Robust lane detection and tracking for lane departure warning

Lane detection is an important component of many intelligent transportation systems. This paper proposes a novel lane departure algorithm for detecting lane markers in images acquired from a forward-looking vehicle-mounted camera. The interested targets of the algorithm are always the nearest two lanes to the automobile, and it can detect the left and right lane separately, which would generate the departure warning more precisely. As the main idea is two sure a straight line, the endpoints of segment lanes of the last image can be used as prior information to estimate lanes in the following one. It's a real-time algorithm for lane detection and tracking, which is also simple to implement. The experimental results on local streets and highways show that the suggested algorithm is very reliable and robust.