基于路径搜索的道路检测算法

iming at the structured road detection method with lane lines and no lane lines, a road detection algorithm based on route search is proposed. Firstly, the area of interest is selected to reduce the amount of calculation.The pixel segmentation algorithm is used to extract the starting search point of the lane line and determine the search box. The feature fusion is carried out according to the gradient, pixel and texture changes.The search is carried out from the starting search box according to the size of the feature change.Finally the selected point is curved fitting to form the lane line. Compared with the road detection of the Hough transform, the algorithm has the characteristics of more robustness and better performance in curved road line.And the algorithm shows good results in structured road surfaces with or without lane lines.