Efficient implementation of a real-time lane departure warning system

Because of the increasing number of population of vehicles, the road traffic accidents are becoming more and more serious in recent years. Hence, improving driver assistance systems for security has become an important area of research. This paper presents a robust lane detection and tracking system based on monocular vision. We use the Lane Departure Warning (LDW) systems to detect the position of the vehicle with respect to the lane boundary. An algorithm to detect the road lane marking and to control the direction of the vehicle is proposed. Our work consists in establishing a Region Of Interest (ROI) of the road images, data pre-processing using the Gaussian filter and then apply the Canny edge detector to enhance lane boundaries. A method to extract lane boundaries based on color information and image segmentation by using the histogram threshold, Hough transform is proposed, and the current vehicle position is obtained. In such a case, we can decide if the vehicle is doing lane departure used on the vehicle's position, the system sends a warning message to the driver. Our proposed algorithm works accurately with various lighting conditions as well as on different road types.