Computer Science ›› 2017, Vol. 44 ›› Issue (11): 305-313.doi: 10.11896/j.issn.1002-137X.2017.11.047

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Robust Multi-lane Detection Algorithm

XUAN Han-yu, LIU Hong-zhe, YUAN Jia-zheng, LI Qing and NIU Xiao-ning   

  • Online:2018-12-01 Published:2018-12-01

Abstract: Machine vision is widely used in the field of intelligent vehicles,lane line detection has become a research hotspot in the field of artificial intelligence.In order to obtain a more robust lane-line detection effect,a lane-line feature filter based on multi-condition constraint was proposed,and a new clustering algorithm for lane-line feature was proposed.By using Kalman filter,the position and width of the lane line based on the perspective projection linear relationship are used to set the adaptive dynamic ROI.In addition,the constraint condition is obtained by using the characteristics of the lane line to obtain a more stable detection result.The real-time detection results in the real road environment show that the algorithm is robust and real-time,and has a very stable detection effect.

Key words: Machine vision,Lane-line feature filter,Clustering algorithm,Stability,Kalman filter,Position-width function

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