Research on Expressway Lane Line Recognition Under the Condition of Projected Shadow Occlusion

Aiming at the difficult problem of lane line detection for autonomous vehicles under shadow conditions, a lane line detection method combining illumination-independent graph and improved Canny edge detection is proposed. According to the principle of light-independent map, the logarithmic chromaticity ratio space projection is performed on all pixels on the color image to obtain a light-independent map, which eliminates the interference of light and shadow; the maximum inter-class variance method is improved to segment the lanes Line and road background; use Hough transform to fit lane lines. The experimental results show that the method can accurately detect the lane lines under shadow conditions, and can meet the real-time requirements.