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Barrier and guardrail detection using a single camera

  • US 10,445,595 B2
  • Filed: 08/23/2018
  • Issued: 10/15/2019
  • Est. Priority Date: 09/21/2010
  • Status: Active Grant
First Claim
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1. A method for detection of a structural barrier extending along a road, the method performed by a driver assistance system mountable in a host vehicle, wherein the driver assistance system includes a camera operatively connectible to a processor, the method comprising:

  • capturing a plurality of image frames in the forward field of view of the camera; and

    determining a first horizontal image coordinate, in a first frame of the plurality of image frames, of a feature of the structural barrier;

    determining a second horizontal image coordinate, in a second frame of the plurality of image frames, of the feature of the structural barrier, wherein determining the second horizontal image coordinate includes identifying a change from the first horizontal image coordinate based on movement of the host vehicle, wherein the movement of the host vehicle is used to determine that the feature of the structural barrier is upright; and

    identifying a linear image structure, hypothesized based on the first frame, as a correct projection of the structural barrier onto a road plane based on the linear image structure correctly aligning with the feature in the second frame.

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