为了缩小车辆识别AOI，降低对本车状态的要求和行驶方向上车辆识别的难度，提升车辆识别算法的鲁棒性，提出一种基于放射投影直方图的结构化公路车道线提取方法，建立了投影点选择评价模型及车道线区域角度划分模型。实验结果表明，本方法适用于直车道线和具有一定曲率的弯道线检测，对车辆的行驶方向要求较弱，不仅可抗车辆遮挡、较强日光照射下形成的阴影干扰，而且还可以抗车道线严重污损、长距离断线、减速带形成的强干扰。对强、暗光线有一定的适应能力，具有较强的抗干扰能力。

A novel approach that based on fan projection histogram to obtain the lane of the structured road is proposed in the paper. The objectives of approach are to reduce the AOI of vehicle recognition, the demand of the vehicle status and the difficulty of vehicle recognition in the driving direction, as well as to strength the robustness of methods on vehicle recognition. Both models of choice appreciation of projection point and partition of regional angles of lanes are created. Results demonstrate that the method is suitable for both the straight lanes and lanes of moderate curvature. The method shows little dependence on the direction of the vehicle, which owns strong ability to resist the disturbances caused by the vehicle shades, intense sunshine and long serious lane absence. It can also resist the disturbance resulted from deceleration belt and adapt to stronger or weaker light to some extent.