A study on recognition of lane and movement of vehicles for port AGV vision system

In this paper, we describe an image-processing algorithm that is able to recognize the road lane. This algorithm recognizes the interrelation between AGV and other vehicles. We experimented on AGV driving test with a color CCD camera that was set on the top of the vehicle and acquired a digital signal. This paper is composed of two parts. One is the preprocessing part to measure the condition of the lane and vehicle. This method used Hough transform and ES (evolutionary strategy) to find the superior candidate of lane in road feature. The other obtains the situation of other vehicles using the proposed view-port system. At first, 2-dimensional image information, derived from vision sensor, is interpreted to the 3-dimension information by the angle and position of the CCD camera. Through these processes, if the vehicle knows the driving conditions, which include the lane angle, distance error and real position of other vehicles, we should calculate the reference steering angle as human driving.