Patent attributes
A driver assistance system including at least a first camera. The first camera can be configured to obtain image data of a region external to the host vehicle. Lane detection analysis can be performed on the image data to identify a region of interest in the image data. The region of interest can be divided into portions. Each portion can be analyzed to determine whether it includes the characteristics of an under-vehicle region. When an under-vehicle region is detected a portion of the image adjacent an under-vehicle region can be analyzed to determine whether it includes an image of another vehicle. A distance between the another vehicle and the host vehicle can be determined using the image data. A threat analysis can be performed to provide a level of threat posed by the another vehicle to the host vehicle.
