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This paper proposes an improved lane departure algorithm based on region of interest (ROI) segmentation. ROI of a test image is extracted first. Based on statistical parameters a departure warning is generated. Hough transform is used to detect the lines in the segmented ROI. Distance between Hough origin and lane-line midpoint is estimated. Based on the difference between these distances, a lane departure decision is made. A typical road may have multiple lanes which may cause difficulty in generating appropriate departure decision with good accuracy and in short time. Experiments show that the proposed algorithm eliminates this problem. It is simple to implement and robust, and can detect the lane markings accurately and quickly.