车道线检测预处理（1）------ 融合白线黄线+高斯

总共分三个部分
第一步采用hls提取颜色空间，选择S通道
后面的阈值可以根据自己的需要进行调整，一般取值min=80，max=255

def hls_select(img, channel='S', thresh=(90, 255)):
    # 1) Convert to HLS color space
    # 2) Apply a threshold to the S channel
    # 3) Return a binary image of threshold result
    hls = cv2.cvtColor(img, cv2.COLOR_RGB2HLS)
    if channel == 'S':
        X = hls[:, :, 2]
    elif channel == 'H':
        X = hls[:, :, 0]
    elif channel == 'L':
        X = hls[:, :, 1]
    else:
        print('illegal channel !!!')
        return
    binary_output = np.zeros_like(X)
    binary_output[(X > thresh[0]) & (X <= thresh[1])] = 1
    return binary_output

然后是提取白色车道线部分，阈值化提取
参数可自行调整，一般min=200+ ,max=255

def r_select(img, thresh=(222, 255)):
    R = img[:,:,0]
    binary = np.zeros