Abstract
It is one of the most important applications to improve the safety of vehicles using the technology of Intelligent Vehicle. A vision-based Lane Departure Warning System (LDWS) is such an active safety system prevents unintended lane departure using a single on board camera. In this paper, we described our vision-based Lane Departure Warning System at first. Then we discussed the method how to predict the lane departure using the information got from the forward-looking camera. In our system, we present a novel approach to predict lane departure, namely, the Changing Rate of Angle between Lanes (CRAL). Analyses show that this criterion has many advantages over TLC (Time to Lane Crossing). Our Lane Departure Warning Systems have been accomplished on the prototype HONGQI Autonomous Land Vehicle. Experiment results show that our vision-based LDWS does provide an efficient alarm when the vehicle is going to departure the lane.
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