Machine vision based localization of intelligent vehicle

Abstract

Aiming at implementing the lane recognition and determining the host vehicle's parameters of position and direction accurately according to lane line parameters, realize the lane departure warning, one kind of practical algorithm for lane recognition and the host vehicle localization has been proposed. In the algorithm, lane parameters are obtained using Hough Transformation. Combined the inner and outer parameters of CCD and lane parameters, the parameters such as the host vehicle's location parameter, the direction variable and the lane width are obtained using the coordinate transformation. The experiments indicated that this algorithm has the good adaptive ability and anti-jamming ability when roadway structure and illumination condition changes. It can satisfy many kinds of initiative safety system's requests in a certain extent.