Lane detection plays an important role in improving autopilot’s safety. In this paper, a novel lane-division-lines detection method is proposed, which exhibits good performances in abnormal illumination and lane occlusion. It includes three major components: First, the captured image is converted to aerial view to make full use of parallel lanes’ characteristics. Second, a ridge detector is proposed to extract each lane’s feature points and remove noise points with an adaptable neural network (ANN). Last, the lane-division-lines are accurately fitted by an improved random sample consensus (RANSAC), termed the (regional) gaussian distribution random sample consensus (G-RANSAC). To test the performances of this novel lane detection method, we proposed a new index named the lane departure index (LDI) describing the departure degree between true lane and predicted lane. Experimental results verified the superior performances of the proposed method over others in different testing scenarios, respectively achieving 99.02%, 96.92%, 96.65% and 91.61% true-positive rates (TPR); and 66.16, 54.85, 55.98 and 52.61 LDIs in four different types of testing scenarios.

This paper discusses an automatic parking control method based on the combination of the sliding mode variable structure control (SMVSC) and fuzzy logical control. SMVSC is applied to drive the vehicle from a random initial position and pose, to the designated parking position and pose. Then, the vehicle is driven from the designated parking position to the target parking slot using the method of fuzzy logical control, whose rules are limited to the range of the effective initial position. To combine SMVSC with the fuzzy logical control, the experimental results demonstrate that effective parking can be guaranteed, even if the initial position is out of the effective parking area of the fuzzy logical control.

In this study, a classification algorithm based on complex number feature is proposed. Specifically, the SVM framework is reformulated, so each example would be classified in the unitary space. The cost function is redefined by considering the maximum margin of real and imaginary units of the complex number feature at the same time. The cost function is based on the expectation of the hinge loss, and its derivatives can be calculated in closed forms. Using a stochastic gradient descent (SGD) algorithm, this method allows for efficient implementation. For complex number feature, the example uncertainty is modeled by a sample preprocessing method based on within-class Euclidean distance Gaussian distribution sample (DGS). In addition, a complex number feature selection method based on improved hybrid discrimination analysis (HDA) is proposed by considering the correlation between real and imaginary units of complex number feature. The proposed classification algorithm is tested on synthetic data and three publicly available and popular datasets, namely, MNIST, WDBC, and Voc2012. Experimental results verify the effectiveness of the proposed method. The codes are available: https://github.com/luckysomebody/paper-code.