##Advanced Lane Finding Project##
In this project, your goal is to write a software pipeline to identify the lane boundaries in a video.

** the package needed os
cv2
glob
pickle
random
numpy
PIL
matplotlib
moviepy.editor
Ipython.display

The goals / steps of this project are the following:

• Compute the camera calibration matrix and distortion coefficients given a set of chessboard images.
• Apply a distortion correction to raw images.
• Use color transforms, edge detection based on Sobel(to catch x,y,mag features), to create a thresholded binary image.
• Apply a perspective transform to rectify binary image ("birds-eye view").
• Using statistical histogram and sliding window to detect lane pixels and fit it by quadratic polynomial to find the lane boundary.
• according to the quadratic polynomials of left and right lands, determine the curvature of the lane and vehicle position with respect to center.
• Warp the detected lane boundaries back onto the original image.
• Output visual display of the lane boundaries and numerical estimation of lane curvature and vehicle position.

more details see below:

车道线检测-从单车道到多车道的车道线检测（二）
https://blog.csdn.net/qq_42258099/article/details/94735448