Abstract: In order to obtain both robustness and real timing for lane recognition of intelligent vehicle, lane recognition is achieved by detecting several local areas of the whole image constrained within two dimensions. An adaptive image threshold method is adopted to better recognize the lane under different illumination. It uses the recognized lane width to determine whether the previously-used recognizing threshold is suitable or not, and then the threshold could be adjusted to a suitable value to recognize the path accurately. The lane recognition and tracking system is designed. And the experiments show the intelligent vehicle can recognize and track the lane accurately and robustly under different illumination.

Key words: intelligent vehicle;lane tracking;two-dimension constraints;adaptive image threshold