A lane departure warning system based on a linear-parabolic lane model

We propose a new lane departure warning system based on a linear-parabolic lane boundary model. A linear function is used to fit the near vision field, and a quadratic function fits the far field. The linear part of the model provides robust information about the orientation of the vehicle with respect to both lane boundaries, while the parabolic part is flexible enough to fit curved parts of the road. The orientation of both lane boundaries is then computed and used to anticipate lane crossings.