Then, the tracking algorithm based on a probabilistic data association filter (PDAF) is used to reduce variation of lateral distance between vehicle and road barrier. To overcome the problems, the detection and estimation algorithms of tracks corresponding to road barrier are proposed. The second one is inaccuracy of relative lateral position by radar, thus resulting in large variance of distance between a vehicle and road barrier. The first case is that few tracks of radar to road barrier are detected due to material type of road barrier. Two frequent cases among many challenging problems are considered with the commercial sensors. Although the road barrier is one of the key features to determine a safe drivable area, it may be recognized incorrectly due to performance degradation of commercial sensors such as radar and monocular camera. The detection and tracking algorithms of road barrier including tunnel and guardrail are proposed to enhance performance and reliability for driver assistance systems.
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