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

In this paper, we describe an image-processing algorithm that is able to recognize the road lane. This algorithm performs to recognize the interrelation between AGV and the other vehicle. We experimented on AGV driving test with color CCD camera that was set on the top of vehicle and acquired the digital signal, This 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, 2-dimensional image information, derived from vision sensor, is interpreted to the 3-dimension 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 human driving.