Abstract: This paper proposes a robust approach for fast lane departure warning to assist safe driving. With
a monocular vision technique, binarization is realized using a region counting algorithm to enhance the image.
To find lane boundaries from the binary image, use a 515 lane template instead of the traditional edge
detection method. This method can remove much noise in the original image, improve recognition accuracy
and reduce computation load. To extract lane lines from the matched result, compressive Hough transform is
used, which reduces the required memory space as compared with traditional techniques. Experimental results
show that the proposed algorithm optimizes lane recognition and works robustly in real-time. It can also be
implemented with field programmable gate array (FPGA).

Key words:  lane departure warning, 515 lane template match, compressive Hough transform, field programmable gate array (FPGA)