Lane departure warning system plays an important role in driver assistance systems. The proposed algorithm assumes that lanes are always the straight lines and whole algorithm is based on Hough transform. Due to the complexity of urban traffic scenes, false lane detections are highly caused by warning lines and signs whose shapes and colors are similar to the lane boundary. In this study, we improve the accuracy of the lane detection base on Hough, a score function based on the width between left and right lanes is proposed to obtain reliable lane detect results on urban traffic scene. Meanwhile, a list of candidate lanes is constructed at the least of execution time. Experiments under various scenes showed that the proposed lane detection method can work robustly in the real-time.
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