Real-time lane detection in various conditions and night cases

In this paper, we propose a real-time lane detection algorithm based on a hyperbola-pair lane boundary model and an improved RANSAC paradigm. Instead of modeling each road boundary separately, we propose a model to describe the road boundary as a pair of parallel hyperbolas on the ground plane. A fuzzy measurement is introduced into the RANSAC paradigm to improve the accuracy and robustness of fitting the points on the boundaries into the model. Our method is able to deal with existence of partial occlusion, other traffic participants and markings, etc. Experiment in many different conditions, including various conditions of illumination, weather and road, demonstrates its high performance and accuracy