Lane Detection in Some Complex Conditions

Since 1990s, a large amount of lane detection systems have been designed for comparatively simple road condition on highway. In this paper, we propose a real-time lane detection algorithm in some complex conditions, including colored lane marks and roads with special traffic marks. The algorithm presented in this paper is based on a hyperbola model, which was proposed in our group's previous work. Tracking information is used to avoid the negative influence of arrow marks, and the colored lane marks are detected after image enhancement. The algorithm has been tested, and the experimental results demonstrate its high performance in these complex conditions.