School of Information Engineering Chang’an University Xi''an 710064 ChinaXi’an Aeronautical Polytechnic Institute Xi''an 710089 China;
School of Information Engineering Chang’an University Xi''an 710064 ChinaRoyal Institute of Technology Stockholm 10044 Sweden;
Royal Institute of Technology Stockholm 10044 Sweden;
Audible Inc. Newark NJ 07102 USA;
School of Information Engineering Chang’an University Xi''an 710064 China;
School of Computer Science and Engineering Xi’an University of Technology Xi''an 710048 China;
Traffic engineering; Lane departure warning; Lane line detection; Image processing; Image analysis; Semantic segmentation;