I. Introduction
With the development of science and technology, transportation plays a vital role in the development of the future society, and intelligent vehicles is a very important part of the transportation. Intelligent vehicles are devices such as cameras, radars, and actuators that are added to the vehicles, and realize the exchange of information such as vehicles, roads, and people through the on-board environment perception system and information terminal, and is a comprehensive system that intersects multiple disciplines [1]. Self-driving vehicles is the intelligent vehicle tracks the main road automatically, path recognition and planning is the basis for intelligent vehicle to achieve intelligent control. Accurately obtaining road condition and extracting effective information in the images is the key to the safe and stable driving of intelligent vehicles.