[2] Cláudio Rosito Jung,Christian Roberto Kelber. Lane following and lane departure using a linear-parabolic model [J]. Image and Vision Computing(S0262-8856),2005,23(13):1192-1202.
[3] Lee Joon Woong,Yi Un Kun. A lane-departure identification based on LBPE, Hough transform, and linear regression [J]. Computer Vision and Image Understanding(S1077-3142),2005,99(3):359-383.
[4] Denasi S,Quaglia G. Early obstacle detection using region segmentation and model based edge grouping [C]//Proceedings of IEEE International Conference on Intelligent Vehicles,Stuttgart,Germany,USA:IEEE Society,1998:257-262.
[5] CHEN Qiang,WANG Hong. A real time lane detection algorithm based on a hyperbola-pair model [C]//IEEE Intelligent Vehicles Symposium,Tokyo,Japan,2006:510-515.
[6] Yue Wang,Eam Khwang Teoh,Dinggang Shen. Lane detection and tracking using B-Snake [J]. Image and Vision Computing(S0262-8856),2004,22(4):269-280.
[9] Alberto Broggi,Stefano Cattani. An agent based evolutionary approach to path detection for off-road vehicle guidance [J]. Pattern Recognition Letters(S0167-8655),2006,27(11):1164-1173.
[12] Kennedy J,Eberhart R C. A new optimizer using particles swarm theory [C]//Proceedings of the Sixth International Symposium on Micro Machine and Human Science,Nagoya,Japan,1995:109-114.
[13] SU Chung-yen,FA Gen-hau. An effective and fast lane detection algorithm [C]//Proceedings of the 4th International Symposium on Advances in Visual Computing,LasVegas,USA,2008,5359:942-948.