Double Lane Line Edge Detection Method Based on Constraint Conditions Hough Transform

This paper proposes a lane detection method based on the constraint Hough Transform double edge extraction. Firstly, the image of the road is grayed out and dealt with the lane line area extraction process based on the lane width feature and color feature. For grayscale images, the Canny edge detection operator is used to obtain the lane line edge information. Then the lane line features are extracted through the lane line edge information and the lane line area information. For the straight lane line, the Hough transform based on the polar angle and polar radius constraints is used to obtain the double edges of the lane lines, and straight line points are used to determine the end points and starting points of the straight lane lines to complete the straight line fitting. For the curve, the near-field part is a straight line, the far-field is a curve, and the straight part adopts the detection method of the straight lane line, and the characteristic points of the curve are searched in the lane line characteristic diagram. Finally, the curve is fitted by a parabola. Experiments show that the lane detection using the double-edge extraction method is fast and accurate.