针对道路边界的形状特征提出的二次曲线道路边界模型，实现了对车道标识线的实时跟踪。
Conic section road border model put forward to the form characteristic of the border of road, the ones that have realized to identification line of lane which are followed in real time.
在边缘图像的基础上，以局部方向作为启发信息，跟踪道路边界，得到第一类道路边界的线段表示。
Take the local direction as the heuristic information, trace the road boundaries on the edge image and get the line segment representation of the first catalog road boundaries.
采用了一种通用的道路模型，然后基于链码以及该道路模型，设计了一种有效的道路边界拟合方法。
One general road model is adopted, and based on the chain code and this road model, one fitting algorithm of road boundary is designed.
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