Road plane output with lateral slope

A system mounted on a host vehicle, the system comprising:

• at least one processor comprising circuitry;
• and
• a memory, wherein the memory includes instructions that when executed by the circuitry cause the at least one processor to:
• determine a path expected to be traversed by a first wheel of the host vehicle on a road surface;
• derive, using at least two images captured by the one or more cameras, an initial road profile;
• compute a residual motion for a first point located along the path expected to be traversed by the first wheel;
• translate the residual motion for the first point to a distance from the host vehicle to the first point and a height of the road surface at the first point;
• compute an indication of a lateral slope of the road surface at the first point;
• and
• output, on a vehicle interface bus of the host vehicle, an indication of the height of the first point and an indication of the lateral slope of the road surface at the first point,
• wherein the road surface comprises the road surface and any stationary object on or under the road surface.

A method for detecting features of a road traversed by a host vehicle, the method comprising:

• determining a path expected to be traversed by a first wheel of the host vehicle on a road surface;
• deriving, using at least two images captured by one or more cameras on the host vehicle, an initial road profile;
• computing a residual motion for a first point located along the path expected to be traversed by the first wheel;
• translating the residual motion for the first point to a distance from the host vehicle to the first point and a height of the road surface at the first point;
• computing an indication of a lateral slope of the road surface at the first point;
• and
• outputting, on a vehicle interface bus of the host vehicle, an indication of the height of the first point and an indication of the lateral slope of the road surface at the first point,
• wherein the road surface comprises the road surface and any stationary object on or under the road surface.