Driver assistance system and method

A method by a driver assistance system comprising at least one processor, the method comprising:

• receiving, from an inertial measurement unit, at least one motion parameter of an ego vehicle;
• receiving, from a camera, a first image of at least one static feature located in an environment of the ego vehicle;
• determining a first geolocation position of the ego vehicle based on the at least one static feature and a map;
• receiving, from the camera, a second image;
• determining that the second image does not include the at least one static feature;
• in response to the determination that the second image does not include the at least one static feature, determining a second geolocation position of the ego vehicle based on the first geolocation position and the at least one motion parameter;
• and
• determining at least one driver assistance parameter based on the second geolocation position of the ego vehicle.

An apparatus comprising:

• a memory storing instructions;
• and
• at least one processor communicatively coupled to the memory and configured to execute the instructions to:
• receive, from an inertial measurement unit, at least one motion parameter of an ego vehicle;
• receive, from a camera, a first image of at least one static feature located in an environment of the ego vehicle;
• determine a first geolocation position of the ego vehicle based on the at least one static feature and a map;
• receive, from the camera, a second image;
• determine that the second image does not include the at least one static feature
• in response to a determination that the second image does not include the at least one static feature, determine a second geolocation position of the ego vehicle based on the first geolocation position and the at least one motion parameter;
• and
• determine at least one driver assistance parameter based on the second geolocation position of the ego vehicle.