基于视频的车道线检测,首先对视频进行一系列预处理，然后进行边缘检测，霍夫变换直线检测，最后对检测出来的直线进行非车道线排除。-Video-based lane detection, the first of a series of video preprocessing, edge detection and Hough transform line detection, finally detected non-linear lane excluded.