Table 1: Statistics of our lane detection method.

MethodCCD parametersWeatherFramesHitMissHit rate

Traditional Hough transformunregulatedsunny4804512993.96%
cloudy2562421494.53%
regulatedsunny7347112396.87%
cloudy6756591697.63%

Improved Hough transformunregulatedsunny6246071797.28%
cloudy485479698.76%
regulatedsunny7387271198.51%
cloudy626621599.20%