.

[0003] DE 10 2006 008 981 A1 discloses an assistance system for supporting the driver of a motor vehicle, comprising sensors that provide traffic-relevant data, an object recognition unit, and a human-machine interface to provide information to the driver. A decision unit serves to recognize a traffic-relevant object. If a traffic-relevant object is recognized, the recognized object is highlighted in a video display by coloring, the type of coloring depending on the probability of collision of the recognized object. To improve the visual representation, a virtual road layout corresponding to the real road layout is displayed. Further prior art is known from DE 601 30 517 T2 and DE 10 2009 027 755 A1. SUMMARY

[0004] The object of the invention is to provide an improved collision warning system for a vehicle and methods for operating a collision warning system for a vehicle.

[0005] To solve the problem, a collision warning system with the features of claim 1 and a method with the features of claim 7 are provided. Advantageous embodiments of the invention can be found in the dependent claims, the description, and the drawings. DRAWINGS

[0006] Preferred exemplary embodiments are described below in conjunction with the accompanying drawings, in which the same reference numerals denote the same elements, and wherein: Fig. 1 is a schematic view of a host vehicle with an exemplary collision warning system; Fig. 2 a flowchart of an exemplary procedure that uses a vehicle collision warning system such as the one in Fig. The one shown can be used; and Fig. 3A and Fig. 3B Representations of frames from an enhanced video of an upcoming road segment at different times, with an object on the path (in this case another vehicle) highlighted so that it stands out from the rest of the upcoming road segment. DESCRIPTION

[0007] The collision warning system and method described herein can alert a driver of an impending collision by displaying an enhanced video of an upcoming road segment. The enhanced video includes one or more objects on the path that are highlighted so that they stand out from the rest of the upcoming road segment. The system and method receive a video of an upcoming road segment from a forward-facing vision system, obtain specific collision data for an object on the path that is located in the upcoming road segment, and then use the video and collision data to provide an enhanced video of the upcoming road segment for a visual display to be seen by a driver. In the enhanced video, the object on the path is highlighted according to the collision data (e.g.,The enhanced video is highlighted using a color-coded scheme, with the object on the path changing color based on data about the time until collision, thus distinguishing it from the rest of the road segment. It is possible for the enhanced video to be displayed to a driver via a head-up display (HUD), instrument panel, center console, or any other suitable visual display usable under day and night driving conditions.

[0008] With reference to Fig. Figure 1 shows parts of an exemplary host vehicle 10 with a collision warning system 12, which can be used to warn or alert a driver of an impending collision with an object 14 located on the path. It should be noted that Fig. 1. This is only a schematic representation of a possible vehicle and collision warning system, and the method described herein could be used with any number of different vehicles and systems and is not limited to the examples shown here. For example, the present system and method can be used with any type of vehicle, including motorcycles, passenger cars, SUVs, crossover vehicles, trucks, vans, buses, recreational vehicles (RVs), commercial vehicles, semi-trailer trucks, etc. These are only some of the possible applications, as the system and method described herein are not limited to the exemplary embodiments shown and could be implemented in any number of different ways. According to one example, the collision warning system 12 comprises a vision system 20, a control module 22, and a visual display 24.

[0009] The vision system 20 provides the collision warning system 12 with a video of an upcoming road segment and can do so in a number of different ways. In one embodiment, the vision system 20 is a forward-facing stereo vision system comprising two or more video cameras 30, 32 (e.g., multi-megapixel digital CMOS video cameras) positioned in front of the host vehicle 10 and providing the system with a real-time streaming video of the upcoming road segment. Notwithstanding the fact that the vision system may include one or more additional video or photo cameras arranged around the vehicle, providing additional perspectives or an additional video output for the collision warning system 12, the vision system 20 is preferably a forward-facing stereo vision system that captures images of an upcoming road segment located approximately 1 m to 25 m in front of the host vehicle 10.The use of multiple video cameras 30, 32 (i.e., a stereo vision system) enables the vision system 20 to capture several different perspectives of the same image, so that they can be stitched together, blended, and / or otherwise combined in much the same way as human eyes. This typically provides a more complete, richer, and more comprehensive picture of the upcoming road segment, but it is not necessary, as a single video camera can also be used.

[0010] Some suitable mounting locations for the vision system 20 include a rearview mirror assembly located near an upper central section of the windshield, on the dashboard near a lower central section of the windshield, or behind the vehicle's radiator grille, to name just a few possibilities. The vision system 20 may comprise multiple video cameras, other types of object detection sensors, and a processing unit, all integrated into a single package; in another embodiment, the multiple video cameras, the object detection sensors, and the processing unit are spaced apart and mounted at different locations on the vehicle.The video cameras of the vision system 20 may be part of another component, device, module, and / or system in the vehicle, such as a vehicle safety system or collision avoidance system; in such a case, the same cameras may be used by or shared with the collision warning system 12. Although the vision system 20 has been described in the context of a video camera-based system, it is possible that the system uses other image acquisition devices instead of video cameras.

[0011] In addition to video cameras, the collision warning system 12 may include other object detection sensors 34, 36, 38 arranged around the vehicle, providing the system with specific collision data regarding objects on or off the path. For example, one or more infrared (IR) sensors 38 may be directed toward the upcoming road segment and provide the collision warning system 12 with additional information, such as time-to-collision data for various objects of interest, to complement the video provided by the vision system 20. “Time-to-collision data,” as used herein, generally refers to the estimated time or distance until the host vehicle collides with an object according to its actual or expected paths.Depending on the specific application requirements, object detection sensors such as cameras, radar sensors, laser sensors, and / or lidar sensors can be used in addition to or instead of the IR sensors mentioned above. These object detection sensors, along with additional video cameras, can be mounted around the vehicle, depending on the system's specific needs, and may be oriented towards the front, side, or rear of the vehicle. The object detection sensors 34, 36, and 38 may be part of the vision system 20 or another component, device, module, and / or system within the vehicle, as mentioned above.

[0012] The control module 22 receives a video of the upcoming road segment from the vision system 20, obtains certain collision data regarding an object on the path (e.g., data on the time until collision), and uses the video and the collision data to provide an enhanced video to the visual display 24. "Enhanced video," as used here, broadly encompasses any video containing one or more objects on the path that have been visually altered or modified based on a type of collision data. A non-restrictive example of enhanced video is the video output from the control module 22, where the output is a real-time digital or streaming black-and-white video output of the upcoming road segment, and one or more objects on the path 14 have been highlighted in color or by some other means based on data on the time until collision for that object.

[0013] The control module 22 can comprise any variety of electronic processing devices, storage devices, input / output devices (I / O devices), and / or other known components, and can perform various control and / or communication-related functions. In an exemplary embodiment, the control module 22 comprises an electronic storage device 42 that stores: a video, freeze frames, and / or other collision data from the vision system 20 and the sensors 34, 36, 38; lookup tables or other data structures; algorithms, such as those implemented in the exemplary method described below, etc. The storage device 42 can also store suitable properties and background information relating to the host vehicle 10, such as acceleration- and braking-related parameters and settings, etc.The control module 22 can also include an electronic processing unit 44 (e.g., a microprocessor, a microcontroller, an application-specific integrated circuit (ASIC), etc.) that executes instructions for software, firmware, programs, algorithms, scripts, etc., stored in the memory unit 42 and can monitor the processes and procedures described herein. The control module 22 can be electronically connected to other vehicle equipment, modules, and systems via suitable vehicle communication channels and can interact with them as needed. These are, of course, only some of the possible arrangements, functions, and capabilities of the control module 22, as other embodiments could also be used.

[0014] Depending on the specific embodiment, the control module 22 can be an independent vehicle electronics module (e.g., a collision warning control module, a control module for a visual display, etc.), it can be incorporated into or included within another vehicle electronics module (e.g., a module for adaptive cruise control, a control module for automatic lane change, etc.), or it can be part of a larger vehicle network or system (e.g., a collision avoidance system, an active safety system, an anti-lock braking system (ABS), etc.), to name a few possibilities. According to one possible embodiment, the control module 22 is a control module for a visual display and is coupled to both the vision system 20 and the visual display 24, with the vision system providing the control module with both video and collision data.In another embodiment, the control module 22 is a vision system controller and is integrated into the vision system 20 together with video cameras, object detection sensors, and other suitable components. It is also possible for the control module 22 to be coupled with other vehicle systems, such as a collision avoidance system or an active safety system, so that the control module can provide such systems with collision data and other potentially useful information, enabling them to take automatic measures to avoid, mitigate, or otherwise prepare for potential collisions. It should be noted that the control module 22 is not limited to any particular embodiment or arrangement and may differ from the one shown and described herein.

[0015] The visual display 24 receives the enhanced video from the control module 22 and then transmits the enhanced video to a driver, so that the driver can be warned of objects in the path of the upcoming road segment. The visual display 24 provides information to the driver and can include any combination of visual, acoustic, and / or other types of components for this purpose. The visual display 24 can be an independent unit or can be integrated into another component, device, module, or system in the vehicle (e.g., a rearview mirror assembly); it can be part of or share a display in a vehicle infotainment or safety system (e.g., a vehicle information display).(use the same screen as the one that plays movies, provides navigation services, or displays the output of a reversing camera); or it can be part of a device group, a center console, or a driver information center (DIC), to name a few examples. In the case of... Fig. In the exemplary embodiment shown in Figure 1, the visual display 24 is a color head-up display (HUD) that projects the enhanced video onto a remote section of the windshield (e.g., the lower driver-side corner of the windshield) and alerts the driver to a potential collision by highlighting objects 14 and other possible obstacles in the path of the vehicle. Of course, other visual displays can be used instead.

[0016] Again, they are supposed to Fig. 1 and the preceding description of the exemplary host vehicle 10 and collision warning system 12 represent only one possible embodiment, since the following method is not limited to use with only this system. Instead, any number of other system arrangements, combinations, and architectures, including those that differ significantly from the one described in 1, can be used. Fig. The ones shown in 1 differ and are used.

[0017] Now on Fig. 2 By reference is an exemplary method 100 for operating a collision warning system for a vehicle, such as the one in Fig. Figure 1 shows. Starting with step 110, the method receives a video of the upcoming road segment and collision data for at least one object on the path. According to an exemplary embodiment in which the vision system 20 has its own collision data generation capabilities, step 110 receives both a video and collision data from the vision system 20.

[0018] In another embodiment, step 110 receives video from the vision system 20 and collision data from separate object detection sensors, such as the forward-facing IR or RADAR sensor 38. The video from the vision system 20 can be supplied continuously on a real-time basis, so that it is streamed from the vision system 20 to the control module 22 whenever the collision warning system 12 is in operation, or the video can be supplied intermittently on an event-based basis, thus saving memory, processing, and / or other resources. In various examples of an event-based version, the vision system 20 supplies the video to the control module 22 only when the vehicle is traveling at or above a certain threshold (i.e., the vehicle speed exceeding the threshold is the event), or when an object 14 on the path of the upcoming road segment has been detected (i.e.,The detection of the object on the path is the event. Other events or conditions can also be used. It should be noted that the object on the path 14 can be a moving object, such as another vehicle, a cyclist, or a pedestrian, or it can be a stationary object, such as debris on the road, a fallen tree branch, or a broken-down vehicle. Depending on the field of view of the vision system 20 and / or the object detection sensors 34, 36, 38, it is possible that one or more objects, such as trees and power poles, could be detected in the video even if they are not actually on the path of the host vehicle 10; such objects are discussed in more detail below.

[0019] As mentioned above, step 110 can also receive collision data relating to one or more objects on the path 14 in the upcoming road segment. “Collision data,” as used herein, broadly encompasses any type of information or other data relating to an object on the path in the upcoming road segment or an object off the path, located on the side of the road. Some non-restrictive examples of possible collision data include: data on a time-to-collision for a moving or stationary object (e.g., distance data used to estimate the time to collision), an estimated velocity or acceleration for a moving object on the path (e.g.,The absolute speed of a vehicle on the path (or the relative speed between a vehicle on the path and the host vehicle) and an estimated size of an object on the path, so that the method can distinguish between a parked vehicle and a small garbage bag in the host vehicle's lane. It should be noted that time-to-collision data (also referred to as distance data) can be expressed in terms of time (e.g., 3 seconds to impact), distance (e.g., 15 meters (50 feet) to impact), or some other suitable measure, and in some cases is already captured and used by devices on the vehicle, such as the vision system 20.

[0020] The following description assumes that an object on the path has already been detected in the upcoming road segment and that the Sight System 20 provides both video and collision data; as explained above, this is not necessary, as the collision data could come from other sources. In this particular example, the Sight System 20 overlays the collision data onto the video to create a distance mapping video, with each pixel of the distance mapping video color-coded according to its value representing the time until collision. For example, pixels corresponding to objects that are farther away might be colored green, while pixels corresponding to closer objects might be colored orange, red, or another color indicating their respective urgency. In this way, the video and collision data have been combined or interwoven and provided together by the Sight System 20.One potential challenge regarding the simple display of this distance mapping video to the driver is that the sheer volume of information conveyed could be distracting, confusing, or simply unhelpful, as every pixel in the distance mapping video is colored, resulting in a rather large collection of images. It should be noted that the video and collision data can be provided in any number of different ways, using any number of formats, etc., which include, but are not limited to, the examples provided here. The following steps are related to... Fig. 3A and Fig. Figure 3B describes simple representations of two different frames of an enhanced video from control module 22, recorded at two different times. In the frame of Fig. 3A is an object 14 (in this case a vehicle) located further away on the path; in the frame of Fig. 3B is the object located closer to the path.

[0021] In step 120, the procedure evaluates the video and collision data obtained in the previous step so that a time-to-collision value can be determined for each pixel or group of pixels in the video. According to the example above, where the vision system 20 provides a video and collision data combined in a distance mapping video, step 120 decodes the color-coded distance mapping video, in which each pixel has been assigned a color based on its estimated time-to-collision value. Upon completion of this example step, the procedure should have an expected time-to-collision value for each pixel or group of pixels in the video. Fig. For example, in step 120, 3A determines time-to-collision values ​​for the entire video of the upcoming road segment, which include: the pixels or groups of pixels 100 corresponding to the roadway directly in front of the host vehicle 10, the pixels or groups of pixels 102 corresponding to a tree 110 located off-path, and the pixels or groups of pixels 104 corresponding to an object or vehicle 14 located on the path. Time-to-collision data is also collected for the other pixels in the video frame, but the pixels corresponding to 100, 102, and 104 have been singled out in an effort to represent certain features or techniques that can be used by step 130. This collection of time-to-collision values ​​can be maintained in any suitable data form and structure (e.g.,(each pixel or group of pixels could have a vector associated with it), and can be stored in the electronic storage device 42. Of course, other techniques can be used instead for capturing, extracting, evaluating, and / or storing data about the time until collision or other collision data.

[0022] Next, step 130 filters out or ignores the pixels or groups of pixels that do not belong to an object of interest located on the path. A variety of criteria can be used when performing this step. For example, pixels 100 belong to the roadway, which is on the path and fairly close to the host vehicle 10, but they are not an object of interest because the roadway is not the type of object that would typically result in a collision; thus, pixels 100 can be ignored. Pixels 102 belong to a tree 110, which is reasonably close to the host vehicle 10 and is clearly the type of object of interest, but the tree is not on the path; therefore, pixels 102 can be ignored.On the other hand, pixel 104 belongs to vehicle 14, which is quite close to the host vehicle 10 on the path and is the type of object of interest; accordingly, pixel 104 is not ignored but identified for further processing. By filtering out or ignoring pixels belonging to objects that are very far away, not on the path, or not of the types of objects of significant interest or importance, the procedure can focus on those objects most likely to represent a potential collision without confusing or distracting the driver with unnecessary information. Various algorithms, techniques, and criteria can be used to determine which pixels should be filtered out or ignored and which should be identified for further processing.Some other criteria or inputs that can be used include steering angle, yaw rate, vehicle speed, object speed, etc.

[0023] Step 140 then determines a priority level for the pixels or groups of pixels belonging to an object of interest along the path. That is, for the pixels that were not filtered out or ignored in the previous step. The actual techniques and procedures used to perform this step can vary. For example, step 140 might evaluate the unfiltered pixels or groups of pixels and assign them a priority level based on their corresponding Collision Time value. All pixels with a Collision Time value of 0–3 seconds might be assigned a high priority level (e.g., one where the pixels are highlighted in red or another color indicating urgency), while all pixels with a Collision Time value of 3–6 seconds might be given a medium priority level (e.g.,One pixel, where the pixels are highlighted in orange, can be assigned a low priority level (e.g., one where the pixels are highlighted in green). All pixels with a time-to-collision value of 6-9 seconds can be assigned a low priority level, and all other pixels, such as those with a time-to-collision value greater than 9 seconds or no such value, could be assigned a default low priority level. When performing step 140, collision data other than time-to-collision values ​​(e.g., steering angle, yaw rate, host vehicle speed or acceleration, speed or acceleration of an object on the path, etc.) can be used. The values, ranges, priority levels, colors, and criteria above are provided only to illustrate this step; others could certainly be used.For example, step 140 may use more or fewer than three priority levels, different colors, or techniques other than a single color to highlight the object of interest. The order in which pixels or groups of pixels are evaluated and assigned a priority may be based on their location in the video image or other criteria, and the techniques used to assign a priority or rating to pixels may differ from the non-restrictive example above.

[0024] Next, steps 150-174 provide an enhanced video of the upcoming road segment, highlighting one or more objects along the path according to their respective priority levels. By highlighting objects of interest along the path or otherwise drawing attention to them, the present method can provide an enhanced video in which such objects stand out from the rest of the upcoming road segment and therefore act as a more intuitive warning to the driver. It will be the Fig. Consider the example shown in Figure 3A, where vehicle 14, located on the path, is the only object of interest on the path in the upcoming road segment, and its corresponding pixels have been assigned a low priority because the vehicle is still relatively far away. In this case, the procedure proceeds to steps 170 and 174, generating and delivering an enhanced video in which vehicle 14 is highlighted according to a low-priority highlighting or color scheme. For example, step 174 highlights all or some of the pixels associated with vehicle 14 by assigning them a color, such as green, indicating a non-immediate or low-priority situation. The colored pixels can only include those belonging to the outline or perimeter of the object (i.e.,(a certain “halo” effect), they could also encompass all of the inner pixels, or they could encompass some of the neighboring pixels surrounding the object, to name a few possibilities. In another example, step 174 highlights all or some of the pixels belonging to the vehicle 14 by causing them to be brighter, blink, or otherwise stand out from the rest of the upcoming road segment. In the inventive example where the method employs a color scheme to highlight the object of interest along the path, the rest of the video image is provided in black and white to provide greater contrast for the highlighted object.

[0025] At the in Fig.In the example shown in 3B, vehicle 14 is now closer to the host vehicle 10, and therefore its corresponding pixels or groups of pixels 104 have been assigned a medium priority level, so that steps 160 and 164 provide an enhanced video in which the vehicle is highlighted in orange or another medium priority color. If vehicle 14 gets even closer to the host vehicle, steps 150 and 154 can highlight the corresponding pixels in red or another color chosen to denote a high priority level. The green, orange, and red color scheme is not the only way to highlight an object of interest along the path; as mentioned above, other techniques can be used. In the preceding examples, the remaining pixels in the enhanced video (i.e.,Those pixels that have been filtered out or that are not assigned a high, medium or low priority level) are provided in black and white so that the highlighted pixels are easily distinguishable for the driver.

[0026] Professionals in video and / or image editing, processing, and processing will recognize that there are a variety of ways in which the enhanced video can be generated and delivered. Steps 154, 164, and / or 174 overlay the new color scheme with the highlighted pixels or groups of pixels (e.g., the pixel vectors belonging to the object of interest on the path) onto a black-and-white version of the video originally received from the vision system 20, thus producing an enhanced video. In this case, the object of interest on the path, such as vehicle 14, is highlighted with a specific color that indicates its current urgency or priority and stands out slightly from the rest of the video image, which is black and white.This type of approach can be useful in driving environments both day and night and can be coupled with acoustic and / or other warnings to alert the driver to the object on the path. In another embodiment not according to the invention, the method simply removes the background of the video image (i.e., those pixels or groups of pixels that do not belong to an object of interest on the path) from the video, so that the highlighted object of interest on the path is all the driver sees against a blank background. Other techniques are also possible. Steps 110-174 can be performed by the vision system 20, the control module 22, another device, or a combination thereof, and can be performed on an individual pixel-by-pixel basis, a pixel group-by-pixel group basis, or according to another approach.

[0027] In step 180, the procedure provides the enhanced video to the visual display 24, highlighting one or more objects along the path. As mentioned above, the visual display 24 can comprise a number of display units, such as a color head-up display (HUD) unit. Depending on the specific configuration, the visual display 24 can continuously receive the enhanced video from the control module 22 and display it to the driver, or it can display enhanced video only when an object of interest along the path has been detected or when certain other criteria have been met. If multiple objects of interest along the path are detected, the procedure can determine which object poses a more immediate hazard and highlight only that object, or it can highlight multiple objects simultaneously according to the priority scheme described above.It is also possible that, if a high, medium, and / or low priority level is determined, procedure 100 sends a command signal of a certain type to an active safety system, such as a collision avoidance system, etc. Coordination between such systems can be carried out via a vehicle communication bus or the like. Other features and embodiments are also possible.

[0028] It should be understood that the foregoing description is not a definition of the invention, but rather a description of one or more preferred exemplary embodiments of the invention. The invention is not intended to be limited to the specific embodiment(s) disclosed herein, but is defined only by the claims below. Furthermore, the statements contained in the foregoing description refer to specific embodiments and should not be construed as limitations on the scope of protection of the invention or on the definition of terms used in the claims, unless a term or phrase is expressly defined above. Various other embodiments and various modifications and variations of the disclosed embodiment(s) will be apparent to those skilled in the art.For example, the specific combination and sequence of steps is only one possibility, as the present method may include a combination of steps that has fewer, more, or different steps than those shown here. In one such example, steps 120 and 130 are exchanged so that pixels belonging to objects on the path that are not of interest are filtered out before values ​​for the time until collision are determined. All such other embodiments, modifications, and variations are said to be within the scope of protection of the appended claims.

[0029] As used in this description and in the claims, the terms "for example," "e.g.," "such as," "as," and "as," and the verbs "comprise," "exhibit," "include," and their other verb forms, when used in conjunction with a list of one or more components or one or more other elements, shall each be considered to have an open end, meaning that the list shall not be considered to exclude other, additional components or elements. Other terms shall be considered to encompass their broadest reasonable meaning unless used in a context that requires a different interpretation.

Claims

[1] Collision warning system (12) for a vehicle, comprising: a vision system (20) attached to the vehicle, wherein the vision system (20) provides a video of an upcoming road segment which includes at least one object (14) located on the path; a control module (22) coupled to the vision system (20), wherein the control module (22) receives the video from the vision system (20) and provides an enhanced video of the upcoming road segment that includes the object (14) on the path, the object (14) on the path being highlighted according to collision data so that it stands out from the rest of the upcoming road segment; and a visual display (24) coupled to the control module (22), wherein the visual display (24) receives the enhanced video from the control module (22) and displays the enhanced video to a driver; wherein the control module (22) provides an enhanced video of the upcoming road segment, which includes the object (14) on the path, highlighted with a color selected according to the collision data, so that it stands out from the rest of the upcoming road segment, which is provided in black and white, the highlighted object (14) on the path being overlaid on a black and white version of the video originally received from the vision system (20). [2] Collision warning system (12) according to claim 1, wherein the vision system (20) is a forward-facing stereo vision system comprising multiple video cameras (30, 32), wherein the vision system (20) provides a real-time video of the upcoming road segment. [3] Collision warning system (12) according to claim 1, wherein the control module (22) receives both the video and the collision data from the vision system (20). [4] Collision warning system (12) according to claim 1, wherein the control module (22) receives the video from the vision system (20) and the collision data from at least one object detection sensor (34, 36, 38) which is separate from the vision system (20). [5] Collision warning system (12) according to claim 4, wherein the object detection sensor is an infrared sensor (IR sensor) (38) which is aligned with the upcoming road segment and provides data of a time duration until collision for the object (14) located on the path. [6] Collision warning system (12) according to claim 1, wherein the control module (22) provides an enhanced video of the upcoming road segment, which includes the object (14) on the path, highlighted with a color that changes according to the collision data, so that it becomes more noticeable to the driver as the vehicle approaches the object (14) on the path. [7] Method for operating a collision warning system (12) for a vehicle, comprising the steps of: (a) a video is received from a vision system (20) wherein the video contains an upcoming road segment and includes an object (14) on the path; (b) Collision data are received, the collision data relating to the object (14) located on the path; (c) the video and the collision data are used to create an enhanced video, the enhanced video containing the upcoming road segment and including the object (14) on the path, which is highlighted according to the collision data; and (d) the enhanced video is provided for a visual display (24); where step (b) further comprises receiving collision data and determining collision time values ​​for multiple pixels in the video, including collision time values ​​for multiple pixels belonging to the object (14) on the path, where step (c) further includes determining a priority level for the multiple pixels in the video that belong to the object (14) on the path, and the priority level is based on the values ​​of a time duration until collision, where step (c) further includes highlighting the multiple pixels in the video belonging to the object (14) located on the path with a specific color selected according to a priority level, wherein step (c) further comprises providing the multiple pixels in the video that do not belong to the object (14) on the path in black and white, so that the object (14) on the path, which is highlighted in color, stands out, the highlighted object (14) on the path being superimposed on a black and white version of the video originally obtained from the vision system (20). [8] Method according to claim 7, wherein step (c) further comprises selecting between a first priority level with a first range of values ​​of a time until collision, a second priority level with a second range of values ​​of a time until collision and a third priority level with a third range of values ​​of a time until collision. [9] Method according to claim 7, wherein step (d) further comprises providing an enhanced video for visual display (24) which includes multiple objects (14) located on the path, wherein each object (14) located on the path is highlighted according to a priority scheme based on data of a time until collision.

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