Based on Digital Image Lane Edge Detection and Tracking under Structure Environment for Autonomous Vehicle

Preprocess the lane gray image to obtain binary image by using median filtering, Sobel edge detection operator and image segmentation algorithm based on maximum entropy. Propose an improved Hough transformation algorithm to obtain the feature parameter of the road edge in the binary image. Establish the area of interest (AOI) of the road edge, according to the prediction result of the Kalman filtering; adjust the size of AOI dynamically in order to track the road edge accurately. Experiments show that this algorithm is reliable and effective.