Multi-lane line tracking method based on Kalman filter bank

The invention discloses a multi-lane line tracking method based on a Kalman filer bank, which belongs to the technical field of processing of digital images. The method comprises the following steps of: outputting the optimal estimation value of a lane line by using a Kalman filter model on the basis of performing lane line detection on an acquired vehicle front road image by establishing the Kalman filter model tracked by the lane line; and when the same lane line is detected through continuous 25 road images, determining that the optimal estimation of a Kalman filter is effective, and using the optimal estimation value output by the Kalman filter as a detection result. By the method, the detection result of the lane line in a lane departure warning system is more stable, so that the phenomena of inaccurate lane line detection or detection omission caused by vehicle body vibration, illumination variation, road surface damages and the like are greatly reduced; and according to set quantity of filters, a corresponding lane line number can be tracked simultaneously, a region of interest (ROI) of the lane line can be relatively unitarily tracked, and the detection accuracy and the disturbance resistance of the lane line are greatly improved.