A vision based lane departure warning system

Proposes a vision based lane departure warning system which warns the driver of drifting off the lane inattentively. An estimation algorithm is proposed to obtain the vehicle pose and lane geometry data so as to detect an unintended lane departure. The lane departure alarm is triggered by a warning algorithm which makes decisions on giving an alarm based on the data from the estimation algorithm. The performance criteria of the lane departure warning system are defined as false alarm rate and alarm triggering time. The system is implemented in a test automobile and tested in real expressway experiments optimizing the performance. The experimental results demonstrate the applicability of the proposed system