Lane Detection and Tracking under rainy weather challenges

Lane marking detection is challenging under adverse weather, especially in rain. Rain affects the visibility by changing the amount of light reflected from the road and splashing of rain periodically blocks vision through the car windshield. Colored (yellow, blue etc.) and eroded lane markings have lower contrast between lane and road surface. Rain affects the visibility of these colored and eroded lanes severely. In this paper, a robust lane detection and tracking method is proposed to detect lane under heavy rainfall condition. Here, an automatic adjustable threshold (AAT) is proposed, which improves the performance of canny edge detector to detect colored, eroded and blurred lane markings. Probabilistic Hough Transform (PHT) is used to detect candidate lane lines. A lane verification technique slope and angle based geometric constraints (SAGC) is used to detect and verify lane markings. Finally, a lane tracking technique by angle range validation (ARV) is introduced, which can keep track of the lane position when either left or right or both lane markings are partially or fully invisible due to erosion or occlusion or when lanes are not even painted on the road. Experimental results show that the average detection rate is 94.12%, and the average detection time is 30.24ms per frame which outperformed state-of-the-art method.