Road lane departure warning using optimal path finding of the dynamic programming

The lane departure warning system is important for protecting the driver from the possible accidents in the smart car technology. An algorithm to detect the lane departure using the Dynamic Programming is proposed in this paper. In the algorithm, the trace of the road boundary is utilized as cost of the dyanmic programming and the accumulated cost values are referenced to compute the optimal path. The road boundaries are detected in the backward tracking on the distance reference field. To ensure the right boundaries of the road, Hough Transform is performed additionally. Also, the interframe processing is done to increase the robustness of the road boundary detection. The experimental results for this algorithm are included.