Means of Setting Region of Interesting in Identifying Bend Lane

Abstract

The searching region of interesting was set to cut cost time of identifying bent lane edge. The parabola mode was used to fit bent lane edge. According to the fact that the location of lane edge cannot break, three representative points in identified parabola were selected, forecast model was established aimed at each point. Kalman filtering method was used to forecast the position of the lane edge accurately and the searching region of interesting was set consequently. Parabola parameters were searched in the region of interesting based on suitable goal function, so the searched area was limited accurately in a narrow range. It is confirmed by experiments that the proposed method can shorten the real time of identification greatly and enhance the reliability and robustness of identification.