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Road-terrain detection method and system for driver assistance systems

  • US 9,435,885 B2
  • Filed: 07/26/2012
  • Issued: 09/06/2016
  • Est. Priority Date: 09/28/2011
  • Status: Active Grant
First Claim
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1. A road-terrain detection method for driver assistance systems, wherein the road-terrain detection method comprisessensing the environment of a vehicle with at least one sensor;

  • transforming a sensor signal from the at least one sensor into at least one confidence map of local properties of the environment by using at least one base classifier;

    generating, for base points on the at least one confidence map, each reflecting a specific location in the environment of the vehicle, spatial features for the local properties based on the at least one confidence map; and

    classifying, based on the generated spatial features, locations in the environment of the vehicle to a certain category of road terrain corresponding to a type of surface of a road, wherein the generation of a spatial feature for a specific location in the environment of the vehicle comprisesextracting a ray, wherein a ray is defined as a directed line with a certain angular orientation starting from the location in the environment, andanalyzing confidence values along the ray to extract spatial feature.

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