Recently, Lane departure warning system has attracted great attention as it contributes to vehicle active safety. In this paper, a vision-based lane departure warning system under high-speed driving is proposed. The system consists of two functional parts: lane markings detection and vehicle departure identification. The Hough Transform is applied to detect lane boundaries, which is a most effective detection method with high reliability. Based on the road line, a method using several Euclidean-distance-related parameters to calculate vehicle's position and its deviating status is proposed, which addresses the problem of efficient detection of lane departure under high-speed driving condition. The algorithm is tested and verified in various real driving conditions and proved a reliable and steady performance.
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