In view of the defect that lane line cannot be recognized by conventional methods in haze weather

an improved lane recognition algorithm in haze environment is proposed. Dark channel priority dehazing algorithm is improved by the more efficient morphological erosion operation and applied to the selected region of interest（ ROI）area. Binary images with improved brightness is obtained by combining two-dimensional Gamma transform and local OTSU algorithm. On the basis of improved polar angle Hough transform

an algorithm for classification and recognition of left and right lane lines is proposed to realize the accurate identification of the lane lines on the left and right sides of the lane where the vehicle is located. The experimental results show that the proposed algorithm can not only improve the accuracy and real-time performance of lane marking in haze weather

but also has important practical application significance for safety of driving in haze weather.