Lane departure warning tracking system based on score mechanism

This paper presents a new lane tracking algorithm for the lane departure warning system without using Kalman filter. The system is capable of extracting the true lane boundaries from all detected lines including noise in the frame and estimates its future position. The new algorithm uses the score mechanism to trace the appearance of lines in previous frames using a score variable which indicates the number of frame lines that have been detected and scores state of each line (increasing or decreasing). The lateral shift is calculated from prior knowledge of lane boundary positions in previous frames. Moreover, the algorithm introduces a hysteresis loop of line score varying the number of predicted frames for line position which has a significant impact in smoothing and stabilizing the tracking process.