Vision-based lane departure warning framework

Abstract

-coordinates of the bottom end-points of each lane boundary in the image plane. For lane detection and lane departure detection performance evaluation, real-life datasets for both urban roads and highways in daytime and night-time driving environments, traffic flows, and road surface conditions are considered. The experimental results show that the proposed framework yields satisfactory results. On average, detection rates of 94.71% for lane detection rate and 81.18% for lane departure detection rate were achieved using the proposed frameworks. In addition, benchmark lane marking segmentation methods and Caltech lanes dataset were also considered for comparison evaluation in lane detection. Challenges to lane detection and lane departure detection such as worn lane markings, low illumination, arrow signs, and occluded lane markings are highlighted as the contributors to the false positive rates.