Lane detection using Heuristic Search Methods based on color clustering

Concerning the problem of lane detection in the Lane Departure Warning (LDW) system, this paper uses Heuristic Search Methods to detect the lane boundary points based on the CIELab color features clustering. Color space providing us more precious information than gray scale, and Heuristic Search Methods narrowing the search region, this algorithm is robust and adaptive to the actual road conditions. According to the geometry structure of super highway, quadratic curve is adopted to match the lane. At last, use Simulink, the Signal Processing Blockset, and the Video and Image Processing Blockset developing lane detection and tracking model.