ABSTRACT The objective of our venture is to actualize a lane detection framework considering expanding the usability of driver assistance system functions, attempting to overcome the problems of the generalized method. It is tuned to detect mountainous roads on the Indian hilly terrain. The proposed technique acquires a video sequence as input and performs operation on each frame to extract the candidate lane lines. The novelty of this work is that a unique method is used to decide upon whether the lane is on the straight or curved roads and adaptive thresholding is used as it can adjust its value for various environmental conditions. Kalman filter is used in the lane tracking stage where the feasible results obtained for the present frame are compared with the results in the previous video frames. Comparison of the presented algorithm with the conventional method is carried out and attained an average detection accuracy of 93%.

中文翻译：

---

基于感知导航应用的丘陵地形自主车道检测

摘要我们的目标是实现车道检测框架，考虑扩展驾驶员辅助系统功能的可用性，试图克服通用方法的问题。它经过调整以检测印度丘陵地形上的山区道路。所提出的技术获取视频序列作为输入并对每一帧执行操作以提取候选车道线。这项工作的新颖之处在于使用了一种独特的方法来决定车道是在直路上还是弯路上，并且使用了自适应阈值，因为它可以针对各种环境条件调整其值。卡尔曼滤波器用于车道跟踪阶段，将当前帧获得的可行结果与先前视频帧的结果进行比较。