In the paper

a road edge identification algorithm is developed .The new idea of this method is touse natural road edge

as well as the whites trip for road information acquisition .Then atural roade dge will notbee as ilypolluted like the white lane maker do

soitindicates bettera daptability .Inthealgorithm

weuseboth the pixelfeature and the framefeaturetoidentify theroadedge

which is referred to as the global road model.Be cause several road constrainsisused toensure the roadedgede tection

the algorith misimmune to the influence of thei magedistur bance .The algorithm of theroaded geidentifi cationin cludes two stages:initializationdetection and tracing detection .The in itialization stagedetects the roadedge from the global roadimage . The tracealgorith muses there gion of interest (ROI)to limitdete ctingarea

which can save muchtime .Inorder to giveamea sure of there liability of the road detecting result

this paper presents a road edge identification esti mation function

which canesti mate the reliability of the road edge .