Patent ID: 7746221

Claim:
A method for preventing lane departure for use in a vehicle, comprising a machine and the steps of; (a) extracting lane markings from left and right images of the rear side inputted by cameras mounted on both side mirrors and calculating the real coordinate lines of the lane markings with the equation of a straight line by three-dimensional mapping of the extracted lane markings; (b) calculating left and right direction angles between the direction line of the vehicle and the real coordinate lines of the lane markings by using the real coordinates of the lane markings calculated in step (a) and calculating left and right side distances between the real coordinate lines of the lane markings and the vehicle; (c) calculating a lane departure distance from the direction angle and side distance calculated in step (b) wherein the left direction angle and the left side distance are used when the vehicle head is deviated to the left side, and a the right direction angle and the right side distance are used when the vehicle head is deviated to the right side; and (d) warning the driver of the possibility of lane departure depending on the lane departure distance calculated in step (c).