Detection of road boundaries using hyperbolic road model

In this paper, we propose a method of detecting road boundaries from moving images captured by in-vehicle cameras using the hyperbolic road model. A method of detecting center lines based on edges is used for parameter estimation in the hyperbolic road model in the proposed method. The proposed method can detect a center line consisting of broken lines. The center line detection method is affected by the edges of the vehicle ahead. To avoid this adverse effect, we detect the existence of the car ahead and only the region of validity of the detection result of the center line is applied. Experimental results show that good detection performance is obtained for a variety of road environments.