Recognizing road environment for vision system on autonomous vehicles

A road environment recognition system is presented. First, lane lines are detected based on our proposed Gaussian comparison function. Then a road prospective model is built on the basis of a new Gaussian semi-sphere approach to detect vanishing point. Using this model, three road parameters are computed, i.e. vehicle´s transverse bias, yawing angle and the road slope angle. Obstacles such as vehicles in front of the current lane are also extracted. Simulation experiments prove the effectiveness of the system.