Road vertical contour detection

摘要

The driver assistance system includes a camera operatively connectable to a processor. The driver assistance system is operable while the host vehicle is moving to detect a deviation in vertical contour of a road. A first image frame and a second image frame are captured in the field of view of the camera. Image motion is processed between respective images of the road derived from the first image frame and the second image frame. The vertical contour of the road is estimated using a road surface model of the road and the deviation in the vertical contour is computed from the road surface model.

主权项

1. A computerized method for detecting a deviation in vertical contour of a road, the method performable by a driver assistance system mountable in a host vehicle while the host vehicle is moving, wherein the driver assistance system includes a camera operatively connectable to a processor, the method comprising:
capturing a first image frame and a second image frame in the field of view of the camera; and processing image motion between respective images of the road, wherein said images of the road are derived from said first image frame and said second image frame, wherein said processing said image motion between said images of the road includes estimating the vertical contour of the road using a road surface model of the road; and computing the deviation in the vertical contour from said road surface model.