For the problem of intelligent vehicles recognizing lane line deviation in different environments, this paper proposed a lane line detection and lane deviation warning algorithm based on sliding window search. Firstly, real-time road images were preprocessed, including camera calibration, color and gradient filtering, perspective transformation, etc., and then the sliding window search algorithm was used to detect the lane lines and fit the lane lines using quadratic polynomials. Then, the camera monocular ranging principle was used to calculate the relative position of the vehicle to the centerline of the lane and determine whether it deviated from the lane. The experimental results show that the algorithm’s lane line detection accuracy reaches 98.59%, the lane deviation warning rate reaches 99.58%, and the processed video frame rate is about 25 frames/s, which meets the accuracy and real-time requirements.

Image preprocessing  /  Sliding window search  /  Lane line detection  /  Lane departure