US Patent 9953534 Vehicle collision warnings based on a time-to-collision

Method, apparatus, and computer storage media are disclosed for vehicle collision warnings based on a time-to-collision. An example vehicle includes a sensor to detect an object, a speed sensor to measure a current speed, and a collision alerter. The example collision alerter is to determine a distance to the object and determine a time-to-collision based on the distance and the current speed. Also, the example collision alerter is to emit, in response to the time-to-collision being less than or equal to a first collision threshold, a first alarm associated with the first collision threshold.