Approach to lane departure detection

An approach to lane departure detection, based on image processing and computer vision, is proposed for a driver assistant system. A new description of lane markings in the image plane is presented, and some properties are discussed and used to locate lanes. Multi-frame lane detection and analysis are adopted so that lane departure detection method is more reliable. Lane departure is analyzed and lane parameters are estimated and used for lateral control. Experimental results show that the proposed approach performs lane departure detection efficiently.