Lane detection plays an important role in improving autopilot’s safety. In this paper, a novel lane-division-lines detection method is proposed, which exhibits good performances in abnormal illumination and lane occlusion. It includes three major components: First, the captured image is converted to aerial view to make full use of parallel lanes’ characteristics. Second, a ridge detector is proposed to extract each lane’s feature points and remove noise points with an adaptable neural network (ANN). Last, the lane-division-lines are accurately fitted by an improved random sample consensus (RANSAC), termed the (regional) gaussian distribution random sample consensus (G-RANSAC). To test the performances of this novel lane detection method, we proposed a new index named the lane departure index (LDI) describing the departure degree between true lane and predicted lane. Experimental results verified the superior performances of the proposed method over others in different testing scenarios, respectively achieving 99.02%, 96.92%, 96.65% and 91.61% true-positive rates (TPR); and 66.16, 54.85, 55.98 and 52.61 LDIs in four different types of testing scenarios.
A Robust Lane Detection Method for Urban roads