这是一个基于抛物线模型的车道线检测算法模型方法，并详细介绍了车道线分离警告系统的设计步骤。-This is a model based on the parabolic model for lane-line detection algorithm method, and details of the lane line separating warning system design steps.

本论文从道路环境理解的角度出发，针对智能车辆视觉导航中的车道保持问题，运用单目视觉技术对行驶车辆前景中的道路边界和车道线进行检测，以获取本车与当前道路的相对位置信息和方向信息。-In this paper, the understanding from the perspective of road environment for visual navigation of intelligent vehicle driveway to keep the issue, using monocula

基于前方车辆与本车存在安全距离，利用自适应阈值法确定图像灰度分割阈值，形态学处理，利用最小外接矩形框选候选车辆目标，集合车底阴影几何位置等特征验证车辆假设。(Based on the safe distance between the front vehicle and the vehicle, the adaptive threshold method is used to determine the threshold of image gray level segmentation, mo