A study on recognition of road lane and movement of vehicles using vision system

We describe an image-processing algorithm that is able to recognize the road lane. This algorithm performs to recognize the interrelation between an AGV and another vehicle. We experimented on an AGV driving test with a color CCD camera that was set on the top of vehicle and acquires digital signals. The paper is composed of two parts. One is the preprocessing part to measure the condition of the lane and vehicle. This method finds the information of lines using RGB ratio cutting algorithm, the edge detection and Hough transform. The other obtains the situation of other vehicles using the image processing and view-port. At first, 2D image information, derived from a vision sensor, is interpreted to the 3D information by the angle and position of the CCD camera. Through these processes, if the vehicle knows the driving conditions, which include the lane angle, distance error and real position of other vehicles, we should calculate the reference steering angle as in human driving.