For recognition, the front or trailing edge of projection of binary image on horizontal axis basically shows linear shape, so least square theory is applied in tilt correction.
识别过程中，数码管二值化后的图像在水平轴上的投影，其上升沿或下降沿基本呈现直线的形状，尝试把最小二乘法应用于倾斜校正。
The results show that vehicles on edge lined roads drive more to the roads' center than vehicles on axis lined or unlined roads, especially in darkness. The edge lines enable more precise steering.
研究表明，车辆在有边缘线的道路上行驶比在仅有中心线或无标线的道路上行驶时更居中，尤其是在晚间行车时。
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