DRIVER ASSISTANCE SYSTEM AND METHOD FOR GUIDANCE PLANK RECOGNITION

The present invention relates to a computer implemented method for generating a guardrail style, comprising: a, capturing an image frame with a camera; b, determining that the image frame includes atleast two guardrail structures of the guardrail, and tracking the guardrail structure in the image frame with a cut frame, wherein the guardrail structure includes a non-vertical portion and a vertical portion; c, processing the information of the clipping frame to extract angular gradient information of one of the tracked guardrail structures; d. The clustering method is used to cluster the angular gradient information to generate an angle information cluster about each part of the clipping frame; e, extracting information on a non-vertical portion of the clipping frame; f, repeat steps c through e until all of the tracked guardrail structures have completed these steps; and g. A curve is fitted through the non-vertical portion of the tracked fence structure. The invention also relates toa driver assistance syste