Recognition and reconstruction for expressway bent lane line
高速公路弯道边界的识别与重建

This paper described methods of bent lane line detection and extraction of intelligent vehicle safety assistant driving system. It introduced a new bent lane detection algorithm based on road segmentation, which was divided into road segmentation and bent lane detection. After dividing the road region and the sky region and determining the ROI for bent lane detection, extracted the candidate points, then correcting them, and finally fitted and reconstructed the bent lane lines. In addition, it judged out the curve direction of the bent lanes accurately. Experiments show that both the real-time performance and accuracy are improved comparing with the conventional method of extracting lane lines in the whole road image.