The method and system for vehicular guidance comprises an imaging device
for collecting color image data to facilitate distinguishing crop image
data (e.g., crop rows) from background data. A definer defines a series
of scan line segments generally perpendicular to a transverse axis of the
vehicle or of the imaging device. An image parameter evaluator determines
scan line image parameter data for each of the scan line segments. An
alignment detector (e.g., search engine) identifies a preferential
heading of the vehicle that is generally aligned with respect to a crop
feature, associated with the crop image data, based on the determined
scan line image parameter meeting or exceeding a maximum value or minimum
threshold value. A reliability estimator estimates a reliability of the
vehicle heading based on compliance with a criteria for scan line image
parameter data associated with one or more crop rows.