Lane detection is the key part of LDW. In this paper a lane detection algorithm and the corresponding FPGA circuit were developed based on Spatran6 platform of Xlinx. Several ingenious structures are used to improve processing speed when designing FPGA circuit. Its performances were validated by co-simulation of software and hardware. Results show that the detection accuracy is 100 % at normal condition when entering tracking mode. The processing speed is more than 30 frames/s and it can also be used in especial conditions, such as dark, curve, etc.


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