A Real-Time System for Lane Detection Based on FPGA and DSP

This paper presents a real-time lane detection system including edge detection and improved Hough Transform based lane detection algorithm and its hardware implementation with field programmable gate array (FPGA) and digital signal processor (DSP). Firstly, gradient amplitude and direction information are combined to extract lane edge information. Then, the information is used to determine the region of interest. Finally, the lanes are extracted by using improved Hough Transform. The image processing module of the system consists of FPGA and DSP. Particularly, the algorithms implemented in FPGA are working in pipeline and processing in parallel so that the system can run in real-time. In addition, DSP realizes lane line extraction and display function with an improved Hough Transform. The experimental results show that the proposed system is able to detect lanes under different road situations efficiently and effectively.