Abstract
Mitsubishi Motors has developed a Lane Departure Warning System for a series production car. The system has functions to predict vehicle's departure from the lane with a CCD camera and warn the driver with visual and sound messages, plus steering wheel vibration. Moreover, the system generates an additional steering torque to urge the driver to take a corrective steering operation. The steering torque is so limited that the system will not interfere with the driver operating the vehicle. With robust sensing algorithms and adaptive warning threshold management, the system has been proven to be highly practical through on-road evaluation.